Manual

P/N 116390 rev. C 49
Banner Engineering Corp. • Minneapolis, U.S.A.
www.bannerengineering.com • Tel: [phone]
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.”