Chapter 3: Robot Installation
Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21, Figure 3-7. ) provide voltage-
free contacts, one for each channel, to indicate whether the E-Stop chain on that channel, as
described above, is closed. In normal operation (no E-Stop), both switches are closed on each
redundant circuit. You can use these contacts to generate an E-Stop for other equipment in the
workcell. The load on the contacts must not exceed 40 VDC or 30 VAC at a maximum of 1 A.
NOTE:
Per ISO 13849 operation, a redundant, cyclically-checked, positive-drive
safety relay circuit for Category 3 PL-d provides these voltage-free circuits (refer
to Figure 3-7. and Figure 3-6. for the user E-Stop circuitry).
Line E-Stop Input (KEY: J)
The XUSR connector on the controller contains a two-channel Line E-Stop input for workcell,
production line, or other equipment emergency-stop inputs. Refer to item J in Figure 3-7.
Generally, the user E-Stop Indication contact outputs are used to generate an emergency stop
in such external equipment. A lock-up could occur if you were to wire the same equipment’s
outputs into the user E-Stop input (that is, in series with the local robot’s E-Stop push-buttons).
The Line E-Stop input comes into the circuit at a point where it cannot affect the user 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 user E-Stop
indication of one controller is to be connected to the input of another controller, the Line E-Stop
input is the point to connect the other controller’s output contacts. See Figure 3-7. for more
information.
IMPORTANT:
Do not use the Line E-Stop for devices such as local E-Stop push-
buttons. 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 provide connections for a safety gate, allowing
access to the workspace of the robot in Manual mode only. Refer to items M and L in Figure 3-
7. .
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.
However, safety is maintained because of the speed restriction.
IMPORTANT:
It is up to the user to determine if teaching the robot in Manual
Mode by qualified personnel, wearing safety equipment, and carrying a pendant,
is allowable under local regulations. The E-Stop functionality can be muted in
Manual mode and careful consideration should be taken accordingly. Refer to
the
Robot Safety Guide (Cat. No. I590)
for more information.
!
CAUTION: PERSONAL INJURY RISK
If you want the cell gate to always cause a robot shutdown, wire the gate
switch contacts in series with the user E-Stop inputs. Do not wire the gate
switch into the muted safety gate inputs.
24402-000 Rev B
eCobra 600 and 800 Robots with EtherCAT
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