User`s guide

Chapter 3 - SmartController Operation
44 Adept SmartController User’s Guide, Rev. K
Table 3-9. Remote Pendant Connections on the XMCP Connector
Pin XMCP
(15-Pin D-Sub)
Pin Pendant
(16-Pin CPC)
Description
1, 9 6, 7 Pendant E-Stop PB CH 1
2, 10 11, 12 Pendant E-Stop PB CH 2
3, 11 14, 16 Pendant Enable CH 1 (Hold-to-run)
4, 12 13, 15 Pendant Enable CH 2 (Hold-to-run)
13 1, 4 Serial GND/Logic GND
72Pendant TXD: “V
+
to Pendant TXD”
83Pendant RXD: “V
+
to Pendant RXD”
14 5 +12 VDC (max 350 mA)
15 8 –12 VDC (max 50 mA)
Shield 9 Shield GND
6 24 V
5 10 No connection
Table 3-10. XSYS Connector Pin Assignments
a
a
Note: The XSYS connector is used to link the E-Stop system to Adept
robots. It is not intended for customer connections.
Pin Signal Description
1ESTOPGNDGND Return
2 MANUAL1 Manual Mode ESTOP Ckt. CH 1
3 MANUAL2 Manual Mode ESTOP Ckt. CH 2
4 HIPWRDIS High Power Disable
5 HIPWRREQ High Power Request
6 AUTO1 Auto Mode ESTOP Ckt. CH 1
7 AUTO2 Auto Mode ESTOP Ckt. CH 2
8 N/C No Connection
9 ESTOPSRC 24 V Output to Slave ESTOP