Chapter 4: System Installation
injury or death of a person touching the end-effector
when an electrical fault condition exists.
If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling,
you must install a ground connection for that equipment or tooling. Hazardous voltages can
be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC.
If there will be hazardous voltages present at the tool flange or end-effector, you must:
Adept Quattro H Robots
l
Connect the robot base protective earth ground.
l
Ground the end-effector to the robot base.
NOTE:
A ground strap from the end-effector to the base mounting pad must
include a service loop that allows full rotation and movement of the tool flange.
Adept Quattro HS Robots
l
Connect the robot cable inlet box protective earth ground.
l
Ground the end-effector to the robot cable inlet box ground screw.
NOTE:
A ground strap from the end-effector to the robot cable inlet box ground
must include a service loop that allows full rotation and movement of the tool
flange.
4.11 Installing User-Supplied Safety Equipment
You must install safety barriers to protect personnel from unintentional contact with the robot.
Depending on the design of the workcell, you can use safety gates, light curtains, and
emergency stop devices to create a safe environment. Read the
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 Quattro User's Guide, Rev E
Page 81 of 180
Summary of Contents for Quattro s650H
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