84
Cobra 350 User's Guide
05624-000 Rev. K
5.12 Installing User-Supplied Safety Equipment
!
WARNING:
PERSONAL INJURY RISK
Whenever possible, manual mode operations should be performed with all per-
sonnel outside the workspace.
!
WARNING:
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.
Remote Manual Mode
The Front Panel provides for a Manual Mode circuit. See Remote High Power On/Off Control
on page 85 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 the pendant, the single point of control.
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 Front Panel may be required.
See Front Panel Schematic on page 82. 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:
PERSONAL INJURY RISK
Do not wire user-supplied Manual/Automatic contacts in parallel with the
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.
!
WARNING:
PERSONAL INJURY RISK
Return any suspended safeguards to full functionality prior to selecting Auto-
matic Mode.
