Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

Chapter 6 - Optional Equipment Installation
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 6-7.
Table 6-5. ESTOP Connector
Pin # Description Pin Location
1 ESTOP_INPUT
2 24V
1
2
Mating Connector:
AMP/Tyco #172165-1, 2-pin Mini-Universal Mate-N-Lock
AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
ESTOP Connector
as viewed on robot
Pin 1
Pin 2
Typical ESTOP
Connector Circuit
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.
Figure 6-7. 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.
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.”
5. In the next window, enter Y to the prompt, “Do you wish to modify servo
options?”
6. In the next window, enter Y to the prompt, “Bit 1 clear. Change it (Y/N)?”
72 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C