The remote front panel interface includes all of the signals necessary to implement a fully compliant EC Category 3 (CAT-3) Safety front panel that includes a Manual Control Pendant. In particular, this connector provides signals (including redundancy as necessary) for implementing an E-Stop circuit, an auto/manual switch, a high power "on" button with a high power "on" indicator lamp, and a RS-232 interface for a Manual Control Pendant (MCP). These signals are provided in a DB25 female connector (Figure 34-166) mounted on the robot's Facilities Panel.
In the future, Brooks will offer a Remote Front Panel option that plugs into this connector. Alternatively, customers can develop their own custom front panels (see the section on "Safety Circuits For Remote Front Panel" in the Guidance 3000/2000 Controllers User Manual for a suggested design). Or, if an application does not require a fully compliant Category 3 (CAT-3) front panel, the robot can be operated without a front panel or with a PreciseFlex hardware MCP or a PreciseFlex E-Stop box. Both the PreciseFlex MCP and the E-Stop box can plug directly into the Remote Front Panel connector and provide a hardware emergency stop capability via the connector's redundant E-stop signals.
When a front panel, hardware MCP or E-Stop box is not utilized, the following pins on the front panel connector must be jumpered in order for the controller to operate properly. (The robot is shipped with a jumper plug that satisfies these requirements.)
1-14, 2-15, 3-16, 4-17, 5-18, 6-19, 7-20
If a Manual Control Pendant is not connected to the secondary RS-232 port provided in this connector, this serial interface can be accessed via a GPL procedure as device "/dev/com2" for general communications purposes. See Table 34-122.
NOTE: Unlike the primary serial interface, this secondary serial interface does not support flow control.
| Pin | Description |
|---|---|
|
1 |
Auto/Manual 2 (If no front panel or Auto mode, connect to pin 14). Input signal that is high to indicate that the system is being operated in a fully automatic mode or low or open for manual operation.This is normally controlled by a key switch on the Remote Front Panel of the master controller. During Manual Mode, only Jog mode motions are permitted to ensure that the system can be safely manually operated. When this signal changes from Auto to Manual, motor power is automatically turned off and must be re-enabled to move the robot. The Auto/Manual signal is daisy chained to all controllers in the servo network. |
|
2 |
Auto/Manual 1 (If no front panel or Auto mode, connect to pin 15). Redundant Auto/Manual input signal. |
|
3 |
ESTOP_L 2 (If no front panel or E-Stop not asserted, connect to pin 16). Input signal that is low or open to indicate that a hardware E-Stop condition has been asserted by any source. Set high if no E-Stop condition is asserted. The controller hardware will not permit motor power to be enabled when an E-Stop condition exists. |
|
4 |
ESTOP_L 1 (If no front panel or E-Stop not asserted, connect to pin 17). Redundant ESTOP input signal. |
|
5 |
External ESTOP_L (If no front panel or not an External ESTOP, connect to pin 18). Diagnostic input signal that is low when an E-Stop is generated from an external source. This allows the System Software to display different error messages to alert the operator as to the source of the E-Stop condition. |
|
6 |
High Power Lamp Fail (If no front panel, jumper to pin 19). Input signal that is set high or open if the Remote Front Panel lamp, which indicates when motor power is enabled, has failed. When this signal is high, motor power cannot be enabled. |
|
7 |
High Power Enable (If no front panel, jumper to pin 20). Input signal that must transition from low to high during the EC Category 3 (CAT-3) power enable sequence to request that motor power be enabled. This is normally connected to a momentary contact "Enable power" push button on the Remote Front Panel. |
|
8 |
Not used |
|
9 |
MCP RXD. RS-232 receiver serial line from the Manual Control Pendant or external device. |
|
10 |
5 VDC. WARNING - This voltage is provided as a convenience but is limited in the current that can be supplied. Drawing excessive current can damage the controller. Consult Brooks if there is any question about the use of this voltage. |
|
11 |
Not used |
|
12 |
Not used |
|
13 |
Not used |
|
14 |
24 VDC |
|
15 |
24 VDC |
|
16 |
Force ESTOP_L. Output signal that, when low, indicates that the Remote Front Panel should force ESTOP_L 1 and ESTOP_L 2 to be asserted (low). The System Software toggles this signal low at startup to verify that the ESTOP_L 1, ESTOP_L 2, and External ESTOP circuits are properly working. The System Software also uses this as a means for asserting a hardware E-Stop condition during normal operation. This signal is normally held high. |
|
17 |
Force ESTOP_L. Redundant Force ESTOP_L output signal. |
|
18 |
Force ESTOP_L. Redundant Force ESTOP_L output signal. |
|
19 |
GND |
|
20 |
GND |
|
21 |
High Power Status. Output signal that is asserted (high) when high power to the motor is enabled. This is typically connected to a relay that turns on the High Power Lamp in the Remote Front Panel. |
|
22 |
MCP TXD. RS-232 transmitter serial line to the Manual Control Pendant or external device. |
|
23 |
5 VDC. WARNING - This voltage is provided as a convenience but is limited in the current that can be supplied. Drawing excessive current can damage the controller. Consult Brooks if there is any question about the use of this voltage. |
|
24 |
Not used |
|
25 |
Not used |
|
Interface Panel Connector Part No |
DB25 Female Connector |
|
User Plug Part No |
DB25 Male Plug |