44 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
Table 3-4. Remote Pendant Connections on the XMCP Connector
Pin XMCP
(15-Pin D-Sub)
Description
1, 9 Pendant E-Stop Push-button CH 1
2, 10 Pendant E-Stop Push-button CH 2
3, 11 Pendant Enable CH 1 (Hold-to-run)
4, 12 Pendant Enable CH 2 (Hold-to-run)
13 Serial GND/Logic GND
7 Pendant TXD: “eV+to Pendant TXD”
8 Pendant RXD: “eV+to Pendant RXD”
14 No connection
15 No connection
Shield Shield GND
6 24 VDC
5 No connection
The preceding table gives descriptions of this circuit's functionality.
The following figure shows an E-Stop diagram for the system.
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