Hello,
We have a Stäubli RX130 robot arm in an enclosed cell with a safety door to be used for educational purposes and we are in the process of setting up the safety circuits. The door is equipped with an AZM 160-14yrpka solenoid lock mechanism, which has 3-sets of positive action NC contacts (closed while the door is closed) and a solenoid lock which operates a set of NO/NC contacts. The NO contacts are closed if the door is closed AND locked, and the NC is closed if the lock solenoid is not engaged. The schematic diagram of the lock is attached.
We are planning on wiring this solenoid dual channel to a safety relay to cut power to the robot when the door is opened.
However, I have a question about best practice use of the door lock solenoid and the NO/NC contacts. We were planning on having the lock solenoid be controlled by the E-Stop circuit, in other words the door is locked when power is applied and no E-Stop has been activated. The NC contact on the solenoid would be wired into the reset circuit on the E-Stop circuit, so the solenoid must be inactive for the system to reset. However I still have a leftover set of terminals (1,2 in the diagram), the NO which is closed when the solenoid is active AND the door is closed.
Initially I was thinking of possibly wiring these to activate a separate contactor, whose contacts would prevent powering the robot in case the door lock solenoid lost power, even if the door doesn’t open. But this seems like it would add extra complexity and I’m not sure if it would be a standard solution.
So my questions: Does this safety setup and solenoid lock control method sound ok? And what exactly would you use the solenoid NC/NO contacts for?
Thanks!
We have a Stäubli RX130 robot arm in an enclosed cell with a safety door to be used for educational purposes and we are in the process of setting up the safety circuits. The door is equipped with an AZM 160-14yrpka solenoid lock mechanism, which has 3-sets of positive action NC contacts (closed while the door is closed) and a solenoid lock which operates a set of NO/NC contacts. The NO contacts are closed if the door is closed AND locked, and the NC is closed if the lock solenoid is not engaged. The schematic diagram of the lock is attached.
We are planning on wiring this solenoid dual channel to a safety relay to cut power to the robot when the door is opened.
However, I have a question about best practice use of the door lock solenoid and the NO/NC contacts. We were planning on having the lock solenoid be controlled by the E-Stop circuit, in other words the door is locked when power is applied and no E-Stop has been activated. The NC contact on the solenoid would be wired into the reset circuit on the E-Stop circuit, so the solenoid must be inactive for the system to reset. However I still have a leftover set of terminals (1,2 in the diagram), the NO which is closed when the solenoid is active AND the door is closed.
Initially I was thinking of possibly wiring these to activate a separate contactor, whose contacts would prevent powering the robot in case the door lock solenoid lost power, even if the door doesn’t open. But this seems like it would add extra complexity and I’m not sure if it would be a standard solution.
So my questions: Does this safety setup and solenoid lock control method sound ok? And what exactly would you use the solenoid NC/NO contacts for?
Thanks!