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Chapter 5 - System Operation
Muted Safety Gate E-Stop Circuitry
Two pairs of pins on the XUSR connector (pins 5, 18 and 6, 19) provide connections for a
safety gate designed to yield an E-Stop allowing access to the workspace of the robot in
Manual mode only, not in Automatic mode. The E-Stop is said to be “muted” in Manual
mode (see Figure 5-7 on page 62, Table 5-7 on page 59, Table 5-8 on page 60, and
Table 5-9 on page 61 for the customer E-Stop circuitry).
The muted capability is useful for the situation where a shutdown must occur if the cell
gate is opened in Automatic mode, but you need to open the gate in Manual mode. If the
mute gate is opened in Automatic mode, the robot defaults to Manual mode operation
when power is re-enabled. In muted mode, the gate can be left open for personnel to work
in the robot cell. However, safety is maintained because of the speed restriction.
CAUTION: If the cell gate must always cause a robot
shutdown, do not wire the gate switch into the muted
safety gate inputs. Instead, wire the gate switch contacts in
series with the user E-Stop inputs.
Remote Manual Mode
If the user needs to control the Manual/Automatic mode selection from other control
equipment, then a custom splitter cable or <strong>com</strong>plete replacement of the <strong>Adept</strong> Front Panel
may be required. See Figure 5-8 on page 63 for the Front Panel schematic. In this situation,
a pair of contacts should be wired in series with the <strong>Adept</strong> Front Panel Manual/Automatic
mode contacts. Thus, both the <strong>Adept</strong> Front Panel and the customer contacts need to be
closed to allow Automatic mode.
WARNING: Do not wire customer-supplied
Manual/Automatic contacts in parallel with the <strong>Adept</strong>
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.
64 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B