Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
112
The internal operation is detailed in the following table for Operation
mode and Teach mode.
Operation Mode Teach Mode
EMERGENCY STOP switch is patched
through as a passive electro-mechanical
switch, J4 pins 1 and 2 (DB15 pins 2, 10).
EMERGENCY STOP switch is patched
through as a passive electro-mechanical
switch, J4 pins 1 and 2 (DB15 pins 2, 10).
Teach Pendant serial lines patched through
to the modular jack. 12V power line is
disconnected so the terminal will not
operate.
Teach Pendant serial lines patched through
to the modular jack. 12V power line
connected so the terminal will operate.
Host control transmit serial line (TX) is
connected to the robot controller serial
receive line (RX).
Host control transmit serial line (TX) is
disconnected from the robot controller
serial receive line (RX), disabling all other
control consoles.
Interlock current path is routed from +24V
through J6 pin 1 (DB15 pin 4) to all
interlock switches in series back through J6
pin 2 (DB15 pin 12). The signal is then
routed through the EMERGENCY STOP
loop, then to the I/O board M_OFF line,
and finally to ground.
If any of the interlock switches are open or
any Emergency Stop devices are activated,
then M_OFF goes active, disconnecting
power to all PWM amplifiers and the laser
scanner.
Interlock current path is routed from +24V
through the Teach Pendant dead man
buttons; the safety curtain/interlock
switches are now cut out of the loop. The
signal is then routed through the
EMERGENCY STOP loop, then to the I/O
board M_OFF line, and finally to ground.
If both dead man switches are opened or
any Emergency Stop devices are activated,
then M_OFF goes active, disconnecting
power to all PWM amplifiers and the laser
scanner.
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