Rockwell Automation 440R MSR300 Modular Safety Control System - Manual (Page 41)

MSR300 Safety System Manual
Rockwell Automation
MSR300 Manual.doc Pg 41 of 85
5 Special Functions: Robot Safety and Combination Logic
5.1
Robot Safety Control
5.1.1 General
Robot safety control is a special function for which an MSR300 System can be set up.
This function makes it possible to continuously verify that a robot arm is always within its
specified safe operating zone, typically demarcated by light curtain type safety sensors in
combination with special cam-switches fitted on robot rotating turrets or arms.
The safety light curtain on the opposite side of the robot-working zone is disabled (muted)
and allows limited access to the cell. This must be a fixed installation and is limited to
applications as detailed later in the document. The safety related parts of the installation
must be failsafe and protected against override (e.g. cam switches with forced driven
contact activation). The robot application itself must fulfill the requirements as specified in
the applicable standards, e.g. RIA15.06. The operator access to the area between the
light curtain and hazardous machine parts must be prevented or monitored via safety
mats.
For implementing this function, one Input Module has to be set up for robot safety
control function by setting its rotary switch to 8.
5.1.2 Robot Cell with Two Areas
One MSR300 System can have only
one robot control module (i.e., one
Input Module with switch set for
Robot function).
The robot safety control connections
are based on the following logic:
• The robot motor is controlled by
output/s of Group 3
• Input sensors like light curtains
and safety mats or emergency stop switches demarcating the stations are connected
to Input Group 1 for Danger Zone 1 (270°) and Group 2 for Danger Zone 2 (90°)
• For an Input Module whose rotary switch has been set to position 8, the robot cam
switch for Danger Zone 1 is connected to Input 1 and the robot cam switch for Danger
Zone 2 is connected to Input 2 to monitor the safe positioning of the robot arm.
Input1
Danger zone 1
270° area
Input Status
Group 1
270° station
Input2
Danger zone 2
90° area
Input Status
Group 2
90° station
Output
Group 3
>Robot
Muting
Lamp 1
270° station
Muting
Lamp 2
90° station
0 0 0 0 0 0 0
0 0 0 1 0 0 0
0 1 0 0 0 0 0
0 1 0 1 1 0 0
0 0 1 0 0 0 1
0 0 1 1 0 0 1
0 1 1 0 1 0 1
0 1 1 1 1 0 1
1 0 0 0 0 1 0
1 0 0 1 1 1 0
1 1 0 0 0 1 0
1 1 0 1 1 1 0
1 0 1 0 0 0 0
1 0 1 1 0 0 0
1 1 1 0 0 0 0
1 1 1 1 1 0 0