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Chapter 5 - System Operation
<strong>Cobra</strong> <strong>i600</strong>/i800
Internal Circuits Front Panel and MCP Circuits User-Supplied Circuits
ESTOPGND
(Channel 2)
XFP-2 (XPANEL-10)
ESTOPSRC (Channel 1)
XFP-1 (XPANEL-1)
XFP-9 (XPANEL-2)
XFP-10 (XPANEL-11)
Front Panel
ESTOP
Pushbutton
NOTE: The “Line E-Stop” and
“User Manual/Auto Indication”
functions of the XUSR connector
are not supported on the
<strong>Cobra</strong> <strong>i600</strong>/i800 robots.
XMCP-2 (XPANEL-15)
XMCP-1
(XPANEL-6)
MCP ESTOP
Pushbutton
User E-Stop and Gate Interlock
(Jumper closed when not used,
MUST open both channels
independently if used.)
XUSR-2
XUSR-1
XMCP-4 (XPANEL-17)
XUSR-14 (XPANEL-7)
XMCP-3 (XPANEL-8)
XUSR-15 (XPANEL-16)
XMCP-11 (XPANEL-9)
MCP-4
3-Position
Enable Switch
XMCP-12 (XPANEL-18)
XFP-4 (XPANEL-12)
Manual Mode
Path
XFP-3 (XPANEL-3)
Front Panel
Manual/Auto
Keyswitch
XUSR-6
Muted Safety Gate -
Active in Auto mode only
(Jumper closed when
not used.)
Auto Mode
Path
XUSR-5
XFP-6 (XPANEL-19)
Front Panel
High Power ON/OFF
XUSR-18
(XPANEL-4)
Force-<strong>Guide</strong>d Relay
Cyclic Check
Control Circuit
XFP-5 (XPANEL-5)
XFP-13 (XPANEL-21)
6V, 1.2 W
bulb
XUSR-19
(XPANEL-13)
XFP-14 (XPANEL-20)
Single-Phase
AC Input
200-240VAC
High Power to
Amplifiers
Force-<strong>Guide</strong>d
Relay
Force-<strong>Guide</strong>d
Relay
Figure 5-7. <strong>Cobra</strong> <strong>i600</strong>/i800 E-Stop Circuit Connections
62 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B