User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 51
9. XDIO connector
This connector includes 20 signal pairs; 8 digital outputs (100 mA max) and 12 digital inputs,
including four fast inputs (the first four input signals on this connector are the only input
signals that can be configured as fast inputs). The digital outputs are short-circuit protected.
This connector also supplies 24 VDC power for customer equipment. See Section 4.11 on page
70 for more information.
10. XUSR connector
Provides switch functions for emergency stop (E-Stop) and Manual/Automatic interfaces to
external push buttons and other equipment. For example, an external E-Stop can be connected
to the XUSR connector. A line E-Stop from other equipment can be connected. A muted safety
gate that causes an E-Stop only in Automatic mode is included. Also included are contacts to
report the status of E-Stop push buttons and the Manual/Automatic switch.
NOTE: The PLC Server ships with a terminator plug attached to the XUSR
connector. The terminator plug must be installed in the absence of any
customer supplied safety devices to close the E-Stop circuit. For more
information about the XUSR connector, see Section 4.10 on page 63.
11. XSYS connector
Connects to AIB unit on the Cobra PLC. This connection is used for internal Adept signals for
high power relays.
12. XFP connector
Connects to the Front Panel. See Section 4.10 on page 63 for information.
13. XMCP connector
Not used. The PLC Server ships with a terminator plug attached to the XMCP connector.
14. Power 24 VDC connectors
Connect power from a customer-supplied 24 VDC power supply to the XDC1 connector (see
the “Connecting Power” on page 30 for information).
4.4 Cable Connections from Robot to PLC Server
1. Locate the IEEE 1394 cable (length 4.5M) and the XSYS cable (length 4.5M). They
are typically shipped in the cable/accessories box.
2. Install one end of the IEEE 1394 cable into the SmartServo port 1.1 connector on
the PLC Server, and install the other end into the SmartServo port 1 connector on
the robot interface panel. See Figure 4-1 on page 47.
3. Install the XSYS cable between the robot interface panel XSLV safety interlock
connector and XSYS connector on the PLC Server, and tighten the latching screws.
4.5 Cable Connections from the PLC to PLC Server
The user-supplied PLC is connected to the PLC Server through a null-modem serial cable.
The cable connects to the PLC’s RS-232 port (typically, channel 0) and to the PLC Server’s
PLC Interface port (9-pin, male, D-sub).