Adept s650H Quattro - Manual (Page 28)

Chapter 2 - Safety
28 Adept Quattro s650 Robot User’s Guide, Rev B
The E-stop circuit is Dual Channel (Redundant, Diverse, and Control Reliable).
See Figure 7-5 on page 89 for an E-stop internal circuit diagram.
Slow Speed Control Function and Testing
Adept robots can also be controlled manually when the operating mode key switch is in
the
MANUAL position and the HIGH POWER light on the Front Panel is illuminated.
When Manual mode is selected, motion can only be initiated from the pendant (T1). Per
EN 775/ISO 10218, the maximum speed of the robot is limited to 250 mm per second (10
ips) in Manual mode. It is important to remember that the robot speed is not limited when
the robot is in Automatic (AUTO) mode.
The Risk Assessment for teaching this product depends on the application. In many
applications, the programmer will need to enter the robot workcell while Arm Power is
enabled to teach the robot. Other applications can be designed so that the programmer
does not have to enter the work envelope while Arm Power is ON. Examples of
alternative methods of programming include:
1. Programming from outside the safety barrier.
2. Programming with Arm Power OFF.
3. Copying a program from another (master) robot.
4. Off-line or CAD programming.
Control System Behavior Category
The following paragraphs relate to the requirements of European (EU/EEA) directives for
Machinery, Electric Safety, and Electromagnetic Compatibility (EMC).
In situations with low exposure consideration factors, European Standard EN 1050
specifies use of a Category 1 Control System per EN 954. EN 954 defines a Category 1
Control System as one that employs Category B components designed to withstand
environmental influences, such as voltage, current, temperature, EMI, and well-tried
safety principles. The standard control system described in this guide employs hardware
components in its safety system that meet or exceed the requirements of the EU Machinery
Directive and Low Voltage Directive.
DANGER: The Adept-supplied system components
provide a Category 3 E-Stop control system as defined by
EN 954. The robot system must be installed with
user-supplied interlock barriers. The interlocked barrier
must open the E-Stop circuit in the event of personnel
attempting to enter the workcell when Arm Power is
enabled, except for teaching in Manual mode. Failure to
install suitable guarding or interlocks could result in
injury or death.