Appendix B
MM-TA-12B Muting Module
Instruction Manual
Robot Load/Unload Station Application
This “station” muting application uses two independent safety light screen cir-
cuits, each with its own muting circuit and muting devices (e.g. polarized-retrore-
flective 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.
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.
In this example, the safety light screens are angled outwards (see 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 contin-
ually 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 immedi-
ately issue a stop.
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 immediate-
ly 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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