Adept s650 Viper - Manual (Page 61)

Chapter 4: System Installation
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 61 of 100
Robot-Mounted Equipment Grounding
The robot tool flange is not reliably grounded to the robot base. 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 volt-
ages can be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC.
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 coming in con-
tact 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.