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Appendix b, Robot load/unload station application – Banner MMD-TA-11B Muting Modules User Manual

Page 51

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P/N 116390 rev. C

49

Banner Engineering Corp.

Minneapolis, U.S.A.

www.bannerengineering.com • Tel: 763.544.3164

MMD-TA-11B / MMD-TA-12B Muting Module

Instruction Manual

Appendix B

Robot Load/Unload Station Application

This “station” muting application uses two independent safety

light screen circuits, each with its own muting circuit and

muting devices (e.g. polarized-retroreflective photoelectrics).

The application also includes run bars with two-hand control,

auxiliary controls, and E-Stop. The two-hand control is provided

at each station to safeguard the operator during the momentary

clamping action of the fixture while the safety light screen is

muted.
In this example, the safety light screens are angled

outwards (see Figure B-7, detail A). This provides proper

separation distance from the hazards created by the robot

and the clamping/welding fixtures, while protecting against

the possibility of pass-through hazards. In muting applications

involving an operator, the operator must be continually

detectable by the defined area. This ensures that if a hazard

arises, causing the mute to end while the operator is present,

the safety light screen will immediately issue a stop.

Angled

Light Screen

Station

"B"

Hard

Guarding

Station

"A"

M1A and M2A

Station "A"

Mute Circuit

M1B and M2B

Station "B"

Mute Circuit

Retroreflective

Targets

Detail B

Station "B"

Run-Bar with

Two-Hand Control,

E-Stop, and

Clamping Manual

Release

Station "A"

Run-Bar

Angled

Light Screen

Station A

Work Envelope

Clamping and

Welding Fixtures

Detail A

Figure B-7. A robot load/unload application with two-station home-position muting, using polarized retroreflective photoelectrics

as muting devices

While the robot is at station “A”, the light screen at station “B” is

muted (M1B and M2B are active), allowing the operator to load

or unload without issuing a stop command to the robot. As the

robot moves out of the “A” work envelope (as defined by Station

“B” mute devices, see detail B) the mute discontinues at station

“B”. If the operator is still within the protected area, a stop

command is immediately issued. As the robot moves to the work

envelope of station “B”, the mute devices M1A and M2A activate

and mute the safety light screen at station “A.”

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