Access Request Module AI Datasheet

Overview

The Access Request Module AI, CE-SA-017-0001__2 is intended to interface up to 4 guardlocks (lockable interlock) with MachineMotion AI.

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

Documentation for Previous Product Versions

Features

• Compatible with every model of MachineMotion AI

• Configuration-free, plug-and-play

• Daisy-chainable

• RGB LED indicator for safety status (emergency stop, faults)

• Single-color LED indicators for power and communication status

• Can be connected to up to 4 guardlock devices but only one with high duty (>1 opening per hour)

Included cables

• 1x Safety Extension cable (5m) - CE-CA-102-5001__2

• 1x Dry Contact Jumper - CE-JP-000-0002

• 2x Safety Jumper - CE-SA-102-0001

• 2x Guard Lock T-Splitter - CE-SA-124-0001

Important Notes

Safety

The Access Request Module AI performs 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 Module shall not be put into operation only after the safety functions have been tested during the commissioning.

• The use of the Safety Module does not prevent the automatic reset of devices connected to the Safety OUT port.

• The use of the Safety Module does not prevent the automatic start of the devices connected to the Safety OUT ports. 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 Access Request Module AI may only be used in VENTION safety ecosystem;

• The Access Request Module AI does not monitor the input redundant signals at the End Effector IN and Position IN ports. If the connected device at the Position IN port does not have monitoring of its output signals, the performance level of the safety function can be reduced;

• If the a jumper is used for the Position IN port but a limit switch is connected to the End effector IN port, the performance level of the safety function can be reduced;

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

• If devices with OSSD signals are connected to the both Position IN and End Effector IN ports, the device connected in the End Effector IN port shall accept OSSD inputs and be placed in cascade using the pins 1 and 3 as OSSD inputs;

• As per ISO/TR 24119:2015, only 1 guardlock shall be high duty (opening the guardlock at a frequency greater than 1 per hour);

• A maximum of 4 guardlock should be connected to maintain the performance level of the module;

• Bypassing the guardlock with the Manual override may expose the operator to residual risk (heavy boxes in grippers, robot in wrong position);

• The Access Request Module AI 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;

• The machine shall be designed in such a way that it is not possible to press the reset button from inside a safeguarded area without triggering one of the devices connected to the Device ports.

Important Information

• The electronic fuse contained in the Mode Switching Safety Module AI protects from internal faults and external faults, but the 24V power output on the Safety In port is not protected by the electronic fuse. The electronic fuse has an auto-retry mechanism (it does not latch faults and does not require a power cycle to reset).

• As per ISO/TR 24119:2015, only 1 guardlock shall have a high duty (opening the guardlock at a frequency greater than 1 time per hour).
  Bypassing the guardlock with the manual override may expose the operator to residual risk (heavy boxes in grippers, robot in wrong position, etc.).

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 Access Request Module AI enables guardlock devices to be interfaced with MachineMotion AI. A guard lock is a device that prevents a user to open a door or gate based on a safety or programming condition. The 2 safety conditions to be met are represented by the Position In and the End Effector In ports. The Position input can be connected to a safe robot output or to a fail-safe inductive sensor (CE-SN-010-0001) whose OSSD outputs are high when the source of danger (e.g. robot arm) is in a safe position. The End Effector input can be connected to a redundant dry contact sensor whose contacts are closed when the end effector (e.g. robot gripper) does not create a hazard (e.g. no payload). The End Effector In condition is optional, meaning that if there is no residual risk involving an end effector in a cell, the End Effector input can be jumped with a 4-position yellow jumper (CE-JP-000-0002).

Once everything is properly connected, software on the MachineMotion must be running in order to send the lock/unlock request. This architecture allows completely flexibility on the functionality. Pressing the buttons of the Access Request Module AI sends a message to the MachineMotion AI. Optionnally, the MachineMotion AI may send a command to park the robot or gantry in a safe position as confirmed by the Position input. The MachineMotion AI should then send a request to the Access Request Module AI to lock/unlock the door. In order for an access request to be successful, the cell must be in a safe state. Therefore, access request modules must be integrated into your application. See below for MachineLogic and MachineLogic Python examples.

Making a Lock or Unlock Request

The Access Request Module AI will accept requests to unlock under the following conditions:

• Interlocks are detected on the guardlock port connectors

• The guardlocks are closed and locked

• The Position In port OSSD inputs are high & End Effector In port dry contacts are closed

The Access Request Module AI will accept requests to lock under the following conditions:

• Interlocks are detected on the guardlock port connectors

• The guardlocks are closed and unlocked

• The Position In port OSSD inputs are high & End Effector In port dry contacts are closed

Port definitions and pinouts

Safety Out - M12, male, 12-pin, A-Keyed

The Safety Out port connects to the Safety In port of the MachineMotion AI, or to another Safety Module when daisychaining.

Safety In - M12, female, 12-pin, A-Keyed

The Safety In port connects to the Safety Out port of another Safety Module when daisychaining. If the port is unused, plug the included yellow jumper (CE-SA-102-0001).

Door 1 & 2 - M12, female, 12-pin, A-Keyed

To connect 2 guarlocks to this port, use the provided guardlock T-splitter (CE-SA-124-0001). If the port is unused, plug the included yellow jumper (CE-SA-102-0001).

Door 3 & 4 - M12, female, 12-pin, A-Keyed

To connect 2 guarlocks to this port, use the provided guardlock T-splitter (CE-SA-124-0001). If the port is unused, plug the included yellow jumper (CE-SA-102-0001).

Position In - M12, female, 4-pin, A-Keyed

End Effector In - M12, female, 4-pin, A-Keyed

The End Effector In port allows to connect a redundant dry contact feedback of the machine’s end effector status (e.g. a box gripper sensor to confirm the absence of a box). If the port is unused, plug the included 4-position yellow jumper (CE-JP-000-0002).

Status Out - M12, male, 4-pin, A-Keyed

The Status Out port allows to daisychain several Access Request Module AI without requiring a second set of safe position sensor and end effector sensor inputs. Simply connect the Status Out port of the module with sensors to the Position In port of the module without sensors.

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 Diagrams

*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).

HTTP commands

The Access Request Module AI can receive commands from HTTP to lock or unlock the doors. This enables a user to lock/unlock doors on events, like a push button press.

HTTP /access-request return codes :

Error codes

MQTT topics

Device Type access-request

Integration in MachineLogic

Usage of the Access Request Module in Code-Free application requires setting up the proper messages using MQTT and HTTP communication.

For any use-case requiring the use of the Access Request Module AI with MachineLogic Code-Free programming, please contact integrationsupport@vention.cc

MachineLogic Python Unlock Sequence Example

Below is an example of how the Access Request Module AI can be used in MachineLogic Python applications.

from machinelogic import Machine, MachineException

### Program ###

# Start coding here!
# Documentation can be found at vention.io/resources/guides/machinelogic-python-programming-514
import requests
from time import sleep

def request_access(machine_ip, module_serial_number, unlock = True):
    unlock_string = "unlock" if unlock else "lock"
    payload = {
      "serial-number": module_serial_number,
      "command": unlock_string
    }
    try:
        r = requests.post(
          f"http://{machine_ip}/firmware/smartModules/access-request",
          json = payload
        )
    finally:
        return ( r.status_code == 200, r.text)
    
if __name__ == "__main__":
    
    ip = '192.168.7.2'
    mmai = Machine(ip)
    serial_number = 'SN1234' # Replace this with the serial number found on the device label
    
    def handle_module_status(topic, payload):
        print(topic, payload) # Display incoming module statuses

    def handle_access_request(topic, payload): # Callback for module button press
        print("handling request", topic, payload)
        if not int(payload): # Button is released, do nothing
          return

        is_unlock_request = topic.split('/')[3] == "button-unlock"
        success, info = request_access(ip, serial_number, is_unlock_request)
        print(info)
    
    mmai.on_mqtt_event(
      f'safety-module-hub/access-request/{serial_number}/button-lock',
      handle_access_request
    )

    mmai.on_mqtt_event(
      f'safety-module-hub/access-request/{serial_number}/button-unlock',
      handle_access_request
    )
    
    mmai.on_mqtt_event(
      f'safety-module-hub/access-request/#',
      handle_module_status
    )

    while True:
        sleep(1)

Safety Data

The Access Request Module AI realizes the following safety functions:

• System emergency stop output at the Safety OUT connector from the Safety IN port (E-stop_SafetyOUT);

• Guardlock safety function without safe position input (GuardLock);

• Guardlock safety function with safe position input (GuardLock_PositionIN).

For each of these functions, safety data can be found in the following tables. Due to potential fault masking, the safety data is dependent on the number of doors and their frequency of use.

The table below refers to the safety data with only one door or no door frequently used and up to 4 not frequently used doors:

The table below refers to the safety data with no door frequently used and up to 30 doors not frequently used doors or 1 frequently used doors and up to 4 not frequently used doors:

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

Documentation for Previous Product Versions