Chapter 5: System Cable Installation
The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors on the eMB-40R XSYSTEM cable. The XUSR connector (25-pin) and
XFP (15-pin) connector are both female D-sub connectors. Refer to the following table for the
XUSR pin-out descriptions. See "Contacts Provided by the XFP Connector" for the XFP pin-out
descriptions. See the figure System Cable Installation on page 51 for the XUSR wiring diagram.
Table 5-17. Contacts Provided by the XUSR Connector
Pin
Pairs
Description
Comments
Voltage-Free Contacts Provided by Customer
1, 14
User E-Stop CH 1 (mushroom
push-button, safety gates, etc.)
N/C contacts, Shorted if NOT Used
2, 15
User E-Stop CH 2 (same as pins
1, 14)
N/C contacts, Shorted if NOT Used
3, 16
Line E-Stop (used for other robot or
assembly line E-Stop inter-
connection. Does not affect E-Stop
indication (pins 7, 20))
N/C contacts, Shorted if NOT Used
4, 17
Line E-Stop (same as pins 3, 16)
N/C contacts, Shorted if NOT Used
5, 18
Muted Safety Gate CH 1 (causes E-
Stop in Automatic mode only)
N/C contacts, Shorted if NOT Used
6, 19
Muted Safety Gate CH 2 (same as
pins 5, 18)
N/C contacts, Shorted if NOT Used
Voltage-Free Contacts provided by Cobra 350
7, 20
E-Stop indication CH 1
Contacts are closed when Front Panel,
pendant, and customer E-Stops are
not
tripped
8, 21
E-Stop indication CH 2 (same as
pins 7, 20)
Contacts are closed when Front Panel,
pendant, and customer E-Stops are
not
tripped
9, 22
Manual/Automatic indication CH 1 Contacts are closed in Automatic mode
10, 23
Manual/Automatic indication CH 2 Contacts are closed in Automatic mode
11, 12,
13, 24,
25
No connection
05624-000 Rev. K
Cobra 350 User's Guide
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