Adept s800 s800 - Manual (Page 82)

Chapter 6: Optional Equipment Installation
Internal User Connector Output Specifications
The output specifications in the following table apply to the EOAPWR, OP3/4, and SOLND
internal user connectors.
Table 6-4. Internal User Connector Output Circuit Specifications
Parameter Value
Power supply voltage range See Table 3-2
Operational current range, per
channel I
out
≤
700 mA
Total Current Limitation, all
channels on
a
I
total
≤
1.0 A @ 50° C ambient
I
total
≤
1.5 A @ 25° C ambient
On state resistance (I
out
= 0.5 A) R
on
≤
0.32
Ω
@ 85
°
C
Output leakage current I
out
≤
25 µA
Turn-on response time 125 µsec. max., 80 µsec typical
(hardware only)
Turn-off response time 60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load
turnoff (I
out
= 0.5 A, Load = 1 mH)
(+V - 65)
≤
V
demag
≤
(+V - 45)
DC short circuit current limit 0.7 A
≤
I
LIM
≤
2.5 A
Peak short circuit current I
ovpk
≤
4 A
a
NOTE: Total current is the sum of the output current used by output
signals 3001-3004 (SOLND and OP3/4) and any user current drawn from
EOAPWR.
ESTOP Connector
The Break-away E-Stop function is provided to enable a high power shutdown from the outer
link area. For example, it would be used if you want a break-away gripper to shut down robot
high power. It lets you disable high power through a user relay circuit inside the robot.
The 2-pin ESTOP connector provides a pair of contacts that can be used for a Break-away E-
Stop function at the end of the arm. See the following table. The function is disabled by default
when the system is shipped. The user must enable this function using the Adept ACE software
(see below), and connect a normally-closed circuit to Pins 1 and 2. When the circuit is opened,
the system will stop in an E-Stop condition. See the following table and figure.
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
Page 82 of 142