Brooks Automation
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
Hardware Reference
Copyright © 2022, Brooks Automation, Inc.
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available. The Manual Control Pendants can be plugged directly into the 9 pin Dsub connector mounted
on the robot's Facilities Panel in the base of the robot.
The robot is shipped with a jumper plug in the 9 pin Dsub connector that satisfy these
requirements. Unlike the Digital IO circuits, the E-Stop circuit cannot be configured as “Sourcing” or
“Sinking”. If a remote signal (for example from a PLC) is used to trigger E-Stop, it should be wired to a
relay that closes the E-Stop circuits.
MCP / E-Stop Interface
The MCP interface includes the signals necessary to connect a Manual Control Pendant, or E-Stop box.
These signals are provided in a DB9 female connector mounted on the robot’s Facilities Panel.
If a Manual Control Pendant is not connected to the secondary RS-232 port provided in this connector,
this serial interface can be accessed via a GPL procedure as device "/dev/com2" for general
communications purposes. Please note that unlike the primary serial interface, THIS SECONDARY
SERIAL INTERFACE DOES NOT SUPPORT FLOW CONTROL.
Pin
Description
1
ESTOP_L1
2
ESTOP_L2
3
RS232 RXD (Com 2)
4
24VDC
5
NC
6
FORCE ESTOP_L1 (Toggles ESTOP Low at Start Up, Then High)
7
FORCE ESTOP_L2 (Toggles ESTOP Low at Start Up, Then High)
8
RS232 (Com2)
9
Gnd
Interface Panel
Connector Part No
DB9 Female Connector AMP 5747150-7
User Plug Part No
DB9 Male Plug Amp 1658655-1 (crimp) Pins 22-26AWG 745254-6
15 Pin D-Sub Signals
Pin
Description
1
24VDC
2
48VDC
3
GND
