Robot Safety Module (No MachineMotion) Datasheet

Overview

A Robot Safety Module (no MachineMotion) CE-SA-016-0002 is also available when there is a need for a heads up signal to place Cobot in collaborative mode. The Robot Safety Module (no MachineMotion) CE-SA-016-0002 can be used when our Safety Module features are considered for an application (muting, mode-switching or auto-reset). The Safety IN port and the Reduced port are connected to safety modules which change the state of the robot.

This document covers requirements for latest version of Vention’s Robot Safety Module. For previous version, refer to link below:

Documentation for Previous Product Versions

Features

• Configuration-free: plug & play

• Robot Safety Modules can be daisy-chained

• Support robot reduced/collaborative mode

• Compatible with most robot brands

• Five port Ethernet switch (safety IN, safety OUT, reduced, to robot, internal mcu)

• On-board LED for power, fuse, and communication status indication, located on the bottom of the module

• LED indicator displaying power status, fault alerts, safety status, and activation of an emergency stop triggered by the module

Included cables

• 1x Safety Extension cable - CE-CA-102-5001__2

• 1x Robot Safety Module “TO ROBOT” cable - CE-SA-111-0001

• 1x MachineMotion 2 Safety IN Pigtail cable - CE-CA-105-2000

• 1x Safety Jumper - CE-SA-102-0001

Safety

Vention’s safety modules perform safety functions as a part of a whole installation or machine. A complete safety system normally includes sensors or input units, logic units and contactors or output units. The manufacturer of the installation or machine is responsible for ensuring proper functioning of the whole system. The total concept of the control system into which the safety module is integrated must be validated by the user. Vention cannot guarantee all specifications of an installation or a machine without being responsible for the risk assessment and the design of the safety system. Vention takes over no liability for recommendations which are given or implied in the following description.
The following items must be taken into consideration during the design, risk assessment & installation of the safety system :

• The Safety Modules shall be put into operation only after the safety functions have been tested during the commissioning.

• According to EN IEC 60204-1:2018 and EN ISO 10218-1:2011 it is not allowed to restart automatically after emergency stop. Therefore the control systems of the connected devices have to disable the automatic start after emergency stop.

• Opening the Safety Module or implementing unauthorized changes voids any warranty.

Functional error! Danger to life, risk of serious injuries or property damage

• The Robot Safety Module may only be used in VENTION safety ecosystem;

• The Robot Safety Module shall be connected to a robot according to its specific wiring diagram.

• No emergency stop button shall be connected to the Safety IN port;

• No emergency stop button shall be connected to the safety chain of the Reduced port;

• The Robot Safety Module does not monitor the input redundant signals at the From Robot port. If the connected devices do not have monitoring of its output signals, the performance level of the safety function can be reduced;

• If the robot is placed in reduced (collaborative mode) with a cycle time of less than 500s, the performance level may drop to PL d.

• The Robot Safety Module is designed to operate in indoor environments without dust or high humidity. Dust and dampness may lead to malfunction. Do not install or operate the Safety Module outdoors;

Technical specs

General Specifications

Electrical Specifications

• Note: In North America the Safety Module shall be supplied by a certified class 2 power supply. In Europe, the Safety Module must be supplied by an SELV circuit. When powered by the MachineMotion those requirements are met.

Physical Interface

LED Indicators

Functionality

The Robot Safety Module AI is an easy way to interface almost any robot brand with Safety equipment and a MachineMotion AI. The cables are connected to the robots interface to enable the Emergency stop and the Collaborative mode. This makes it so that any stop of the robot will stop the MachineMotion AI and that a safe stop of the MachineMotion AI module will also stop the robot.

The Connectivity of the Robot Safety Module AI consists of a 5 port ethernet switch that connects the robot to the MachineMotion AI. The subnet of the safety in port is 192.168.5.0/24 and the address of the MachineMotion AI is 192.168.5.1. One reserved ip address in that subnet is 192.168.5.2 for the pendant, the rest is free to be used.

The collaborative mode is optional. It can be implemented if during an intervention by an individual, the robot needs to go at a slower speed or other safety functions such as force limitation needs to be enabled.

No estop+reset module can be plugged into the reduced speed port.

Port definitions

Safety OUT - Pin-out - M12, male, 12-pin, A-Keyed

The Safety OUT port connects to the SAFETY IN port of another Safety Module (if daisy-chaining multiple safety modules) or to a MachineMotion AI.

Safety IN - Pin-out - M12, female, 12-pin, A-Keyed

The Safety IN port connects to the SAFETY OUT port of another Safety Module (if daisy-chaining multiple safety modules) or to an E-Stop and Reset Module (CE-SA-007-0000). IMPORTANT: If the SAFETY IN port is not used, insert the included yellow jumper.

To Robot - Pin-out - M12, male, 12-pin, A-Keyed

From Robot - Pin-out - M12, female, 12-pin, A-Keyed

Reduced - Pin-out - M12, female, 12-pin, A-Keyed

Mounting

Install the module mounting bracket (CE-HW-005-1002) to the extrusion with the screws provided (HW-FN-003-0018). Install the module onto the mounting bracket as illustrated below.

Wiring Diagram without MachineMotion

The Robot Safety Module (no MachineMotion) CE-SA-016-0002 can be used when there is a need for a heads up signal to place Cobot in collaborative mode. The Robot Safety Module (no MachineMotion) CE-SA-016-0002 can be used when our Safety Module features are considered for an application (muting, mode-switching or auto-reset).

*Note: Insert a jumper on any unused safety input for proper functionality. See table below to identify the appropriate jumper part number (included with the module).

Robot Wiring & Configuration

For instructions on how to wire & configure your robot controller please see the documents below:

• FANUC

• Universal Robots

• ABB

Important information

• Shorting or overloading the reduced port could trip the electronic fuse. To reset the fuse, a power cycle is needed.

• No emergency stop button should be placed on the reduced port.

Safety Data

The Robot Safety Module realizes the following safety functions :

• System emergency stop output at the Safety OUT port from the Safety IN port (Estop_SafetyIN-to-SafetyOUT);

• System emergency stop output at the To Robot port from the Safety IN port (Estop_SafetyIN-to-Robot);

• System emergency stop output at the Safety OUT port from the From Robot port (Estop_FromRobot);

• Redundant safe signal at the From Robot port from the Reduced port (Reduced_FromRobot);

• System reset propagation from the Safety IN port to the Safety OUT port (Reset_SafetyOUT); and

• System reset propagation from the Safety IN port to the To Robot port (Reset_ToRobot).

For each of these functions, safety data can be found in the following table.

The above information have been calculated based on the following operation conditions:

If the robot is placed in reduced (collaborative mode) with a cycle time of less than 500s, the performance level may drop to PL d.

Documentation for Previous Product Versions