Avoidance, Control system behavior category – Adept Python User Manual
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Chapter 2 - Safety
26
Adept Python Modules User’s Guide, Rev. E
Avoidance
Due to the module’s size and speed capability, it is likely that such personnel could avoid
being hit by the robot even in a high-acceleration, runaway failure condition. The
programmer must carry the T2 pendant when inside the work envelope, as the T2
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 High Power is on.
The E-stop CIRCUIT is "category 3" as defined by EN 954 (dual channel: redundant,
diverse, and control-reliable).
Activating the E-stop system causes a Category 0, Uncontrolled stop, as defined by
NFPA79.
The E-stop circuit is Dual Channel (redundant, diverse, and control reliable).
The Risk Assessment for teaching this product depends on the application. In many
applications, the programmer will need to enter the robot workcell while High 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 High Power is on. Examples of alternative
methods of programming include:
1.
Programming from outside the safety barrier.
2.
Programming with High Power off (using the brake release button when
required).
3.
Copying a program from another (master) robot.
4.
Off-line or CAD programming.
Control System Behavior Category
The following paragraphs relate to the requirements of European (EU/EEA) directives for
Machinery, Electric Safety, and Electromagnetic Compatibility (EMC).
DANGER:
The Adept-supplied system components
provide Category 3 Emergency Stop functionality and
Category 1 protection during TeachMode operation, as
defined by EN 954. The robot system must be installed
with user-supplied interlock barriers. The interlocked
barrier should interrupt the AC supply to the system in
the event of personnel attempting to enter the workcell
when High Power is enabled, except for Teaching in
Manual mode. Failure to install suitable guarding could
result in injury or death.