adept technology SmartController EX User Manual page 39

The following figure shows an E-Stop diagram for the Adept SmartController EX motion con-
troller. See Introduction on page 9 for a description of the functionality of this circuit.
5 V
XFP-7
Front
Panel
System
Grn
Power
LED
XFP-15
Logic cyclic
check state
machines
ES1 ES2
Channel 1
Channel 2
24 V
Manual/Auto
Enable
Front Panel
XFP-3 XFP-4
XFP-11 XFP-12
MM1
MM2
Manual/Auto Keyswitch
- Manual = Open (|)
- Manual => (<250 mm/s)
- Auto => 100%
Lamp Control Circuit
with burnout detection
XFP-5 XFP-6
Front Panel
XFP-13 XFP-14
eV+ High
Power request
Figure 3-4. CAT-3 E-Stop Circuit on XUSR and XFP Connectors
Adept SmartController EX User's Guide, Rev.C
Chapter 3: Operation
Internal Connections
24 V
Channel 1
E-Stop
ESTOPSRC
Enable
I = 1.4 A
limit
XFP-1
Front Panel
XFP-9 XFP-10
E-Stop
Pendant
E-Stop
ES1
ES2
ESTOPSRC
MM1
MM2
Pendant
Enable
Switch
24 V
High
Power
On / Off
ESTOPSRC
High Power Request
Page 39 of 96
F M
User Supplied Connections
Channel 2
XFP-2
XUSER-2
XUSER-1
XUSER-14
XUSER-15
XUSER-7
XUSER-8
User E-Stop Indication
XUSER-21
ES1 ES2
XUSER-20
XUSER-4
XUSER-3
XUSER-16
XUSER-17
XUSER-9
XUSER-10
User Manual / Auto Indication
MM2
(Manual = Open)
MM1
XUSER-23
XUSER-22
XUSER-6
XUSER-5
XUSER-18
XUSER-19
Connections at Adept Robot or Module system
(No user connections)
XSYS-1
XSYS-9
Auto 2
XSYS-7
Auto 1
XSYS-6
Manual 2
XSYS-3
Manual 1
XSYS-2
XSYS-5
User E-Stop and
Gate Interlock
(Jumper closed when
not used, MUST open
both channels
independently if used)
Line E-Stop
(External User
E-Stop system)
Muted Safety Gate
- Active in auto mode
only
(Jumper closed when
not used)