User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 63
Robot-Mounted Equipment Grounding
The following parts of an Adept Cobra PLC600/PLC800 robot are not grounded to
protective earth: the Joint 3 quill and the tool flange. 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 voltages can be considered anything in excess of 30
VAC (42.4 VA C peak) or
60
VDC.
See also Figure 9-3 on page 161 for the grounding point on the tool flange.
4.10 Connecting Customer-Supplied Safety and Power Control
Equipment
The user is responsible for installing safety barriers to protect personnel from coming in
contact 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 Chapter 2 in this manual for a discussion of safety issues.
Connecting Equipment to the System
The connection of the customer-supplied safety and power control equipment to the
system is done through the XUSR and XFP connectors on the PLC Server. The XUSR
connector (25-pin) and XFP (15-pin) connector are both female D-sub connectors located
on the front panel of the PLC Server. Refer to Table 4-11 for the XUSR pin-out
explanations. Refer to Table 4-12 on page 64 for the XFP pin-out explanations. See Figure
4-11 on page 66 for the XUSR wiring diagram.
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.
Table 4-11. Contacts Provided by the XUSR Connector
Pin
Pairs
Description Comments
Shorted if
NOT Used
Voltage-Free Contacts Provided by Customer
1, 14
User E-Stop CH 1 (mushroom PB,
safety gates, etc.).
N/C contacts
Yes
2,15
User E-Stop CH 2 (same as pins 1
and 14).
N/C contacts
Yes
3,16
Line E-Stop (used for other robot or
assembly line E-Stop
interconnection. Does not affect
E-Stop indication (pins 7, 20.))
N/C contacts
Yes