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Chapter 6 - Optional Equipment Installation
76 Adept Cobra s800 Inverted Robot User’s Guide, Rev C
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 6-5 . 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 6-8 .
Table 6-4. Internal User Connector Output Circuit Specifications
Parameter Value
Power supply voltage range See Table 4-2 on page 45 .
Operational current range, per
channel I
out
≤
700 mA
Total Current Limitation, all channels
on
a
a
Note: Total current is the sum of the output current used by output
signals 3001-3004 (SOLND and OP3/4) and any user current drawn
from EOAPWR.
I
total
≤
1.0 A @ 50° C ambient
I
total
≤
1.5 A @ 25° C ambient
On state resistance (I
out
= 0.5 A) R
on
≤
0.32
Ω
@ 85
°
C
Output leakage current I
out
≤
25 µA
Turn on response time 125 µsec. max., 80 µsec typical
(hardware only)
Turn off response time 60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load
turnoff (I
out
= 0.5 A, Load = 1 mH)
(+V - 65)
≤
V
demag
≤
(+V - 45)
DC short circuit current limit 0.7 A
≤
I
LIM
≤
2.5 A
Peak short circuit current I
ovpk
≤
4 A
Table 6-5. 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