Slide 1
Appendix B-Figure B.2
BackAppendix B-Figure B.2c
BackAppendix A-Figure A.2
BackSMC FMS-200
HCC Fanuc/SMC Workstation
Robot Primary Function
Screw/Torque Screws into BaseRobot Secondary Function
Load Shaft and Cover from Table Mounted Inventory StandHCC Fanuc/SMC Workstation
Robot FunctionsTable Mounted Inventory StandAssemblies Arrive on ConveyorRobot Auxiliary FunctionsAdditional functions for external projectsEx: Using robot for SIT Conference to write student participants namesMay use table area, conveyor area, area in front of table, or any combination.Workstation Model
Workstation Model
Workstation Model
Current User Position
Current Student Position
Initial Risk AssessmentCreated risk assessment chart based on RIA standard and ISUs ABB risk assessmentStation currently does not include any safety equipmentUsed standard set of safety equipment to predict risk reductionPlanned Safety SolutionsPresence sensing devices (curtain/mat)Barriers (fencing)Programming requirements (PLC/robot)Standard procedure training (classroom)Properly designed safety circuits (per NEC)Awareness Signal on FencingStation Controls Moved to Fencing
Light Curtain ValuesAllen Bradley PAC T4H 3400N3 Beams23mm Beam Width400mm Beam Center to CenterMin Os=Beam C2C-Beam WidthMin Os=400mm-23mmMin Os=377mm (14.85in)Therefore, Dpf=178mm (7.5in)Per Figure B.2Light Curtain ValuesAllen Bradley PAC T4H 3400N3 Beams23mm Beam Width400mm Beam Center to CenterMin Os=Beam C2C-Beam WidthMin Os=400mm-23mmMin Os=377mm (14.85in)Therefore, Dpf=178mm (7.5in)Per Figure B.2Fencing Opening1.5in Square OpeningsPer Figure B.11.25in Opening =6.5in Distance from Hazard1.875in Opening=17.5in Distance from Hazard1.875in-1.25in=0.625in (Opening)17.5in-6.5in=11in (Distance) 11in/0.625in=17.6 (Distance Ratio)1.5in>1.25in by 0.25in (Opening Increase)17.6*0.25in=4.4in (Additional Distance)6.5in+4.4in=10.9in (Total Distance)Therefore Fence to Envelope11inPer Figure B.1Cell Model With Safety Solution
5 Foot Fencing1.5 Square OpeningsAB Light CurtainAwareness Signal to Be AddedStation Controls Moved to FencingLight Curtain Recalculation
Cell Model With Safety Solution
12=RequiredFigure-A.353>RequiredFigure-B.2Real Distance25Initial Risk Assessment
Risk Solutions
Post Risk Assessment
Safety System Conditions And Outcomes
Safety Circuit Truth Table
Basic Safety Circuit Layout
Circuit Layout
Circuit Layout
Concerns
Fencing Interferes With Robot EnvelopePossible Solutions:-Axis Limits-Additional Hard StopsConcerns
Student Checking PLC PanelWithout Safety Mat Robot Could Be Reset and Motion StartedPossible Solutions:-Add Safety Mat Under StudentConcerns
Possibly Unprotected Area Inside System-Gaps at 4 Corners-Crawl Through Access to InsidePossible Solutions:-Safety Chains at 4 Corners-Barriers-Safety Mat InsideConcerns
Accessing Center of SystemNo Presence Sensing Devices Inside SystemPossible Solutions:-Add Safety Chains Over Gaps-Add Safety Mat InsideSolution-Soft Stops
Two proximity sensors added to the base to detect J1 movement towards fencingSolution-Gap ChainsGap chains added to prevent entry into center of the system without setting off light curtain
Solution-Standard ProceduresStandard procedures for safe operation booklets added to outside fencing for operator referenceSolution-Fencing
Solution-PLC Panel Relocation
Student technician outside of fencing while troubleshootingSolution-Robot E-Stop Board
Solution-Robot E-Stop Board
Solution-Light Curtain
Solution-Op Panel Relocation
Unable to reach reset button from inside fencing