161 HD-1500 Platform User's Manual 31500-000 Rev A
6.2 User Access Panel Connections
SCPU
Connector type TE Micro-mate N Lok., 2 x 6
Use Brake release, ON, OFF, E-Stop
Pin No. Designation
1 E-STOP_USER_IN_1
2 E-STOP_USER_IN_2
3 USER_E-STOPPED_B
4 USER_PROTECTIVE_STOP_2
5 GND
6 USER_PROTECTIVE_24V_JUMPER
7 E-STOP_USER_OUT_1
8 E-STOP_USER_OUT_2
9 USER_E-STOPPED_A
10 USER_PROTECTIVE_STOP_1
11 GND
12 USER_PROTECTIVE_24V_JUMPER
NOTE: You must attach either an E-Stop jumper, or an E-Stop button (category 1
stop) along with a laser to the SCPUconnector for the platform to function. The
jumper is provided as part number 68410-218L. Both the E-Stop button, and the
laser would be user-supplied.
Specification
Internal I/O common PNP (sinking inputs)
Rated input voltage 24 VDC (20.4 to 28.8 VDC)
Safety input current 3.0 mA
The user-initiated E-Stop (category 1 stop) which is activated by pressing one of the E-Stop but-
tons, is a controlled stop function. In this case, the power to the AMR motors remains on in
order to achieve a controlled stop. Once the controlled stop is achieved, the power to the
motors is disconnected. If for any reason the controlled stop function fails or does not function
as expected, the power will still be disconnected to the motors. Category 1 stop function
requires manual reset of the E-Stop for the AMR to restart. The AMR will not automatically
recover from a category 1 stop, or any E-Stop initiated by custom inputs on the SCPU.
The E-Stop or the protective stop devices you install on the AMR must have dual channel cir-
cuit to ensure the same performance level as the other safety devices of the AMR.
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