Adept EX SmartContoller - Manual (Page 40)

Chapter 3: Operation
The following figure shows an E-Stop diagram for the Adept SmartController EX motion con-
troller. See Introduction on page 9 for a description of the functionality of this circuit.
Logic cyclic
check state
machines
Channel 1
Channel 2
ES1 ES2
Internal Connections User Supplied Connections F M
Front Panel
E-Stop
E-Stop
Enable
Pendant
E-Stop
Channel 1
ESTOPSRC Channel 2
User E-Stop Indication
User E-Stop and
Gate Interlock
(Jumper closed when
not used, MUST open
both channels
independently if used)
ESTOPSRC
ES1 ES2
ES2
ES1
User Manual / Auto Indication
(Manual = Open)
Pendant
Enable
Switch
Manual/Auto
Enable
MM1
MM1
MM2
MM2
XUSER-22
XUSER-23
XUSER-10
XUSER-9
XUSER-17
XUSER-16
XUSER-3
XUSER-4
XUSER-20
XUSER-21
XUSER-8
XUSER-7
XUSER-15
XUSER-14
XUSER-1
XUSER-2
XFP-1
XFP-9
XFP-2
XFP-10
XUSER-6
XUSER-5
XUSER-18
XUSER-19
XSYS-9
XSYS-1
XSYS-7
XSYS-6
XSYS-3
XSYS-2
XSYS-5
Muted Safety Gate
- Active in auto mode
only
(Jumper closed when
not used)
ESTOPSRC
Auto 2
Auto 1
Manual 2
Manual 1
High Power Request
I limit = 1.4 A
Connections at Adept Robot or Module system
(No user connections)
24 V
Lamp Control Circuit
with burnout detection
Front Panel High
Power
On / Off
XFP-5 XFP-6
XFP-13 XFP-14
eV+ High
Power request
24 V
Front Panel
MM1
XFP-3 XFP-4
XFP-11 XFP-12
MM2
Manual/Auto Keyswitch
- Manual = Open (|)
- Manual => (<250 mm/s)
- Auto => 100%
24 V 5 V
Front
Panel
System
Power
LED
XFP-7
XFP-15
Grn
Line E-Stop
(External User
E-Stop system)
Figure 3-4. CAT-3 E-Stop Circuit on XUSR and XFP Connectors
Adept SmartController EX User’s Guide, Rev. B
Page 40 of 96