Adept i600 Cobra - Manual (Page 35)

Installing User-Supplied Safety Equipment
Adept Cobra i600/i800 Robot User’s Guide, Rev G 35
Ground Point on Robot Base
The user can install a protective earth ground wire at the robot base to ground the robot.
See
Figure 3-11 . The robot ships with an M8 x 12 stainless steel, hex-head screw, and M8
split and flat washers installed in the grounding hole. The user is responsible for
supplying the ground wire to connect to protective earth ground.
Figure 3-11. Ground Point on Robot Base
Robot-Mounted Equipment Grounding
The following parts of an Adept Cobra i600/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 7-4 on page 94 for the grounding point on the tool flange.
3.9 Installing User-Supplied Safety Equipment
The user is responsible for installing safety barriers to protect personnel from coming 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 the
Adept Robot Safety Guide for a discussion of safety issues.
Refer to Section 4.7 on page 49 for information on connecting safety equipment to the
system through the XUSR connector on the AIB XPANEL cable. There is a detailed section
on Emergency Stop Circuits and diagrams on recommended E-Stop configurations.
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.
Ground Point on Robot
Base, with M8 x 12
screw and washers
installed