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