Mecademic Meca500 - 9. EXAMPLES; 9.1. Draw a square

44 User Manual for the Meca500 Industrial Robot (for rmware 10.1)
OPERATING THE SMART POWER SUPPLY
!
Never connect or remove the D-Sub dongle or add or remove safety I/O connections, while the
power supply is on.
As already mentioned, you can connect:
• one Stop Category 1 emergency stop (pins E-Stop – A1, E-Stop – B1, E-Stop – A2, E-Stop – B2);
• one Stop Category 1 protective stop (pins P-Stop 1 – A1, P-Stop 1 – K1, P-Stop 1 – A2, P-Stop1 – K2);
• one software stop (pins SWStop – A, SWStop – B);
• one reset (pins Reset – A, Reset – K);
• one power status indicator (pins Power Status – A, Power Status – B).
7.3.1 Stop Category 1 Emergency Stop
The external E-Stop performs the same function as the E-Stop on the power supply. The terminals
of the external E-Stop are connected in series with the E-Stop on the power supply. Figure27 shows
two examples for the wiring of the four external E-Stop terminals. You may also, for example, connect
several E-Stops in series or use a safety PLC. If you choose not to use any external E-Stop, remember to
wire the pins as in Figure27b.
External E-Stop
E-Stop – A1 (1) E-Stop – B1 (9)
E-Stop – A2 (2) E-Stop – B2 (10)
External E-Stop, when not used
E-Stop – A1 (1) E-Stop – B1 (9)
E-Stop – A2 (2) E-Stop – B2 (10)
(a) Wiring when an external E-Stop is used (b) Wiring when no External E-Stop is used
Figure27: Examples of wiring of the external E-Stop connections
!
The external E-Stop circuit must be closed for the robot to be able to move.
7.3.2 Stop Category 1 Protective Stop (P-Stop 1)
Figure28 shows the wiring diagram for the P-Stop 1 terminals in the case of the R3 and R4 versions of
the Meca500. The P-Stop 1 signal would generally come from a safety PLC, which will be connected to a
safety switch such as a safety light curtain or an interlock door switch.
Note, however, that in the R3 version, the current that reaches the power supply at the P-Stop 1
terminals must be a 24mA continuous forward current. This is why the use of proper resistances is
compulsory in the R3 (see Figure28a), or else you will damage the power supply.
In the case of the Meca500 R4, a current limiting circuitry has been implemented, and the use of a
resistance is not necessary.