Rockwell Automation 440R MSR300 Modular Safety Control System - Manual (Page 39)

MSR300 Safety System Manual
Rockwell Automation
MSR300 Manual.doc Pg 39 of 85
ignored, -A kind of muting control is implemented in an MSR300 System as part of the
robot safety control function. In this special application safety cam-switches or sensors at
the robot shaft initiate the muting process. These provide area position feedback to the
MSR300 system in order to ignore e.g. safety light curtains as long as the robot arm is not
working in the near of the light curtain protected area.
Muting lamps are deployed to indicate the occurrence of muting. Special safety controls
are necessary to ensure that muting lamps operate correctly and safely. The MSR329
Muting Lamp Controller is expressly designed for this purpose.
An MSR329 Muting Module may be included in an MSR300 System only if at least one
Input Module in the system is programmed for robot safety control. If an MSR329 is
included in a system, but no Input Module has been set up for robot safety control, the
Base Module will announce an invalid configuration.
Two muting lamps and two spare lamps can be connected to an MSR329 Module. The
valid load current range for each lamp is 30 mA to 200 mA. If the current load of a muting
lamp is outside this range, the spare lamp is switched on automatically. If the defective
lamp is replaced, the normal muting lamp will light up when the next muting condition
occurs, and the spare lamp will remain off. If a muting lamp and its spare lamp are both
defective (detected by out-of-range current), the corresponding input cannot longer be
muted (which means Light curtain always monitored). Restore the muting operation
requires that at least one of these two defective lamps will be replaced.
If an MSR329 Muting Lamp Module fails when installed in an MSR300 System, this will
result in the muting function being disabled: i.e., the corresponding light curtain will no
longer be muted.
The use of the MSR29 Muting Module is subject to the following system configuration
rules:
• A Muting Module can be installed only in an MSR300 System that has a Robot
Module (Input Module set up for robot function).
• An MSR300 System can have only one Muting Module, bus-connected instead of
a normal Input Module (which leaves a maximum number of 9 Input modules to be
connected when an MSR329 is used).
• An MSR300 System cannot have a Muting Module and a Logic Module (Input
Module set up for logic function): i.e., the system can have either one or the other
type of module, not both.
4.4.1 Terminals
Name
Function
A1 Supply +24 VDC
A2 GND, Supply 0 V
H11 Muting lamp 1: positive (+)
H12 Reserve lamp 1: positive (+)
G1 Muting lamp 1 and reserve lamp 1: negative (-)
H21 Muting lamp 2: positive (+)
H22 Reserve lamp 2: positive (+)
G2 Muting lamp 2 and reserve lamp 2: negative (-)