Rockwell Automation 440R MSR300 Modular Safety Control System - Manual (Page 63)

MSR300 Safety System Manual
Rockwell Automation
MSR300 Manual.doc Pg 63 of 85
Robot Cell, 2 areas
(Input 1 OR Group 1) AND (Input 2 OR Group 2) = Group 3 (muting with cross control)
On Off
Restricted space
No muting
0°
Danger zone 1
270° area
270°
Station
Danger zone 2
90° area
90°
Station
Muting
lamp 1
Muting
lamp 2
Input 1
”0”
Input 2
”1”
270 O
Input 1
Danger zone 1
270° area
Input Status
Group 1
270° station
Input 2
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 1 1 0 0 1
• Base Cam switch pressed on Input 2
• Input Status on 270° station “0”: Light curtain interrupted
• Robot operation disabled (stopped) because operator enters danger zone 1 while
Robot arm is present
• No Muting Lamp indication for 270° station
• Muting Lamp on 90° station is lightning > Light curtain interruption at 90° station
would not stop Robot function