Chapter 4: System Installation 4.9 Hornet 565 Robot User's Guide, 14608-000 Rev C Page 55 of 156 If frame is painted under screw head. Use ring terminal and run the other M12 Screw end to an unpainted part of the frame. If frame is unpainted under screw head. External-tooth Use star washer, but not ring terminal. star washer Frame Robot Base Both screws and star washers must be electrically conductive (stainless or zinc- plated steel) Figure 4-10. Any of the Three M12 Mounting Screws can be used for Grounding. stalling User-Supplied Safety Equipment The user is responsible for installing safety barriers to protect personnel from coming in con- tact with the robot unintentionally.
Depending on the design of the workcell, safety gates, light curtains, and emergency stop devices can be used to create a safe environment. Read the Robot Safety Guide for a discussion of safety issues. Refer to the SmartController EX User's Guide for information on connecting safety equipment into the system through the XUSR connector on the optional SmartController, details on Emer- gency Stop Circuits, and diagrams on recommended E-Stop configurations. The user-supplied safety and power-control equipment connects to the system through the XUSR and XFP connectors, either on the eAIB XSYSTEM cable or the optional SmartController EX.
The XUSR connector (25-pin) and XFP (15-pin) connector are both female D-sub con- nectors. Refer to the following table for the XUSR pin-out descriptions. See Table 4-7. for the XFP pin-out descriptions. See the figure E-Stop Circuit on XUSR and XFP Connectors on page 59 for the XUSR wiring diagram. Table 4-6. Contacts Provided by the XUSR Connector Pin Pairs Description Comments Voltage-Free Contacts Provided by Customer 1, 14 User E-Stop CH 1 (mushroom push- button, safety gates, etc.) N/C contacts, Shorted if NOT Used 2, 15 User E-Stop CH 2 (same as pins N/C contacts, Shorted if NOT Used