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24VS
5VD
"System Power LED"
"MANUAL/AUTO"
5VD
(XFP-7)
(XFP-4)
MANUALSRC2
SYSPWRLT
MANUALSRC1
(XFP-3)
(XFP-15)
2PIN_MINI
D
Emergency Stop Circuits
The Cobra i600/i800 robot provides connections for Emergency Stop (E-Stop) circuits on
the XUSR and XFP connectors. This gives the robot system the ability to slave E-Stop
functionality from a remote location using voltage-free contacts. See
92.
The XUSR connector provides external two-channel E-Stop input on pins 1 to 14 and 2 to
15. The XFP connector provides two-channel E-Stop input on pins 1 to 9 and 2 to 10.
NOTE: These pins must be shorted if not used. Both channels must open
independently if used. Although an Emergency Stop will occur, the robot
will display an error if one channel is jumpered closed and the other
channel is opened. It will also display an error if the channels are shorted
together.
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
Manual mode only, not in Automatic mode. The E-Stop is said to be "muted" in Manual
mode (see
Figure 6-8 on page 92, Table 6-10 on page
Table 6-12 on page 90
Adept Cobra i600/i800 Robot User's Guide, Rev E
Connecting Customer-Supplied Safety and Power Control Equipment
Adept Front Panel Schematic
ESTOPSRC
XFP
15PDSUBM
1
2
10
MANUALSRC1
3
11
MANUALSRC2
4
12
HPLT5V
5
13
6
14
SYSPWRLT
7
15
NC
8
D
"HIGH POWER ON/OFF"
24VS
(XFP-6)
SW1
(XFP-12)
MANUALRLY2
MANUALRLY1
(XFP-11)
Figure 6-9 Front Panel Schematic
for the customer E-Stop circuitry).
9
ESTOPFP1
ESTOPFP2
MANUALRLY1
MANUALRLY2
HIPWRLT
HIPWRREQ
(XFP-5)
HPLT5V
SWL1
(XFP-13)
HIPWRLT
HIPWRREQ
(XFP-14)
Figure 6-8 on page
89,
Table 6-11 on page
"EMERGENCY STOP"
ESTOPSRC (XFP-1)
(XFP-2)
D
SW2
(XFP-10)
ESTOPFP2
ESTOPFP1
(XFP-9)
90, and
93
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