46
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
Key
Meaning
Key
Meaning
A
ESTOP 24 VDC Source
K
Auto/Manual Output
B
Bulb, 6 V, 1.2 W
L
T20 Pendant Enable
C
Front Panel High Power
ON/OFF
M
Muted Safety Gate - Active in Auto mode
only (Jumper closed when not used)
D
Front Panel E-Stop Pushbutton
N
Manual Mode Path
E
T20 ESTOP Pushbutton
O
Auto Mode Path
F
Front Panel Auto/Manual Key-
switch
P
Force-Guided Relay Cycle Check Control
Circuit
G
E-Stop Ground
Q
User E-Stop Output
H
User E-Stop and Gate Interlock
NOTE:
Jumper closed when not used; MUST open both channels inde-
pendently if used.
I
Coil
R
Single-Phase AC Input, 200-240 VAC
J
LINE E-Stop (External User E-
Stop System)
S
High Power to Amplifiers (Internal Con-
nections)
Emergency Stop Circuits
The information in this section describes emergency stop circuits used with the robot system.
NOTE:
All pin numbers in this section correspond to the wiring diagram
shown in Figure 3-5.
The XSYSTEM cable provides connections for Emergency Stop (E-Stop) circuits on the XUSR
and XFP connectors. This means the controller system can duplicate E-Stop functionality from
a remote location using voltage-free contacts. Refer to E-Stop Circuits on XUSR and XFP Con-
nectors on page 45.
The XUSR connector provides external two-channel E-Stop input on pin pairs 1, 14 and 2, 15.
The XFP connector provides two-channel E-Stop input on pin pairs 1, 9 and 2, 10.
NOTE:
Short these pins if not used. If used, both channels must open inde-
pendently. Although an Emergency Stop will occur, the controller will flag an
error state if one channel is jumpered closed and the other channel is opened. It
will also flag an error state if the channels are shorted together.
User E-Stop Indication Contacts - Remote Sensing of E-Stop
These contacts provide a method to indicate the status of the ESTOP chain, including the Front
Panel Emergency Stop push-button, the pendant Emergency Stop push-button, and the User
Emergency Stop Contacts. Refer to items D, E, H, J, and Q in Figure 3-5.
NOTE:
These contacts do not indicate the status of any connections below the
User E-Stop contacts, so they will not indicate the status of the Line E-Stop, MCP
ENABLE, or the Muted Safety gate. If you have a specific need for this function,
