Rockwell Automation 440R MSR300 Modular Safety Control System - Manual (Page 67)

MSR300 Safety System Manual
Rockwell Automation
MSR300 Manual.doc Pg 67 of 85
Robot cell 3 areas
Modules and I/O configuration
Restricted
space
Restricted
space
Muting
lamp
Muting
lamp
On
270° 90°
Operator
Load Station 1
Light curtain
muted
Operator
Load Station 2
Light curtain
active
A2 Y10
Y13
S34 Y42
Y31 Y32 Y33
Y40 Y41
Group
1 2 3
MSR310P
PW
R
Tx
D
2
S11 S21 S31
S41 S51
A1
TxD Shield RxD TxD
GND
S12 S22 S32
S42 S52 S62
1 2 3
MSR320P
Input
1 2
Input 1
Input 2
Gr
13 23
14 24
MSR330P
1 2
41 33
34 44
Group 3
Channel
S12 S22 S32
S42 S52 S62
1 2 3
MSR320P
Input
1 2
Input 1
Input 2
Gr
S12 S22 S32
S42 S52 S62
1 2 3
MSR320P
Input
1 2
Input 1
Input 2
Gr
A1 A2
H21
H11
H22
H12
MSR329P
Input
1 2
Input 1
S12 S22 S32
S42 S52 S62
1 2 3
MSR320P
Input
1 2
Input 1
Input 2
Gr
Additional
safe area
0 degrees
A
B
C
E
J
F
G
H
I
D
MSR300 System configuration:
MSR310 Base Module – 1
MSR320 Input Modules – 4
MSR330 Output Module – 1
MSR329 Muting Lamp Module – 1
I/O:
A, I = Light curtain inputs
C, H = Safety mat inputs
D, F = Robot cam switch inputs
B, G = Muting lamp control
E = Robot run/stop output
J = “Addl. Safe Area” cam switch