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Connecting Customer-Supplied Safety and Power Control Equipment
Grounding Point
Figure 4-12. Chassis Grounding Point
The mounting of the PLC Server and all terminations in Europe must be performed in
accordance with EN 60204 to maintain proper <strong>com</strong>pliance.
Robot-Mounted Equipment Grounding
The following parts of an <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 robot are not grounded to
protective earth: the Joint 3 quill and the tool flange. If hazardous voltages are present at
any user-supplied robot-mounted equipment or tooling, you must install a ground
connection from that equipment/tooling to the ground point on the robot base.
Hazardous voltages can be considered anything in excess of 30 VAC (42.4 VAC peak) or
60 VDC.
See also Figure 9-3 on page 129 for the grounding point on the tool flange.
DANGER: Failing to ground robot-mounted equipment or
tooling that uses hazardous voltages could lead to injury
or death of a person touching the end-effector when an
electrical fault condition exists.
4.10 Connecting Customer-Supplied Safety and Power Control
Equipment
The user is responsible for installing safety barriers to protect personnel from <strong>com</strong>ing in
contact with the robot unintentionally. Depending on the design of the workcell, safety
gates, light curtains, and emergency stop devices can be used to create a safe environment.
Read Chapter 2 in this manual for a discussion of safety issues.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 59