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Wiring the System
Connecting Equipment to the System
The connection of the customer-supplied safety and power control equipment to the
system is done through the XUSR and XFP connectors on the PLC Server. The XUSR
connector (25-pin) and XFP (15-pin) connector are both female D-sub connectors located
on the front panel of the PLC Server. Refer to Table 4-9 for the XUSR pin-out explanations.
Refer to Table 4-10 on page 61 for the XFP pin-out explanations. See Figure 4-13 on page
62 for the XUSR wiring diagram.
Table 4-9. Contacts Provided by the XUSR Connector
Pin
Pairs
Description
Comments
Shorted if
NOT Used
Voltage-Free Contacts Provided by Customer
1, 14
User E-Stop CH 1 (mushroom PB,
safety gates, etc.).
N/C contacts
Yes
2,15
User E-Stop CH 2 (same as pins 1
and 14).
N/C contacts
Yes
3,16
Line E-Stop (used for other robot or
assembly line E-Stop
interconnection. Does not affect
E-Stop indication (pins 7, 20.))
N/C contacts
Yes
4,17
Line E-Stop (Same as pins 3 and 16.
See above <strong>com</strong>ment.)
N/C contacts
Yes
5,18
Muted safety gate CH 1 (causes
E-stop in AUTOMATIC mode only).
N/C contacts
Yes
6,19
Muted Safety Gate CH 2 (same as
pins 5 and 18).
N/C contacts
Yes
Voltage-Free Contacts provided by <strong>Adept</strong>
7,20
8,21
9,22
10,23
11,12,
13,24,25
E-Stop indication CH 1.
E-stop indication CH 2 (same as pins
7 and 20.
MANUAL/AUTO indication CH 1
MANUAL/AUTO indication CH 2
No connection
Contacts are closed when
Front Panel, MCP, and
customer E-Stops are not
tripped
Contacts are closed when
Front Panel, MCP, and
customer E-stops are not
tripped
Contacts are closed in
AUTOMATIC mode
Contacts are closed in
AUTOMATIC mode
60 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B