Chapter 4: Operation 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. Remote Manual Mode The Front Panel provides for a Manual Mode circuit. See Remote High Power On/Off Control on page 39 and your robot manual for further details about the customer Remote Manual Mode circuitry. The Front Panel, or the user-supplied panel, must be incorporated into the robot workcell to provide a “Single Point of Control” (the pendant) when the controller is placed in Manual mode.
Certain workcell devices, such as PLCs or conveyors, may need to be turned off when the operating 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 con- trol. If the user needs to control the Manual/Automatic mode selection from other control equip- ment, then a custom splitter cable or complete replacement of the standard Front Panel may be required. See Front Panel Schematic on page 37. In this situation, a pair of contacts should be wired in series with the Front Panel Manual/Automatic mode contacts.
Thus, both the Front Panel and the customer contacts need to be closed to allow Automatic mode. WARNING: Do not wire user-supplied Manual/Automatic contacts in parallel with the factory Front Panel switch contact. This would violate the “Single Point of Control” principle and might allow Auto- matic (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 (pins 9, 22 and 10, 23) provide a voltage-free contact to indicate whether the Front Panel and/or remote Manual/Automatic switches are closed.
The user may use these contacts to control other mechanisms (for example, conveyor, linear modules, etc.) when Manual mode is selected. The load on the contacts should not exceed 40 VDC or 30 VAC at a maximum of 1 A. User High Power On Indication In the SmartController EX motion controller, eV+ controls a normally-open relay contact on the XDIO connector (pins 45, 46, see the table XDIO Digital I/O Connector Pin Assignments on page 46), that will close when high power has been enabled. The user can use this feature to power an indicator lamp or other device, that signals High Power is On. The limit on these contacts is 1 A at 30 VDC or 30 VAC.
Remote High Power On/Off Control The easiest and most effective way to provide the high power on/off control in a remote loc- ation is to mount the Front Panel in the desired location with an extension cable. However, if the user needs to control high power on/off from other control equipment or from a location other than the Front Panel, then a custom splitter cable will be required. See the Front Panel schematic (Front Panel Schematic on page 37) for details of the Front Panel’s SmartController EX User’s Guide, 11069-000 Rev. F Page 39 of 92