adept technology SmartController EX User Manual page 41

NOTE: These contacts do not indicate the status of any connections below the User E-Stop con-
tacts. Thus, they will NOT indicate the status of the Line E-Stop, MCP ENABLE, or the Muted
Safety gate. If you have a specific need in this area, contact Adept Customer Service for infor-
mation on alternate indicating modes.
Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts,
one for each channel, to indicate whether the E-Stop chain, as described above, on that channel
is closed. Both switches are closed on each of the redundant circuits in normal operation (no
E-Stop). The user may use these contacts to generate an E-Stop for other equipment in the work-
cell. The load on the contacts must not exceed 40 VDC or 30 VAC at a maximum of 1 A.
These voltage-free contacts are provided by a redundant, cyclically-checked, positive-drive,
safety relay circuit for Category 3 operation (see the figure CAT-3 E-Stop Circuit on XUSR and
XFP Connectors on page 39 and the table Contacts Provided by the XFP Connector on page 37
for the customer E-Stop circuitry).
Line E-Stop Input
The XUSR connector on the controller contains a two-channel Line E-Stop input for workcell or
other equipment emergency-stop inputs. Generally, the customer E-Stop Indication contact out-
puts are used to generate an emergency stop in such external equipment. Thus, if one were to
wire the same equipment's outputs into the customer E-Stop input (that is, in series with the
local robot's E-Stop push-buttons), a lock-up situation could occur.
The Line E-Stop input comes into the circuit at a point where it cannot affect the customer E-
Stop indication relays and will not cause such a lock-up situation. For any situation where two
systems should be "cross-coupled", for example, the customer E-Stop indication of one con-
troller is to be connected to the input of another controller, the Line E-Stop input is the point to
bring in the other controller's output contacts. See the figure CAT-3 E-Stop Circuit on XUSR
and XFP Connectors on page 39 for more information.
Do not use the Line E-Stop for such devices as local E-Stop push-buttons, since their status
should be reported to the outside on the local user E-Stop indication output contact while the
Line E-Stop inputs will not.
Muted Safety Gate E-Stop Circuitry
Two pairs of pins on the XUSR connector (pins 5, 18 and 6, 19) provide connections for a
safety gate designed to yield an E-Stop allowing access to the workspace of the robot in Man-
ual mode only, not in Automatic mode. It is up to the customer to determine if teaching the
robot in Manual Mode, by a skilled programmer (See "Qualification of Personnel" in the
Robot Safety Guide), wearing safety equipment and carrying an Adept pendant, is allowable
under local regulations. The E-Stop is said to be "muted" in Manual mode (for the customer E-
Stop circuitry, see the figures and tables at the beginning of the section Connecting User-Sup-
plied Safety and Power-Control Equipment on page 36).
The muted capability is useful for a situation where a shutdown must occur if the cell gate is
opened in Automatic mode, but you need to open the gate in Manual mode. If the mute gate is
opened in Automatic mode, the robot defaults to Manual mode operation when power is re-
enabled. In muted mode, the gate can be left open for personnel to work in the robot cell. How-
ever, safety is maintained because of the speed restriction.
Adept SmartController EX User's Guide, Rev.C
Chapter 3: Operation
Page 41 of 96
Adept