Specifications

Emergency Stop Circuit
Adept MV Controller User’s Guide, Rev C 93
7.7 Emergency Stop Circuit
NOTE:
This section applies to systems that do not include the Manual
Mode Safety Package (MMSP) option. For systems that do include the
MMSP, refer to the AdeptOne-MV/AdeptThree-MV Robot Instruction
Handbook for complete information on E-stop circuits.
The Emergency Stop (E-Stop) circuit should be used by the customer to include safety
devices in the design of a workcell. Examples are light curtains, safety gates, and pressure-
sensitive mats that would open the E-Stop circuit and shut down High Power when
activated. Make sure sufficient E-Stop switches are provided in the workcell, so they can
be easily reached in an emergency.
See Figure 7-5 for details of the E-Stop circuits and Table 7-6 for the signal assignments for
the terminal block on the VFP-1.
External E-Stop Input
Pins 42 and 44 on the Digital I/O connector on the SIO module must be connected
through a user-provided normally-closed (NC) safety circuit. Multiple external
emergency stop switches can be connected in series. The E-Stop circuit should also be
used to monitor other safety-critical items, including but not limited to, safety barriers and
encoder power supplies. Pins 41 and 43 also comprise part of the E-Stop circuit – for most
applications, connect pin 41 to pin 43. For AdeptMotion VME users, see the AdeptMotion
VME Developer’s Guide for additional information on the E-stop circuits.
Passive E-Stop Output
The passive E-Stop output from the SIO module is a vital part of your safety system. This
output consists of a normally-open, voltage-free, relay contact. It is controlled by signals
received from the external E-Stop devices and the MCP and Front Panel E-Stops.
The passive E-Stop output uses only electro-mechanical relays to monitor the E-Stop
circuits. Many safety codes do not permit electronic control of E-Stop signals, therefore the
passive E-Stop output is often required to ensure that the user's equipment is shut down if
the E-Stop circuit is activated.
The passive E-stop output should also be used to control any other user devices in the
workcell that need to be stopped in an Emergency. Such devices might include other
moving equipment such as conveyor belts, indexing or transfer devices, pneumatic
systems, etc.
The passive E-Stop output is rated at 10 VA, for example 0.8A at 12Vdc or 0.4A at 24 Vdc.
This rating must not be exceeded. The specifications for the relay in the passive E-Stop
circuit are:
• maximum switching power = 10 VA (volt amps)
• maximum switching voltage = 100 Volts DC, 70 Volts AC rms
• maximum switching current = 0.5 Amps DC, 0.3 Amps AC rms
CAUTION:
The power through the relay must not exceed 10 VA.
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