Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

Chapter 4 - System Installation
<strong>Robot</strong>-Mounted Equipment Grounding
The following parts of an <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> 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 8-4 on page 104 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.
4.8 Installing User-Supplied Safety 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.
Refer to the <strong>Adept</strong> SmartController User’s <strong>Guide</strong> for information on connecting safety
equipment into the system through the XUSR connector on the SmartController. There is a
detailed section on Emergency Stop Circuits and diagrams on re<strong>com</strong>mended E-Stop
configurations.
50 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C