Wemo safety system

WSS WemoSafetySystem Product catalogue / Assembly instructions

Datum 2011-10-25

Titel

WEMO SAFETY SYSTEM

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Martin Johansson Version A

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Table of contents

Safety standard ......................................................................................................................4

Risk Area ............................................................................................................................5

Layout examples .................................................................................................................6

Warning sign ..........................................................................................................................9

WSS-S2500 - Post ...............................................................................................................10

WSS-VEN ............................................................................................................................11

Assembling wall elements .................................................................................................11

WSS-DPSL – swing door .....................................................................................................12

Hinge ................................................................................................................................12

Frame tube .......................................................................................................................13

Snap lock on swing door ...................................................................................................14

Handle ..............................................................................................................................16

WSS-DPSK – sliding door ....................................................................................................17

Door assembly ..................................................................................................................18

Assembling of profile bar and guide brackets ....................................................................19

Snap lock on sliding door ..................................................................................................20

WSS-TF – assembly kit, ceiling ............................................................................................21

WSS-NRB ............................................................................................................................24

WSS-LS – signal tower .........................................................................................................25

Electrical safety ....................................................................................................................26

Part numbers electrical safety ...........................................................................................26

Door with sensors .............................................................................................................27

Mounting gate sensors on Swing doors .........................................................................28

Assembling gate sensors on sliding door ......................................................................29

Lockable door ...................................................................................................................31

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Locking device assembled on the post ..........................................................................31

Assembling the magnet on the door ..............................................................................32

Gate box...............................................................................................................................33

Open rear gate box E73 .......................................................................................................34

Potential-free contacts for peripherals ..................................................................................34

Light beam ...........................................................................................................................35

Part numbers light beam ...................................................................................................35

General light beam............................................................................................................36

Appendix ..............................................................................................................................37

El. Drawing 1 gate.............................................................................................................37

El. Drawing 2 gates ...........................................................................................................38

El. Drawing lockable 2 gates .............................................................................................42

El. Drawing Potential-free contacts ...................................................................................45

Open rear I.M.M gate E73.................................................................................................47

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Safety standard

Wemo estimates the safety distance according to EN ISO 13857 Table 2.

A= Height to moving part (Mowing part of the robot) B= Height of protective construction (enclosure) C= Horisontal value to risk area (wall to risk area) EN ISO 13857 Table 2 Height to risk area A

Height of protective construction B (enclosure) Height lower than 1400 mm should not be used without additional protection example light beam.

Mowing part robot 1000 1200 1400 1600 1800 2000 2200 2400 2500 2700

Horizontal distance to risk area C 2700 2600 900 800 700 600 600 500 400 300 100 2400 1100 1000 900 800 700 600 400 300 100 2200 1300 1200 1000 900 800 600 400 300 0 2000 1400 1300 1100 900 800 600 400 1800 1500 1400 1100 900 800 600 1600 1500 1400 1100 900 800 500 1400 1500 1400 1100 900 800 1200 1500 1400 1100 900 700 1000 1500 1400 1000 800 800 1500 1300 900 600 600 1400 1300 800 400 1400 1200 400 200 1200 900

0 1100 500

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Risk Area

Figure 1 Risk Area front view

Figure 2 Risk Area left view

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Layout examples

Figure 3 Layout with wall elements beside conveyor

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Figure 4 Large enclosure to achieve the safety distance

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Figure 5 Layout with light beam

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Warning sign

Figure 6 Warning sign

The safety enclosure should be delivered with one sign for attachment on the enclosure and one on each door.

Part Number Language 60000045 Swedish 60000374 Finnish 60000231 Danish 60000234 English 60000232 Dutch 60000233 German 60000379 French 60000380 Portoguese

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WSS-S2500 - Post Post H=2500 for mounting of wall element.

This provides a space of 100 mm between floor and the lower edge of the mesh wall.

A complete set of mounting elements are enclosed.

Build dimensions: 50 x 50 mm

Part number: 06000150

Color red RAL 3001

The post is fasten into the floor with two expander bolts see Figure 7 for hole pattern.

Figure 7 Hole pattern post

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WSS-VEN All wall elements are built out of sturdy steel tubing frames with a divider.

Mesh size: 51 x 31 mm.

Color: Dark Gray RAL 7012

Height: 2400 mm

Assembling wall elements

Figure 9 illustrating how the wall elements should be mounted to the post.

Part Number Type Width 06000134 WSS-VEN250 250

06000135 WSS-VEN400 400

06000136 WSS-VEN500 500

06000137 WSS-VEN700 700

06000138 WSS-VEN800 800

06000139 WSS-VEN1000 1000

06000140 WSS-VEN1200 1200

06000141 WSS-VEN1500 1500

Number Description 1 Nut M8 2 M6S M8x100

Figure 8 Wall element

Figure 9 Assembly of WSS

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WSS-DPSL – swing door Mechanical door package for hinged door allows a wall element to be used as a swing door.

The mechanical door package can be combined with the electrical safety system.

Bill of Materials of the mechanical door package (06000077)

Number Description 1 Handle 2 Frame tube 3 Hinges (2 pcs) 4 Snap lock

Hinge

Figure 10 Hinge assembly

Number Amount Description 1 4 Nut M8 2 1 Hinge 3 1 Countersunk Screw M8x100 4 2 Countersunk Screw M8x35 5 1 M6S M8x100

Note that if the door is located in the corner of the safety enclosure like Figure 10, the hinge will be mounted with 1 screw (balloon 3) into the post. Otherwise use 2 counter sunk M8x100 screws.

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Frame tube

Figure 11 Frame tube assembly

Number Amount Description 1 1 Square tube 40x40 2 2 Bracket 3 4 Self-tapping screw 4 2 M6S M8x12

The cutting dimension of the square tube is 50+10+A+10+50=L

A is the width of the wall element.

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Figure 12 Cutting dimension square tube

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Snap lock on swing door

Figure 13 Snap lock door assembly

Number Amount Description 1 1 Nut M8 2 1 Bracket 3 1 Counter sunk M8x35 4 2 MF6S M4x6 5 1 Snap lock part

Figure 14 Snap lock mounted on post

Number Amount Description 1 1 Bracket 2 1 Counter sunk M8x100 3 1 Snap lock part 4 1 Nut M8 5 2 MF6S M4x6

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Figure 15 Snap lock assembled

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Handle

Figure 16 Handle assembly

Number Amount Description 1 2 Bracket 2 1 Handle 3 2 M6S M8x40

3

2 1

Figure 17 Handle assembled

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WSS-DPSK – sliding door

The door package for sliding doors enable a wall section to be used as a sliding door.

The mechanical sliding door package can be combined with the electrical safety system.

06000079 – mechanical sliding door package Description Amount Profile bar 1 Carriages 2

Guide brackets 2 Snap lock 1

Guide wheels 2 Handle 1

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Door assembly

Number Amount Description 1 2 Carriages 2 2 Roundbar for attachment of wall element into carriages 3 4 Counter sunk M8x35 4 4 M8 nut 5 2 Guide wheels

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Assembling of profile bar and guide brackets

Number Amount Description 1 6 M8 nut 2 6 Counter sunk M8x12 3 3 Bracket 4 2 End stop 5 1 Profile bar 6 5 Counter sunk M8x100 7 2 Guide bracket 8 5 Nut M8

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Snap lock on sliding door

Figure 18 Snap lock on sliding door

Number Amount Description 1 1 M8 Nut 2 1 Spacer for snap lock 3 1 Bracket 4 1 Counter sunk M8x35 5 2 Counter sunk M4x20 6 1 Snap lock part

4

3

5 6

2 1

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WSS-TF – assembly kit, ceiling

This is an assembly kit to be able to use a wall element as a protective ceiling.

The wall element is fixed underneath the robot z-beam and supported by a separate post on the opposite side. This is a solution for creating a safe area for the operator if the robot working area is on the front side of the IMM.

The wall element is not included in the assembly kit.

Figure 19 Assembly kit, ceiling

06000042-Assembly kit, protective ceiling Number Amount Description

1 1 Upper ceiling attachment (06000049) 3 1 Lower ceiling attachment (06000050) 4 5 Spacer (06000052) 5 6 MC6S M6x40 (06000063) 6 4 Spacer with M6 thread (06000051) 7 1 Bracket (06000053) 8 2 Washer M6 (06000064) 9 6 M6S M6x70 (06000062)

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Figure 20 Attachment wall element to ceiling

Figure 21 Attachment post to ceiling

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Figure 22 Attachment robot to ceiling

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WSS-NRB

The push button box is used when the enclosure has electrical safety package.

There are two kinds of boxes.

75000849 with 2 buttons. This is used on the electrical safety package with gate sensors.

75000850 with 3 buttons. This is used on the lockable safety package. With this box it is possible to open the door from the inside of the enclosure.

Figure 23 Push button box

The box is mounted on bracket of sheet metal that is easy to attach on the wall element.

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WSS-LS – signal tower

Signal tower for indication of status in the robot cell. Brackets are included for attachment at the post. The signal tower is connected directly to the electrical cabinet on the robot.

Red light = Robotic cell idle = stop

Yellow light = Alert signal, e.g. filling/ emptying

Green light = Robotic cell in operation

Bill of materials (06000118) signal tower.

Number Description 1 Signal tower 2 K6S M8x16

2

1

Figure 25 Expleded view signal tower

Figure 24 Signal tower mounted

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Electrical safety

Part numbers electrical safety Following part numbers are used for the electrical safety packages.

75001040 – electrical and mechanical safety package for swing door 06000077 1 WSS-DPSL swingdoor 75000849 1 Push button box (2 buttons) including 10 m cable and sensor. 75001044 1 Sensor, including brackets and fasteners

75001041 – electrical and mechanical lockable safety package for swing door 06000077 1 WSS-DPSL swingdoor 75000850 1 Push button box (3 buttons) including 10 m cable and sensor. 75001045 1 Locking device with sensor, including brackets and fasteners

75001042 – electrical and mechanical safety package for sliding door 06000077 1 WSS-DPSK – sliding door 75000849 1 Push button box (2 buttons) including 10 m cable and sensor. 75001046 1 Sensor, including brackets and fasteners

75001043 – electrical and mechanical lockable safety package for swing door 06000077 1 WSS-DPSK sliding door 75000850 1 Push button box (3 buttons) including 10 m cable and sensor. 75001047 1 Locking device with sensor, including brackets and fasteners

75001106 – electrical safety package for swing door 75000849 1 Push button box (2 buttons) including 10 m cable and sensor. 75001044 1 Sensor, including brackets and fasteners

75001107 - lockable door package for swing door 75000850 1 Push button box (3 buttons) including 10 m cable and sensor. 75001045 1 Locking device with sensor, including brackets and fasteners

75001108 - electrical safety package for sliding door. 75000849 1 Push button box (2 buttons) including 10 m cable and sensor. 75001046 1 Sensor, including brackets and fasteners

75001109 – lockable safety package for sliding door. 75000850 1 Push button box (3 buttons) including 10 m cable and sensor. 75001047 1 Locking device with sensor, including brackets and fasteners

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Door with sensors

The gate sensors is a non-contact safety sensor for use on interlocked gates, hatches etc. A coded signal is transmitted from the control device or from the safety PLC via sensor mounted on the post to the door sensor. The door sensor modifies the signal and sends it back again. The maximum sensing distance between the gate sensors is currently 15 mm ± 2 mm.

Figure 26 Gate sensors

The electronic safety system is connected directly to the robot by the grey cable (Balloon 1) if the safety enclosure has 1 door. If it has 2-4 doors it needs to be connected via a gate box. See attachment for electrical drawings.

The safety system is connected via the push button box (balloon 2) with emergency stop and reset function of open door.

2

3

4

1

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The box is attached on the wall element by a sheet metal bracket shown in Figure 27.

Mounting gate sensors on Swing doors The sensor mounted on the post is connected to the push button box via the black cable with the M12 5 pole connector. The sensor is mounted on a bracket that is attached at the slots on the post, see Figure 28.

Figure 28 Sensor mounted on the post

Figure 27 Safety system, gate sensors

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Sensor mounted in the existing holes on the door section (Figure 29).

Figure 29

Assembling gate sensors on sliding door

Figure 30 The gate sensor mounted on sliding door

When mounting the sensors, new holes need to be made for the screws (balloon 2) on the wall element and on the post (Figure 31).

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The electrical safety package can be sold independently or like in most common situations in combination with mechanical door package 06000077 (Swing door) or 06000079 (Sliding door).

Number Description 1 Distance plate 2 Screw, FXS 4,2x19 3 Screw, MRT pin A2 M4x12 4 Sensor

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Figure 31 Mounting sensor on door

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Lockable door The lock is a magnetic lock that is designed for industrial applications and that can withstand harsh environments. As it is designed with no moving parts, it is durable and long lasting. With its electro-magnet, keeps a door locked with a holding force up to 1,500 N and also magnetic material does not attach to the magnetic surface when the power is off. It is the sensors that determine if the door is open or closed.

Locking device assembled on the post

Figure 32 Exploded view of the lockable electrical safety package

Number Amount Description 1 1 Cable to robot/Gate box 2 1 Bracket for push button box 3 1 Push button box 4 1 Cable to sensor 5 2 Nut M5 6 1 Locking device 7 2 MRT pin M5x25 8 1 5-pole M5 connector

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Figure 34 Attached on sliding door

The cable (balloon 1) on Figure 32 should be connected directly to the robot (1 door) or to gate box (2-4 doors). See attachment for electrical drawings. The cable (balloon 4) is connected to the locking device by a 5 pole M12 connector.

Balloon 3 on Figure 33 is a push button box with 3 buttons. The box is mounted on the wall element with a sheet metal bracket (balloon 2) attached on the box see Figure 32. The third button is attached on the backside of the box to open the door from the inside of the security enclosure

The sensor is enclosed in the locking device (balloon 6)

Assembling the magnet on the door On the door the anchor plate and the sensor is mounted on a bended plate (Figure 34 and Figure 35). The bended plate is screwed into the wall element.

Number Amount Description 1 1 Bended plate (different to sliding door and swing door) 2 1 Sensor 3 1 Anchor plate

1

Figure 35 Attached on swing door

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The electrical lockable door package can be sold independently or like in most common situations in combination with mechanical door package 06000077 (Swing door) or 06000079 (Sliding door).

Gate box The gate box is used when the safety enclosure has more than one door. The box is restricted to maximum 4 doors. When electrical locking package is used an extra relay must be added to the gate box. See attachment for electrical drawings.


Figure 36 Safety enclosure with two doors and gate box

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Open rear gate box E73

Open rear gate box makes it possible to run the injection molding machine without closing the rear gate. This is possible due to Euromap 73 standard which is applied on all Wemo robots. Sometimes the robot needs to be adjusted to cooperate with IMM because the manufacture of the molding machines has their own standard. The lockable electrical safety package must be used with open rear gate.

75001035 - Open rear gate E73 Part number Description Amount 75000863 Connecting box 1 72001044 Connecting block 1 72001042 Connecting block 1 72001043 Connecting block 1 72001211 Connecting block 1 72000880 Connecting block 1 72001177 Safety relay 1

Potential-free contacts for peripherals Potential-free contacts are used when emergency stop is necessary on the peripherals. By inserting a BT51 relay into the peripheral it is connected to the robot safety system.


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Light beam

Part numbers light beam 75000839 – Light beam H=1200, complete master

Part number Description Amount 72000493 Light beam 1 72000494 Cable 1 75000834 Connecting box, master 1 75000836 Pushbutton box 1 77000106 WCS-FC1 photocell with reflex and brackets 4

75000840 – Light beam H=1200, complete slave Part number Description Amount 72000493 Light beam 1 72000494 Cable 1 75000835 Connecting box, slave 1 75000836 Pushbutton box 1 77000106 WCS-FC1 photocell with reflex and brackets 4

75000837 – Light beam H=1800, complete master Part number Description Amount 72000493 Light beam 1 72000494 Cable 1 75000834 Connecting box, master 1 75000836 Pushbutton box 1 77000106 WCS-FC1 photocell with reflex and brackets 4

75000838 – Light beam H=1800, complete slave Part number Description Amount 72000493 Light beam 1 72000494 Cable 1 75000835 Connecting box, slave 1 75000836 Pushbutton box 1 77000106 WCS-FC1 photocell with reflex and brackets 4

75001032 – Connection of units via PlutoBus Part number Description Amount 72000640 Identifier for Pluto 1

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General light beam

Light beam is used when a large opening are necessary for peripherals.

When it is one opening on the enclosure master light beam is used. If it is more than one the first light beam is always the master the other light beams are connected to the master connection box and after that it is connected to the robot. In this case 75001032 are used to unite the light beams. 75001032 could also be used if you have more than one robot in the enclosure.

The safety distance 850 mm plus reaction distance approx. 300 mm. Total safety dimension from light beam to risk area is 1150 mm.

Figure 37 Enclosure with light beam

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Appendix

El. Drawing 1 gate

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El. Drawing 2 gates

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El. Drawing lockable 1 gate

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El. Drawing lockable 2 gates

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El. Drawing Potential-free contacts

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Open rear I.M.M gate E73

Documents

Wemo safety system