Comau e.DO, Safety Requirements, Technical Features And Assembly And Integration Instructions, Page: 24 / 28

Comau Robotics Product Instruction
24
E.DO GRIPPER INSTALLATION
3.4 Integration of perimeter protective guards for the
use of the e.DO Gripper for handling purpose
The e.DO Gripper can be used for the execution of programs including small operations
for handling small and non-dangerous objects, compatibly with the
General technical
features of the e.DO Gripper and of the e.DO Robot.
Depending on the nature and features of the handled items (configuration, weight, etc.),
after the evaluation performed by the User, the installation of perimeter protective
guards A, that prevent the reaching of the Robot by the surrounding people, can be
required (display case, to be made preferably with transparent panels, e.g.
polycarbonate, in order to allow correct observation of the cycle). These protective
guards must be controlled through safety limit switch
B
to be connected to the J8
connector
D
on Robot base, so as to stop the motion of the Robot if the protective guards
are removed or delocalized.
In case of perimeter protective guards installation, it is also necessary to connect,
through the J8 connector
D
on Robot base, an additional emergency push-button
C
to
be positioned outside the perimeter protective guards, in such a position as to be easily
reachable. The emergency stop bush-button must be of red mushroom type with yellow
background, with mechanical latching and equipped with 2 normally closed contacts
(with forced opening) in accordance with the requirements of the standard UNI EN ISO
13850.
The following is an example of the dimensioning, installation and connection of
perimeter protective guards for the execution of potentially dangerous handling
operations with e.DO Gripper. For a proper dimensioning of the perimeter protective
guards, consult also the
e.DO Gripper diagrams and drawings (see par. 2.2 on page 11)
and the Fig. 1.7 - Robot workspace in 6 axes configuration on page 16 , Fig. 1.8 - Robot
workspace in 4 axes configuration on page 17 on the “ Robot e.DO - Safety requirements
and technical specifications ” handbook.
For details regarding the pinout of the J8 connector on Robot base and related
connection diagrams, consult the “
Robot e.DO - Safety requirements and technical
specifications ” handbook.