Adept technology Adept XUSR Guia do Utilizador descarregar pdf (Página 78)

Optional Equipment Installation

78 Adept Cobra i600/i800 Robot User’s Guide, Rev G

Figure 6-7. Internal E-Stop Connector Circuit

NOTE: This circuit will trigger an emergency stop of the local robot only.

It does not to link the E-Stop chain of the host system

Procedure to Enable Breakaway E-Stop Function

To enable the Breakaway E-Stop function, you have to use the Configuration Manager to

change the default configuration.

1. Double-click the iCobra object in the Folder pane of the Workspace Explorer.

2. In the object editor, select Configure > Configuration Manager. See the following

figure.

Figure 6-8. Selecting the Configuration Manager

Table 6-5. ESTOP Connector

Pin # Description Pin Location

1 ESTOP_INPUT

ESTOP Connector

as viewed on robot

224 V

Mating Connector:

AMP/Tyco #172165-1, 2-pin Mini-Universal Mate-N-Lock

AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok

Pin 1

Pin 2

User-supplied normally-closed contact.

Can be connected to a break-away sensor

to cause an E-Stop condition when circuit

is open.

Note: This function is disabled by default - it must

be enabled in software.

Typical ESTOP

Connector Circuit

1 2 ... 73 74 75 76 77 78 79 80 81 82 83 ... 109 110

Sem comentários

Adept technology Adept XUSR Guia do Utilizador Página 78