42 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
Pin
Pairs
Description Comments
3, 16 Line E-Stop (used for other robot or
assembly line E-Stop inter-
connection. Does not affect E-Stop
indication (pins 7, 20))
N/C contacts, Shorted if NOT Used
4, 17 Line E-Stop (same as pins 3, 16) N/C contacts, Shorted if NOT Used
5, 18 Muted safety gate CH 1 (causes E-
Stop in Automatic mode only)
N/C contacts, Shorted if NOT Used
6, 19 Muted Safety Gate CH 2 (same as
pins 5, 18)
N/C contacts, Shorted if NOT Used
Voltage-Free Contacts provided
7, 20 E-Stop indication CH 1 Contacts are closed when Front Panel,
pendant, and user E-Stops are NOT tripped
8, 21 E-Stop indication CH 2 (same as
pins 7, 20)
Contacts are closed when Front Panel,
pendant, and user E-Stops are NOT tripped
9, 22 Manual or Automatic indication
CH 1
Contacts are closed in Automatic mode
10, 23 Manual or Automatic indication
CH 2
Contacts are closed in Automatic mode
11, 12,
13, 24,
25
No connection
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