Rethink Robotics Baxter - Appendix C: Configuring External Devices

151
Intera 3.2
Appendix C: Configuring External
Devices
Note: For the latest information, please refer to our wiki at: mfg.rethinkrobotics.com
Baxter communicates to external machines via its open logic ports in one integrated DB15 connec-
tor or by adding an external Ethernet-connected Modbus Remote Terminal Unit (RTU).
Attach a terminal block to the DB15 connector to accommodate two signal lines—one in and one
out—and provide lines for the e-stop and a safety mat.
TABLE 1.
DB15 Pinouts
DB15Pin
1E‐Stop EStopSwitch
9E‐Stop EStopSwitch
2SafetyMat To+5(6)viasafetymatcable
10 SafetyMat ToGND(8)forsafetymat
3SafetyMat To+5(5)forsafetymat
11 SafetyMat ToGND(13)viasafetymatcable
4Torso0In Torso0In(ReadyIn)
12 Torso0InReturn Torso0InReturn(Ready
InReturn)
51Kto+5 To(3)forsafetymat
13 GND To(11)viasafetymatcable
61Kto+5 To(2)viasafetymatcable
14 GND
7Torso0Out Torso0Out(DoneOut),+5v‐+24v,MUSTBELIMITEDTO10maMAX
15
Torso0Out
Return
Torso0OutReturn(DoneOutReturn),GND
8GND To(10)for
safetymat