Safety extensions in CTU installation¶
- Electrical circuit of the safety door is wired to the X18 board on the right side of the DX-100 controller. As we use active (magnetic) switch, its power supply is connected to the X5 connector, terminal 7 (ground) and terminal 8 (+24V). The switch terminals are connected to the X6 connector, terminal 3, 4, 5, 6 while removing jumpers next to the terminals. Terminal 7 and 8 (not connected in the control unit) is used for unused wires from the safety door switch. This type of connection allows to operate the robot from the teach pendant in the low speed mode while completely prohibiting ROS program to move the robot. When the doors are open during ROS operation, ROS command for servo on should be issued after closing the door to resume ROS controlled motion or Servo on should be pressed on the Teach pendant.
- External Emergency stop is wired to the X18 board on the right side of the DX-100 controller. Both circuits are connected to the X6 connector terminals 13, 14, 15, 16 while removing jumper next to the terminals. Active emergency stop prevents any motion. Resuming ROS motion again requires either pressing Servo on on Teach pendant or starting new trajectory ROS command.