Chapter 4: Operation
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.
!
CAUTION:
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.
Remote Manual Mode
The Front Panel provides for a Manual Mode circuit. See Remote High Power ON / OFF Con-
trol on page 43 and your robot manual for further details about the customer Remote Manual
Mode circuitry.
The Front Panel, or the user-supplied panel, must be incorporated into the robot workcell to
provide a “Single Point of Control” (the pendant) when the controller is placed in Manual
mode. Certain workcell devices, such as PLCs or conveyors, may need to be turned off when
the operating mode switch is set to Manual mode. This is to ensure that the robot controller
does not receive commands from devices other than from the pendant, the single point of con-
trol.
If the user needs to control the Manual / Automatic mode selection from other control equip-
ment, then a custom splitter cable or complete replacement of the standard Front Panel may be
required. See Front Panel Schematic on page 41. In this situation, a pair of contacts should be
wired
in series
with the Front Panel Manual / Automatic mode contacts. Thus, both the Front
Panel and the customer contacts need to be closed to allow Automatic mode.
!
WARNING:
Do not wire user-supplied Manual / Automatic contacts in par-
allel with the factory Front Panel switch contact. This would violate the “Single
Point of Control” principle and might allow Automatic (high-speed) mode to
be selected while an operator is in the cell.
User Manual / Auto Indication
Two pairs of pins on the XUSR connector (pins 9, 22 and 10, 23) provide a voltage-free
contact to indicate whether the Front Panel and / or remote Manual / Automatic switches are
closed. The user may use these contacts to control other mechanisms (for example, conveyor,
linear modules, etc.) when Manual mode is selected. The load on the contacts should not
exceed 40 VDC or 30 VAC at a maximum of 1 A.
User High Power On Indication
In the SmartController EX motion controller, eV+ controls a normally-open relay contact on the
XDIO connector (pins 45, 46, see the table XDIO Digital I/O Connector Pin Assignments on
page 50), that will close when high power has been enabled. The user can use this feature to
power an indicator lamp or other device, that signals High Power is On. The limit on these
contacts is 1 A at 30 VDC or 30 VAC.
Remote High Power ON / OFF Control
The easiest and most effective way to provide the high power ON / OFF control in a remote loc-
ation is to mount the Front Panel in the desired location with an extension cable.
11069-000 Rev. H
SmartController EX User's Guide
43
