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Chapter 3 - Preparation for Safe and Effective Use of the Robot
3.1
Overview of Safety System
Introduction
Adept Technology highly recommends the use of workcell safety features such as light
curtains, safety gates, or safety floor mats to prevent access to the workcell while power is
present. These devices would open the E-Stop circuit and shut down High Power when
activated. Make sure sufficient E-Stop switches are provided in the workcell, so they can
be easily reached in an emergency.
It is possible to control different safety features in relation to the AUTO/MANUAL
operating mode keyswitch and the terminal block on the external Front Panel. Together
with the Adept Controller system, you have various control features to construct indi-
vidual system safeguards, including:
• Terminal block on the external Front Panel
• Emergency stop circuitry
• Digital input and output lines
Operating in Manual Mode
An important function of the Emergency Stop system is to protect the operator in Manual
mode. To work in Manual mode, the operator switches the lower keyswitch on the VFP to
the
position and the operating mode keyswitch (upper one) to the
LOCAL
position. Then the operator gives the instruction to enable High Power, either through the
ENABLE POWER software instruction, or pressing the
The system starts the process to enable High Power. The steps are outlined in the
following list.
High Power enable process in Manual mode (takes about 8 seconds):
• VFP
HIGH POWER ON/OFF
• operator presses the VFP
*The system waits until the
button has not been pressed in a selected time, the system stops enabling power
with an error message.
While in Manual mode, the robot speed is limited to 250 mm per second (10 ips). This is to
protect a person who is in the workcell teaching points with the MCP during program
development. Also, the motors run at reduced torque. It is important to remember that the
robot speed is not limited when the robot is in Automatic mode.
User-Supplied E-Stop Switches
The specifications for user-supplied E-Stop and safety barrier switches are:
• switches with positive driven contacts, per EN60204 Section 10.73N1992
• minimum switching power 24 VA
• minimum switching voltage 24 VDC
• minimum switching current 1.0 A DC
50
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push button starts blinking*
HIGH POWER ON/OFF
HIGH POWER ON/OFF
Adept 550 Robot Instruction Handbook, Rev A
MANUAL
button on the MCP.
COMP/PWR
button
push button is pressed. If the
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