User`s guide

28 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Exposure
When Arm Power is on, all personnel must be kept out of the robot work envelope by
interlocked perimeter barriers. The only permitted exception is for teaching the robot in
Manual Mode by a skilled programmer (see “Qualification of Personnel” on page 33),
who must wear safety equipment (see “Safety Equipment for Operators” on page 34)
and carry the pendant (T1 or MCP). Therefore, exposure of personnel to hazards related to
the robot is limited (seldom and/or short exposure time).
Severity of Injury
Provided that skilled personnel who enter the robot work envelope are wearing protective
headgear, eyeglasses, and safety shoes, it is likely that any injuries caused by the robot
would be slight (normally reversible).
Avoidance
A programmer must always carry the pendant when inside the work envelope, as the
pendant provides both E-Stop and Enabling switch functions.
For normal operation (AUTO mode), user-supplied interlocked guarding must be installed
to prevent any person entering the workcell while Arm Power is on.
The E-stop circuit is Dual Channel (Redundant, Diverse, and Control Reliable). The stop
function is classified as NFPA Category 1.
See Figure 8-9 on page 113 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 (Manual Control
Pendant (MCP) or 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.
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.