User`s guide

Installing User-Supplied Safety Equipment
Adept Quattro s650H Robot User’s Guide, Rev A 61
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:
• Connect the robot base ground.
• Ground the end-effector to the robot base.
NOTE: A ground strap from the end-effector to the base mounting tab
must include a service loop that allows full rotation and movement of the
tool flange.
4.9 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 Chapter 2 in this manual
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.