adept technology MV, User Manual

Page: 105 / 404

Chapter 5 Connecting Customer-Supplied Safety and Power Control Equipment to the CIP
104 Adept MV Controller User’s Guide, Rev. B
Remote Sensing of CIP, MCP, and User Emergency Stop Push Button
Switches
A method has been provided to indicate the status of the ESTOP chain, inclusive
of the CIP Emergency Stop push button, the MCP Emergency Stop push button,
and the User Emergency Stop Contacts.
These contacts do not indicate the status of any contacts
below the User E-stop contacts. Thus, they will not indicate the
MCP ENABLE contacts or the Manual Mode Teach Restrict Sensor
contacts.
Two pairs of pins on the JUSER connector (pins 7, 25 and 8, 26) provide
voltage-free contacts, one for each channel, to indicate whether the ESTOP chain,
as described above, on that channel is closed. Both switches are closed on each of
the redundant circuits in normal condition (no ESTOP). The user may use these
contacts to generate an E-stop for other equipment in the workcell. The load on
the contacts should not exceed 40VDC or 30VAC at a maximum of 1A.
These voltage-free contacts are provided by a redundant, cyclically checked,
positive-drive, safety relay circuit for EN-954-1 Category 3 operation (see
'
(
,
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, and
94%(
for the customer E-stop circuitry).
Muted Safety Gate E-Stop Circuitry
Two pairs of pins on the
2&',-
connector (pins 13, 32 and 14, 33) provide
connections for a safety gate designed to yield an E-stop allowing access to the
workspace of the robot in
./&0
mode only, not in Automatic Mode. The
E-stop is said to be “muted” in
./&0
mode (see
' (
,
' (
,
94%
(
, and
94%(
for the customer E-stop circuitry).
The muted capability is useful for the situation where a shutdown must occur if
the cell gate is opened in normal production mode but you need to open the gate
in manual mode. In muted mode, the gate can be left open for personnel to work
in the robot cell. However, safety is maintained because of the speed restriction
and the added sensors of the Manual Mode Safety Package.
If the cell gate must always cause a robot shutdown, do
not wire the gate switch into the muted safety gate inputs. Instead,
wire the gate switch contacts in series with the User E-stop inputs.
JSIO E-Stop Circuitry
Six pins provide two single-channel E-stop inputs and a single-channel output.
The output relay contact, Passive E-stop Output, is different from the emergency
stop outputs described above. This contact closes only when High Power is on,
not when the emergency stop circuit is closed.
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