Chapter 5: System Cable Installation
User E-Stop Indication Contacts - Remote Sensing of E-Stop
These contacts provide a method to indicate the status of the ESTOP chain, inclusive of the
Front Panel Emergency Stop push-button, the pendant Emergency Stop push-button, and the
User Emergency Stop Contacts.
NOTE:
These contacts do not indicate the status of any connections below the
User E-Stop contacts. Thus, they will NOT indicate the status of the Line E-Stop,
MCP ENABLE, or the Muted Safety gate. If you have a specific need in this area,
contact your local Omron support for information on alternate indicating modes.
Two pairs of pins on the XUSR connector (pins 7, 20 and 8, 21) provide voltage-free contacts,
one for each channel, to indicate whether the E-Stop chain, as described above, on that channel
is closed. Both switches are closed on each of the redundant circuits in normal operation (no
E-Stop). The user may use these contacts to generate an E-Stop for other equipment in the work-
cell. The load on the contacts must not exceed 40 VDC or 30 VAC at a maximum of 1 A.
These voltage-free contacts are provided by a redundant, cyclically-checked, positive-drive,
safety relay circuit for Category 3 PL-d per ISO 13849 operation (see Table 5-17. and the table
Contacts Provided by the XFP Connector on page 78 for the customer E-Stop circuitry).
Line E-Stop Input
The XUSR connector on the controller contains a two-channel Line E-Stop input for workcell,
production line, or other equipment emergency-stop inputs. Generally, the customer E-Stop
Indication contact outputs are used to generate an emergency stop in such external equipment.
Thus, if one were to wire the same equipment’s outputs into the customer E-Stop input (that is,
in series with the local robot’s E-Stop push-buttons), a lock-up situation could occur.
The Line E-Stop input comes into the circuit at a point where it cannot affect the customer E-
Stop indication relays and will not cause such a lock-up situation. For any situation where two
systems should be cross-coupled, for example, the customer E-Stop indication of one controller
is to be connected to the input of another controller, the Line E-Stop input is the point to bring
in the other controller’s output contacts. See the figure E-Stop Circuit on XUSR and XFP Con-
nectors on page 80 for more information.
Do not use the Line E-Stop for such devices as local E-Stop push-buttons, since their status
should be reported to the outside on the local user E-Stop indication output contact while the
Line E-Stop inputs will not.
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. It is up to the customer to determine if teaching
the robot in Manual Mode, by a skilled programmer (See Qualification of Personnel in the
Robot Safety Guide
), wearing safety equipment and carrying a pendant, is allowable under local
regulations. The E-Stop is said to be “muted” in Manual mode (for the customer E-Stop cir-
cuitry, see the figures and tables at the beginning of this section).
The muted capability is useful for a 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.
05624-000 Rev. K
Cobra 350 User's Guide
83
