Rockwell Automation 440R MSR300 Modular Safety Control System - Manual (Page 42)

MSR300 Safety System Manual
Rockwell Automation
MSR300 Manual.doc Pg 42 of 85
Definitions:
Input danger zone:
0: robot is in danger zone
1: robot is not in danger zone
Input status of groups: 0: output inactive
1: output active
Muting lamp: 0: lamp off
1: lamp on
Implementation of an MSR300 System for robot safety control is subject to the following
system configuration rules:
• One MSR300 System cannot have more than one Robot Module (Input Module set
up for robot function).
• The MSR310 Input Module configured for robot safety control must have a Group
1 or Group 2 Output assigned to it. (Note: Output Module Group 1 and 2 not
physically necessary )
• An MSR300 System cannot have a Robot Module (Input Module set up for robot
function) and a Logic Module (Input Module set up for logic function): i.e., the
system can have either one or the other type of module, not both.
5.1.3 Robot Safety Control With Additional Safe Area
A robot cell can be safety-
controlled for an additional safe
area by a combination of two
Input Modules in an MSR300
System. One Input Module is
set up for robot safety
control (function switch
setting: 8), and a second one
is set up for the additional
safe area function (function
switch setting: 9).
One MSR300 System cannot have more than one Additional Safe Area Module: i.e., an
MSR300 System can be configured for robot safety control with not more than one
additional safe area.
The functional logic for additional safe area control is as follows:
• The robot is controlled by the output/s of Group 3.
• Inputs assigned to Group 1 monitor dangerous zone 1 (270°)(e.g. light curtains).
• Inputs assigned to Group 2 monitor dangerous zone 2 (90°) (e.g. light curtains).
• One input module is set up for monitoring the safe positioning of the robot arm.
(Input 1: Danger Zone 1. Input 2: Danger Zone 2).
• The other input module is set up for monitoring additional safe area of the robot
cell.
Implementation of an MSR300 System for robot safety control with additional safe area
control is subject to the following system configuration rules: