adept technology Cobra s600, Руководство пользователя

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Chapter 7 - Optional Equipment Installation
88 Adept Cobra s600/s800 Robot User’s Guide, Rev H
ESTOP Connector
This 2-pin connector provides a pair of contacts that can be used for a Breakaway E-Stop
function at the end of the arm. See
Table 7-5 . The function is disabled by default when the
system is shipped. The user must enable this function using the SPEC program (see
below), and connect a normally-closed circuit to Pins 1 and 2. When the circuit is opened,
the system will stop in an E-Stop condition. See
Figure 7-7 .
Figure 7-7. Internal E-Stop Connector Circuit
NOTE:
This circuit will trigger an emergency stop of the local robot only.
It does not link to the E-Stop chain of the host SmartController.
Procedure to Enable Breakaway E-Stop Function
To enable the Breakaway E-Stop function, you have to use the SPEC utility to change the
default configuration.
1. At the V+ prompt, type:
load \util\spec
When the program has finished loading, type:
ex 1 a.spec
2. In the opening window, select “Edit robot specifications.”
3. In the next window, select “Edit robot initialization specs.”
4. In the next window, select “Edit servo option word.”
Table 7-5. ESTOP Connector
Pin # Description Pin Location
1 ESTOP_INPUT
ESTOP Connector
as viewed on robot
2 24 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
1
2
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