6 transport, Encoder battery life, 7 safety requirements for additional equipment – Adept Python User Manual
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Transport
Adept Python Modules User’s Guide, Rev. E
31
2.6
Transport
Always use adequate equipment to transport and lift Adept products.
Encoder Battery Life
The servo motors in Adept Python modules with MB-10 amplifiers have a serial absolute
encoder. Each module is calibrated before shipment. An external encoder backup battery
is shipped with each module, and is located inside the motor cover. The battery allows the
encoder to retain the calibration data for 10 years of use in this application. The MB-10
amplifier has its own internal battery, which is also rated for 10 years. The encoder does
not receive any power from the MB-10 amplifier’s battery. Therefore, leaving the encoder
connected to the MB-10 during transport or power-off periods will not drain the MB-10
battery. Likewise, disconnecting the module from the MB-10 will not affect the absolute
encoder.
2.7
Safety Requirements for Additional Equipment
Additional equipment used with modules (grippers, conveyor belts, etc.) must not reduce
the workcell safeguards.
All emergency stop switches must always be accessible.
If the system is to be used in an EU or EEA member country, all components in the system
workcell must comply with the safety requirements in the European Machine Directive
89/392/EEC (and subsequent amendments) and related harmonized European,
international, and national standards. For robot systems, these include: EN 775/ISO
10218, sections 5,6, EN 292-2, EN 954-1, and EN 60204. For safety fences, see EN 294.
In other countries, Adept strongly recommends, in addition to complying with the
applicable local and national regulations, that a similar level of safety be obtained.
In the USA, applicable standards include ANSI/RIA R15.06 and ANSI/UL 1740.
In Canada, applicable standards include CAN/CSA Z434.
WARNING:
Never stand under the module while it is
lifted or transported.
CAUTION:
Do not disconnect the encoder backup battery
from the motor encoder cable. Doing so may cause loss of
encoder multi-turn data and the user will be required to
recalibrate the system. See
procedure to replace the encoder battery.