26 Rockwell Automation Publication 440R-RM003A-EN-P - July 2021
Chapter 3 MSR300 Safety Relay
The following schematic shows an equivalent circuit that uses the GSR relays.
DIS safety relays are recommended as their solid-state outputs are
pulse-tested. EM expansion relays provide voltage-free contacts to control the
local hazards. The DI safety relay is suggested for robot power because it has
electromechanical outputs.
Upon startup with the robot in zone 1, E-stops are released, and light curtains
are clear; press reset once to energize the DIS safety relays 1, 3 and 4.
Press reset gain to energize the DIS safety relay 2.
Press reset once more to energize the DI safety relay (robot power).
While the robot is in zone 1, if the E-stop is pressed or the light curtain is
blocked in zone 1, the hazards in zone 1 and the robot power are de-energized.
Zone 2 hazards remain energized.
After the E-stop is released and the light curtain is cleared, press the reset
button three times to energize the hazards in zone 1 and robot power.
While the robot is in zone 1, if the E-stop is pressed or the light curtain is
blocked in zone 2, the loads are de-energized in zone 2. The hazards in zone 1
and robot power remain energized. After the E-stop is released and the light
curtain is cleared, press the reset button once to energize the hazards in zone
2.
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