130 eCobra User's Guide 14402-000 Rev. F
7.4 Internal User Connectors
Parameter Value
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
0.7A ≤ 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 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.
Table 7-9. ESTOP Connector
Pin # Description Pin Location
1 ESTOP_INPUT
ESTOP Connector
as viewed on robot
2 24 V
Mating Connector:
AMP/Tyco #172165-1, 2-pin Mini-Universal Mate-N-Lock
AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok
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