Adept i600 Cobra - Manual (Page 54)

System Operation
54 Adept Cobra i600/i800 Robot User’s Guide, Rev G
Personnel" in the Adept Robot Safety Guide ), wearing safety equipment and carrying an
Adept pendant, is allowable under local regulations. The E-Stop is said to be “muted” in
Manual mode (see
Figure 4-8 on page 52, Table 4-9 on page 49 , Table 4-10 on page 50 ,
and Table 4-11 on page 51 for the customer E-Stop circuitry).
The muted capability is useful for a situation where a shutdown must occur if the cell gate
is opened in Automatic mode, but you need to open the gate in Manual mode. If the mute
gate is opened in Automatic mode, the robot defaults to Manual mode operation when
power is re-enabled. In muted mode, the gate can be left open for personnel to work in the
robot cell. However, safety is maintained because of the speed restriction.
Remote Manual Mode
If the user needs to control the Manual/Automatic mode selection from other control
equipment, then a custom splitter cable or complete replacement of the Adept Front Panel
may be required. See
Figure 4-9 on page 53 for the Front Panel schematic. In this situation,
a pair of contacts should be wired in series with the Adept Front Panel Manual/Automatic
mode contacts. Thus, both the Adept Front Panel and the customer contacts need to be
closed to allow Automatic mode.
Remote High Power On/Off Control
The easiest and most effective way to provide high power on/off control in a remote
location is to mount the Adept Front Panel in the desired location with an extension cable.
However, if the user needs to control high power on/off from other control equipment or
from a location other than the Adept Front Panel, then a custom splitter cable or complete
replacement of the Adept Front Panel will be required. See the Front Panel schematic
(
Figure 4-9 on page 53 ) for details of the Front Panel’s wiring. In this situation, a second
momentary contact for high power on/off would be placed in parallel with the Adept
Front Panel push-button contact. This second contact should be suppressed when in
Manual mode (see the note on “Single Point of Control” below).
This method allows relocating the push-button switch to a more convenient location.
Implementation of this method must conform to local and national standards.
It is important that the remote High Power push button be located outside of the
workspace of the robot.
CAUTION: If the cell gate must always cause a robot
shutdown, do not wire the gate switch into the muted
safety gate inputs. Instead, wire the gate switch contacts in
series with the user E-Stop inputs.
WARNING: Do not wire customer-supplied
Manual/Automatic contacts in parallel with the Adept
Front Panel switch contact. This would violate the “Single
Point of Control” principle and might allow Automatic
(high-speed) mode to be selected while an operator is in
the cell.