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Datasheet Updated: Friday, December 2nd 2022

Robot Safety Module Datasheet

Contents

Cover image of technical document

Overview

The Robot Safety Module is the interface between Vention’s MachineMotion 2 controller & Vention’s partner robots’ safety interfaces. The Robot Safety Module manages the safety fault events that happen on the machine to safely stop both the MachineMotion 2 controller and the robot. With the Robot Safety Module connected in Vention’s safety chain, a safety event from the robot will stop the MachineMotion 2 controller and a safety event from Vention’s safety chain will also stop the robot. The Robot Safety Module also serves as an Ethernet switch between Vention’s Pendant, MachineMotion 2 controller and the robot.

Features

  • Configuration Free, Plug & Play
  • Compatible with MachineMotion 2
  • Daisy-chainable
  • Compatible with multiple Cobot brands
  • On-board status LED
  • Internal 3 port Ethernet switch

Technical Specifications

General Specifications
Part Number CE-SA-009-0000
Weight 1 kg
Dimensions 66 x 127 x 172 mm
Material
  • Bottom enclosure: ABS
  • Top enclosure: Aluminum
Operating Temperature 0 to 40°C
Certifications CE
Included in the Box
  • 1x Robot Safety Module (CE-SA-009-0000)
  • 1x Robot Safety Module “TO ROBOT” Cable (CE-SA-111-0001)
  • 1x Robot Safety Module “FROM ROBOT” Cable (CE-SA-112-0001)
  • 1x MachineMotion 2 Safety Extension Cable – 5m (CE-CA-102-5001)
  • 1x MM2 Safety Jumper (CE-SA-102-0001)
  • 2x M8 Drop-in Spring Loaded T-Nut (HW-FN-002-0001)
  • 2x M8 x 18mm Screw (HW-FN-003-0018)

Physical Interface

Figure 1: Robot Safety Module Physical Interface

Electrical Specifications
Nominal Input Voltage 24 VDC
Input Voltage Range 19.2 - 26.4 VDC
Operating Power Consumption 4.8 W
FROM ROBOT Connector Input Type Redundant 24V (4 contacts)
TO ROBOT Connector Output Type
  • Safety: Redundant Dry Contacts (4 contacts)
  • Reset: Dry Contacts (2 contacts)
  • Ethernet: Twisted pair Tx, Rx (4 pins in RJ45 connector)
Short Circuit Protection Internal E-FUSE IC
Maximum Current Allowed 2 A
Post-short Current 250 mA
Release Delay at 24V < 40 ms
Reset Total Delay 7 seconds
Ethernet Switch 3 ports 10/100MB

Pinout

FROM ROBOT port

Connector: M12, female, 4-pin, A-Keyed

Pin Description
Pin 1 Robot Safety Output 0V Contact 1
Pin 2 Robot Safety Output 24V Contact 1
Pin 3 Robot Safety Output 0V Contact 2
Pin 4 Robot Safety Output 24V Contact 2

TO ROBOT port

Connector: M12, male, 12-pin, A-Keyed

Pin Description
Pin 1 NC
Pin 2 NC
Pin 3 Robot Safety Input Channel 1 Contact 1
Pin 4 Robot Safety Input Channel 1 Contact 2
Pin 5 Robot Safety Input Channel 2 Contact 1
Pin 6 Robot Safety Input Channel 2 Contact 2
Pin 7 Robot Input Reset Contact 1
Pin 8 Robot Input Reset Contact
Pin 9 Robot Ethernet TX+
Pin 10 Robot Ethernet TX-
Pin 11 Robot Ethernet RX+
Pin 12 Robot Ethernet RX-

SAFETY IN port

Connector: M12, female, 12-pin, A-Keyed

Pin Description
Pin 1 24V
Pin 2 0V
Pin 3 MachineMotion Safety Channel 1 Contact 1
Pin 4 MachineMotion Safety Channel 1 Contact 2
Pin 5 MachineMotion Safety Channel 2 Contact 1
Pin 6 MachineMotion Safety Channel 2 Contact 1
Pin 7 Input Reset Contact 1
Pin 8 Input Reset Contact 2
Pin 9 Pendant Ethernet TX+
Pin 10 Pendant Ethernet TX-
Pin 11 Pendant Ethernet RX+
Pin 12 Pendant Ethernet RX-

SAFETY OUT port

Connector: M12, male, 12-pin, A-Keyed

Pin Description
Pin 1 24V
Pin 2 0V
Pin 3 MachineMotion Safety Channel 1 Contact 1
Pin 4 MachineMotion Safety Channel 1 Contact 2
Pin 5 MachineMotion Safety Channel 2 Contact 1
Pin 6 MachineMotion Safety Channel 2 Contact 1
Pin 7 Output Reset Contact 1
Pin 8 Output Reset Contact 2
Pin 9 MachineMotion Ethernet TX+
Pin 10 MachineMotion Ethernet TX-
Pin 11 MachineMotion Ethernet RX+
Pin 12 MachineMotion Ethernet RX-

Applications

The Robot Safety Module can link the safety interfaces of Cobots with MachineMotion 2. The following diagrams show the typical use-cases of the module:

Use Case Examples

Figure 2: Robot Safety Module with Vention Pendant, Cobot Controller and MachineMotion 2

Figure 3: Robot Safety Module with Vention Pendant, E-Stop and Reset Module 2, Cobot Controller and MachineMotion 2

Figure 4: Robot Safety Module with Vention Pendant, Safety Module (interfaced with Light Curtains and Muting Sensors), Cobot Controller and MachineMotion 2

Safety Data

The Robot Safety Module is used to propagate safety signals between :

  • The SAFETY IN port to the TO ROBOT port
  • The FROM ROBOT port the SAFETY OUT port; and
  • The SAFETY IN port to the SAFETY OUT port.

For each of these functions performed by the Robot Safety Module, safety data can be found in the following table:

Function PL Cat. MTTFd DCavg
From Robot to Safety OUT e 3 128.3 98.72%
From Safety IN to To Robot e 3 65.8 98.90%
From Safety IN to Safety OUT e 3 126.1 98.81%

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

Data Value Unit
dop 365 days/years
hop 24 hours/days
tcycle 8640 s/cycle