Hardware Reference
69
MCP / E-Stop Interface
The MCP interface includes the signals necessary to connect a Manual Control Pendant, secondary E-
Stop circuit, or an external RS485 Remote IO Module. These signals are provided in a DB9 female
connector mounted on the robot’s Facilities Panel, and on the end cap of the optional Linear Axis.
Note the E-Stop pins on the MCP Interface are in series with the E-Stop signals on the Phoenix E-Stop
connector. An E-Stop box or circuit can be plugged into either one of these two connectors. However in
order for the robot to allow motor power to be enabled the E-Stop circuit must connect 24 VDC to E-Stop1
in one of these two connectors. If no E-Stop box or circuit is connected, then both circuits must be
completed with jumper plugs. (The robot is shipped with a Phoenix jumper plug PN 1851070 and a Dsub
jumper plug that satisfy these requirements.)
If a Manual Control Pendant is not connected to the secondary RS-232 port provided in this connector,
this serial interface can be accessed via a GPL procedure as device "/dev/com2" for general
communications purposes. Please note that unlike the primary serial interface, THIS SECONDARY
SERIAL INTERFACE DOES NOT SUPPORT FLOW CONTROL.
The RS485 port is used internally to communicate with the gripper controller and is also be used for the
Remote IO option. As such it has a dedicated protocol and is not available for general use.
Pin Description
1 24VDC
2 RS232 TXD
3 RS232 RXD
4 RS485-
5 Gnd
6 E-Stop1
7 E-Stop Dais
Chain
8 48VDC
9 RS485+
Interface Panel
Connector Part No
DB9 Female Connector AMP 5747150-7
User Plu
Part No DB9 Male Plu
Amp 1658655-1
crimp
Pins 22-26AWG 745254-6
Digital Input Signals
The standard PreciseFlex 400 robot provides 1 general purpose optically isolated digital input signal at
the Facilities Panel (in addition to those signals that are available at the Gripper Control Board). This line
is accessed in the Phoenix 5 pin E-Stop connector and is connected to Digital Input 3 in the controller.
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