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Chapter 2 - Safety
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.
E-Stop circuit is Dual Channel (redundant, diverse, and control-reliable). The stop
function is classified as NFPA Category 1.
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 T2 pendant. 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.
The Risk Assessment for teaching this product depends on the application. In many
applications, the programmer will need to enter the robot workcell while Arm Power is
enabled to teach the robot. Other applications can be designed so that the programmer
does not have to enter the work envelope while Arm Power is on. Examples of alternative
methods of programming include:
1. Programming from outside the safety barrier.
2. Programming with Arm Power off.
3. Copying a program from another (master) robot.
4. Off-line or CAD programming.
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Adept Cobra i600/i800 Robot User's Guide, Rev E
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.
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