XP9/XS9 Safety Connector pinout diagram? (ABB IRC5 compact controller)

    Hi, We've recently purchased an IRB120 with the IRC5 Compact controller. It powers on, but I'm getting an "Event Message 20202", which I believe indicates Emergency Stop Open. The pendent and controller e-stops are both reset, so I'm pretty sure this is an issue with the (lack of) jumper settings on the "XS9 Safety" connector. I haven't been able to find a pinout diagram for this connector, unfortunately. Anyone know where I might find such a thing? Or more to the point, what pins need to be jumped to enable the robot?


    Thanks!


    - rwk

    XS9 jumpers:

    ES1 chain is [1,2,3] [5,6] [7,8]

    ES2 chain is [9,10,11] [13,14] [15,16]


    Also:

    AS & GS chains [20,21,22] [23,24,25] [26,27,28] [29,30,31]

    Ext. PTC [34,35]

    Edited once, last by Skooter: Added AS, GS & PTC ().

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