Rockwell Automation Guardmaster Allen-Bradley 440R-S35001 - Robot Zone (Function 8)

Rockwell Automation Publication 440R-RM003A-EN-P - July 2021 23
Chapter 3 MSR300 Safety Relay
Robot Zone (Function 8)
If one of the MSR300 safety relay input modules is set to ‘8’, the MSR300 safety
relay treats the safety system as a two-zone robot cell. While the robot is
present in one danger zone, the safeguard devices in the other zone are muted.
Safety rated limit switches with one N.O. and one N.C. contact detect the
position of the robot. To convert the GSR solution, the limit switches must be
changed to two N.C. plus one N.O. contacts.
When the group 8 robot In1 LED is red, the robot is in danger zone 1. If the
group 1 E-stop is pressed or the light curtain is blocked, both group 1 and robot
power turn OFF (group 2 hazards remain energized). If the group 2 E-stop is
pressed or the light curtain is blocked, only the group 2 outputs turn OFF. After
the E-stop is released and the light curtain is cleared, the reset must be pressed
to turn the group 2 hazards outputs back ON.
Restricted space
0°
Danger Zone 1
270° Area
Danger Zone 2
90° Area
Muting Lamp 1
Off
270°
Station
Muting Lamp 2
On Muting
90°
Station
Output 1
“0”
Output 2
“1”
270°
41
42
13
14 24 34
23 33
42
41
13
14 24 34
23 33 41
42
13
14 24 34
23 33
A2 A1
G2H11 H21 G1 H12 H22
OSSD1
+24V
0V
OSSD2
OSSD1
+24V
0V
12
OSSD2
24V Com
S31S11 S41
S51
S34
Y10 Y11 Y12 Y13
A1S21
+24V DC
A2
K1
K2
K3
K4
K5
K6
MSR310P
440R-W23219
K1 K2
Y41Y40 Y42
Y32Y31 Y33
MSR330P
440R-W23221
MSR330P
440R-W23222
MSR330P
440R-W23223
MSR320P
440R-W23218
MSR329P
440R-W23217
S12
S42 S52 S62
S22 S32S12
S42 S52 S62
S22 S32S12
S42 S52 S62
S22 S32
K3 K4 K5
K6
Group 1 Group 3
Group 2
Resets
Group 1 Group 8 RobotGroup 2
Function 8 Function 8 Function 5
Muting Lamp
Module
Main Reserve
Group 1 Hazards Group 2 Hazards Robot Power
Schematic Shows
Robot in Danger Zone 1