Example of Robot Cell with Pluto

Example of Robot Cell with Pluto

Description

The example describes a processing machine served by a robot. The machine safety system consists of one Pluto to which all protection has been connected. The robot has been equipped with a Pluto to which the cell protection has been connected. The Pluto for the machine has been connected via a databus cable to the robot’s Pluto so that common functions—such as an emergency stop—can be used by the whole cell.

Function

Emergency stop takes priority and will stop both the machine and the robot. The machine hatch acts as the zone divider. When the hatch is closed the machine forms one zone and the robot another zone. When the machine hatch is open, both the machine and the robot belong to the same zone. If the door is opened when the machine hatch is open, the machine and the robot will both stop—but if the machine hatch is closed, only the robot will be stopped.

After the door has been opened, the system must be reset by means of the reset button on the outside of the door. Emergency stop is reset when the pressed-in button is pulled out.

Note: The cell operating cycle must not start immediately on resetting the emergency stop or the door.