Adept s600 Cobra - Manual (Page 36)

Chapter 3: System Installation
Figure 3-6. Ground Point on Robot Base
Grounding Robot-Mounted Equipment
The following parts of an Adept Cobra s600/s800 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 .
Also, for the grounding point on the tool flange, see Figure 7-4.
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.
3.10 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 the Adept SmartController User's Guide 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 recommended E-Stop configurations.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 36 of 128