Rockwell Automation Guardmaster Allen-Bradley 440R-S35001 - Page 30

30 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 power-up with the robot in the safe area, press the reset three times to
energize the local hazards and robot power.
The E-stops and light curtains de-energize their respective local hazards, and
the robot remains powered. Press the reset button once to re-energize the local
hazards. The GSR solution cannot accommodate the muting lamps.
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 #3
440R-D22S2
S32 A1
Y32
S21S11 S22S12 S34S42
L12 L11
34A2 44
14 24
0
1
2
3
4
56
7
8
DIS #5
440R-D22S2
S32 A1
Y32
S21S11 S22S12 S34S42
L12 L11
34A2 44
14 24
0
1
2
3
4
56
7
8
DIS #4
440R-D22S2
S32 A1
Y32
S21S11S22S12 S34S42
L12 L11
34A2 44
14 24
0
1
2
3
4
56
7
8
DIS #2
440R-D22S2
S32 A1
Y32
S21S11S22S12 S34S42
L12 L11
34A2 44
14 24
OSSD1
+24V
0V
OSSD2
OSSD1
+24V
0V
OSSD2
K5
K6
0
1
2
3
4
56
7
8
DIS #1
440R-D22S2
S32 A1
Y32
S21S11 S22S12 S34S42
L12 L11
34A2 44
14 24
Robot in the Safe
Area
Muting Lamp
Zone 1
Local Hazards
in Zone 2
Robot Power
LOGIC
Muting Lamp
Zone 2
Local Hazards
in Zone 1
LOGICLOGICLOGICLOGICLOGIC
Zone 2
Switch
Zone 1
Switch
RobotZone 2Zone 1
Reset
Location
in Zone 1
Reset
Location
in Zone 2