Rockwell Automation 440R MSR300 Modular Safety Control System - Manual (Page 66)

MSR300 Safety System Manual
Rockwell Automation
MSR300 Manual.doc Pg 66 of 85
Robot Cell 3 Areas
Restricted
space
Restricted
space
Muting
lamp
Muting
lamp
On
Off
Light curtain
muted
Light curtain
active
Additional
safe area
On if in
safe area
( )
Pos 1
Pos 2
0°
Danger zone 1
270° area
270°
Station
Danger zone 2
90° area
90°
Station
Input1
Danger
Zone 1
270°area
Input Status
Group 1
270°
station
Input 2
Danger
Zone 2
90°area
Input Status
Group 2
90°
station
Add
Safe
Area
Output
Group 3
>Robot
Muting
Lamp1
270°
station
Muting
Lamp2
90°
station
Pos 1 1 0 0 1 0 1 1 0
Pos 2 1 0 1 1 1 1 1 1
Input 1 270°area = Light curtain (and Safety Mat) at 270 Station
Status Group 1 = Robot arm in 270° area (Cam limit switches)
Inpur 2 90° area = Light curtain (and Safety Mat) at 90° Station
Status Group 2 = Robot arm in 90° area (Cam limit switches)
Add. = Robot arm in safe distance from
Safe Area both: 270° area and 90° area
Output = Robot operation > 1: enable, 0: disable