Rockwell Automation Guardmaster Allen-Bradley 440R-S35001 - Robot Zone with Additional Safe Area (Function 9)

Rockwell Automation Publication 440R-RM003A-EN-P - July 2021 27
Chapter 3 MSR300 Safety Relay
The following schematic shows an equivalent circuit that uses the GSR relays.
The DIS safety relays are recommended as their solid-state outputs are pulse-
tested. The DI safety relay is suggested for robot power because it has
electromechanical outputs.
Robot Zone with Additional Safe Area (Function 9)
Function 9 of the MSR300 safety relay adds an additional safe area to the robot
cell. When the robot is in the Additional Safe Area, both light curtains are
muted.
A1 S11 S21 S12S22
S32 L11 Y32L12
13
14S42
23
24
S34
A2
DI
440R-D22R2
0
1
2
3
4
56
7
8
+24V DC
24V Com
K1
K2
K5
K6
K3
K4
A1
L11
X32
L12 14 34
44
24
13 33 4323
A2
EM
440R-EM4R2
A1
L11
X32
L12 14 34
44
24
13 33 4323
A2
EM
440R-EM4R2
K1 K2K3 K4
0
1
2
3
4
56
7
8
DIS #2
440R-D22S2
S32 A1
Y32
S21S11 S22S12 S34
S42
L12 L11
34A2 44
14 24
0
1
2
3
4
56
7
8
DIS #4
440R-D22S2
S32 A1
Y32
S21S11 S22S12 S34
S42
L12 L11
34A2 44
14 24
0
1
2
3
4
56
7
8
DIS #3
440R-D22S2
S32 A1
Y32
S21S11S22S12 S34
S42
L12 L11
34A2 44
14 24
0
1
2
3
4
56
7
8
DIS #1
440R-D22S2
S32 A1
Y32
S21S11S22S12 S34
S42
L12 L11
34A2 44
14 24
OSSD1
+24V
0V
OSSD2
OSSD1
+24V
0V
OSSD2
K5
K6
LOGIC
Local Hazards in
Danger Zone 2
Local Hazards in
Danger Zone 1
Robot Power
Muting Lamp
Zone 1
Muting Lamp
Zone 2
LOGIC LOGIC LOGIC LOGIC
Zone 1
Switch
Zone 2
Switch
Zone 1
Zone 2
Robot
Reset
Located
in Zone 2
Reset
Located
in Zone 1
Additional Safe
Area 0°
Danger Zone 1
270° Area
Danger Zone 2
90° Area
Muting
Lamp 1
On
270°
Station
On Muting
90°
Station
Output 1
“0”
Output 2
“0”
Muting
Lamp 2
Restricted Space Restricted Space
Group 9
Input 1
“1”
A2 A1
G2H11 H21 G1 H12 H22
41
42
13
14 24 34
23 33 41
42
13
14 24 34
23 33 41
42
13
14 24 34
23 33
OSSD1
+24V
0V
OSSD2 OSSD1
+24V
0V
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
S12
S42 S52 S62
S22 S32
1212
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
Group 9
Function 5
Schematic Shows
Robot in Safe Area