Chapter 4: System Installation 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 Customer Service 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 EN ISO 13849 operation (see Figure 4-11. and the table System Installation on page 35 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 or other equipment emergency-stop inputs.
Generally, the customer E-Stop Indication contact out- puts 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 59 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 the section System Installation on page 35).
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. CAUTION: If you want the cell gate to always cause a robot shut- down, wire the gate switch contacts in series with the user E-Stop inputs. Do not wire the gate switch into the muted safety gate inputs. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 61 of 156