Chapter 3: Robot Installation
Grounding
Terminal
Protective earth ground point on the robot. See Air Lines and Signal Wiring on
page 39.
Connectors for using the CN20 and CN21 plugs:
Connector set part
No.
Connector No. Model and part name Appearance
05019-000 for CN20 SRCN6A25-24S (round
type connector) Japan Avi-
ation Electronics Industry
Ltd.
for CN21 JMLP1610M (L type plug
connector) DDK Elec-
tronics, Inc.
3.6 Installing User-Supplied Safety Equipment
You are responsible for properly installing safety equipment to protect personnel from unin-
tentionally coming in contact with the robot. Depending on the design of the workcell, you can
use safety gates, light curtains, emergency stop devices, and other safety equipment to create a
safe environment.
WARNING: Installing, commissioning, or operation of any robot without
adequate safety equipment is strictly prohibited. This equipment must be com-
pliant with all applicable and local standards. Failure to install suitable safety
equipment could result in injury or death.
Additional Information: Refer to the Robot Safety Guide (Cat. No. I590) for more
information.
The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors on the XSYSTEM cable. The XUSR connector (25-pin) and XFP (15-
pin) connector are both female D-sub connectors. Refer to the following sections for safety
equipment connection details.
Contacts on XUSR Connector
Use the information in the following table to understand the signals provided on the XUSR
connector.
Table 3-2. XUSRConnectorSignals
Pin
Pairs
Description Comments
Voltage-Free Contacts Provided by Customer
1, 14 User E-Stop CH 1 (mushroom
push-button, safety gates, etc.)
N/C (Normally Closed) contacts, Shorted if
NOT Used
2, 15 User E-Stop CH 2 (same as pins
1, 14)
N/C contacts, Shorted if NOT Used
21861-000 Rev A Viper 650 and 850 Robot with EtherCAT 41
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