48
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
Remote Manual Mode
The Front Panel provides for a Manual Mode circuit.
Additional Information
: Refer to Remote High Power ON / OFF Control on page
48 for further details about the user Remote Manual Mode circuitry.
You must incorporate either the Front Panel, or a user-supplied panel into the robot workcell
circuitry to provide a single point of control (the pendant) when the controller is placed in
Manual mode.
You may need to turn OFF certain workcell devices, such as PLCs or conveyors, when the oper-
ating mode switch is set to Manual mode. This is to ensure that the robot controller does not
receive commands from devices other than from the pendant (the single point of control in
this case).
Controlling the Manual / Automatic mode selection from other control equipment might
require a custom splitter cable or complete replacement of the Front Panel. Refer to the Front
Panel Schematic on page 38. In this situation, connect a pair of contacts in series with the
Front Panel Manual / Automatic mode contacts. Both the Front Panel and the user contacts
need to be closed to allow Automatic mode.
!
WARNING: PERSONAL INJURY RISK
Do not connect user-supplied Manual / Automatic contacts in parallel with the
Front Panel switch contact. This would violate the single point of control prin-
ciple and might allow Automatic (high-speed) mode to be selected while an
operator is in the cell.
User Manual/Auto Indication
Two pairs of pins on the XUSR connector provide a voltage-free
contact to indicate whether the Front Panel and/or remote Manual / Automatic switches are
closed. Refer to item K in Figure 3-5. You can use these contacts to control other mechanisms
(for example, conveyor, linear modules, etc.) when Manual mode is selected.
IMPORTANT:
The load on the contacts should not exceed 40 VDC or 30 VAC at
a maximum of 1 A.
!
WARNING: PERSONAL INJURY HAZARD
If you suspended any safeguards, you must return them to full functionality
before selecting Automatic Mode.
Remote High Power ON / OFF Control
There are two methods to provide high power ON / OFF control in a remote location as
described below.
!
DANGER:
A High Power push-button must be installed outside of the robot's
workspace.
