Specifications

Connecting Customer-Supplied Safety and Power-Control Equipment
Adept SmartController User’s Guide, Rev. H 55
User E-Stop Indication - Remote Sensing of E-Stop
A method has been provided to indicate the status of the ESTOP chain, inclusive of the
Front Panel Emergency Stop push-button, the pendant Emergency Stop push-button, and
the User Emergency Stop Contacts. 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 Adept 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 condition (no E-Stop). The user may use these contacts to generate an E-Stop for
other equipment in the workcell. 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 EN-954-1 Category 3 operation (see Figure 3-4 on
page 53 and Table 3-7 on page 49 for the customer E-Stop circuitry).
Line E-Stop Input
The XUSR connector on the SmartController contains a two-channel Line E-Stop input for
workcell or other equipment emergency-stop inputs. Generally, the customer E-Stop
Indication contact outputs are used to cause 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 can 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 SmartController is to be connected to the input of another
SmartController, the Line E-Stop input is the point to bring in the other SmartController’s
output contacts. See Figure 3-4 on page 53 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 customer 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. The E-Stop is said to be “muted” in Manual
mode (see Figure 3-4 on page 53, Table 3-7 on page 49, Table 3-8 on page 51, and
Table 3-9 on page 52 for the customer E-Stop circuitry).
The muted capability is useful for the situation where a shutdown must occur if the cell
gate is opened in normal production mode, but you need to open the gate in manual
mode. 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.
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