Robot-Mounted Equipment Grounding; Installing User-Supplied Safety Equipment - Omron Viper 650 User Manual

Robot-Mounted Equipment Grounding

The robot tool flange is not reliably grounded to the robot base. 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 VAC peak) or 60 VDC.

5.9 Installing User-Supplied Safety Equipment

The user is responsible for installing safety barriers to protect personnel from coming in con-
tact 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 the Robot
Safety Guide for a discussion of safety issues.
The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors on the eMB-40/60R XSYSTEM cable. The XUSR connector (25-pin)
and XFP (15-pin) connector are both female D-sub connectors. Refer to the following table for
the XUSR pin-out descriptions, and Table 5-9. for the XFP pin-out descriptions. See the figure
E-Stop Circuit on XUSR and XFP Connectors on page 83 for the XUSR wiring diagram.
05173-060 M
B
C
24V
Figure 5-15. User Ground Location
Key Meaning
A eMB-40/60R
Interface Panel
B Ground Label
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.
Viper 650/850 Robot with eMB-40/60R User's Guide
A
XSYSTEM
ENET ENET
DC
IN
GND
AC Servo
1
200 -
240V
Key Meaning
C Ground Screw
Chapter 5: System Installation
79