Omron LD-90 - Page 91

Chapter 6: Connectivity
Pin No. Designation Notes
11 E-STOP_USR_1H Short 4 & 11 to close E-STOP_USR_1
12 E-STOP_USR_2H Short 5 & 12 to close E-STOP_USR_2
13 E-STOP_OUT_1H Pins 6 & 13 short when E-STOP_CH1 is closed
14 E-STOP_OUT_2H Pins 7 & 14 short when E-STOP_CH2 is closed
NOTE: An E-Stop jumper or a user-supplied E-Stop button needs to be attached
to the E-STOP port on the User Interfaceconnector for the platform to function.
The jumper is provided as part number 12730-000L. An E-Stop button would be
user-supplied.
NOTE: Engaging the E-Stop through the external connector or Operator Panel
(faster than 250 ms), will cause motors to re-engage after E-stop is released.
Motor re-engagement occurs because the core is designed to receive a consistent
E-Stop signal for at least 250 ms. Signals that engage and disengage in a time
period shorter than 250 ms, will cause LDto assume that the change was due to
a bumper press, which will automatically re-engage the motors. No signal on the
E-Stop chain can cause the robot to operate while the E-Stop remains engaged.
Thus it is necessary to leave the E-Stop engaged for at least the full 250 ms dur-
ation if the intent is to keep the robot in a E-Stop state.
!
CAUTION: PERSONALINJURYORPROPERTYDAMAGERISK
If you are using a user-supplied E-Stop, you must run the Safety Com-
missioning to verify the E-Stop’s functionality before putting the AMR into ser-
vice. For more information, see E-Stop and Safety Laser Commissioning on
page 148
11970-000 Rev M LD-60/90 Platform User's Manual 91