Download Adept Cobra i600 User's Guide - pulsar.com.tr

Chapter 4 - System Installation
Robot-Mounted Equipment Grounding
The following parts of an <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 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 9-4 on page 114 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 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 Section 5.6 on page 59 for information on connecting safety equipment into
the system through the XUSR connector on the AIB XPANEL cable. There is a detailed
section on Emergency Stop Circuits and diagrams on re<strong>com</strong>mended E-Stop
configurations.
48 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B