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Minotaur Safety Relay (MSR)
to Guardmaster Safety Relay
(GSR) Conversion - Phase 4
Catalog Numbers 440R-S35001, 440R-S35003, 440R-S35002,
440R-W23219, 440R-W23220, 440R-W23218, 440R-W23217,
440R-23221, 440R-W23222, 440R-W23223, 440R-W23224,
440R-W23225, 440R-W23226
Reference Manual
Original Instructions
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Related Manuals for Rockwell Automation Guardmaster Allen-Bradley 440R-S35001
Summary of Contents for Rockwell Automation Guardmaster Allen-Bradley 440R-S35001
- Page 1 Minotaur Safety Relay (MSR) to Guardmaster Safety Relay (GSR) Conversion - Phase 4 Catalog Numbers 440R-S35001, 440R-S35003, 440R-S35002, 440R-W23219, 440R-W23220, 440R-W23218, 440R-W23217, 440R-23221, 440R-W23222, 440R-W23223, 440R-W23224, 440R-W23225, 440R-W23226 Reference Manual Original Instructions...
- Page 2 If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
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Page 3: Table Of Contents
Output Load Capability ......... . 33 Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... - Page 4 Notes: Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
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Page 5: Preface
The wiring diagrams in this publication are intended as examples. Because many variables and requirements are associated with any particular installation, Rockwell Automation does not assume responsibility or liability for actual use that is based on these examples. The following MSR safety relays will continue to be offered for the foreseeable future (five or more years). -
Page 6: Who Should Use This Manual
Provides general guidelines for installing a Guidelines, publication 1770-4.1 Rockwell Automation® industrial system. Product Certifications website, Provides declarations of conformity, certificates, and other rok.auto/certifications certification details. You can view or download publications at rok.auto/literature. Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 7: Introduction
MSR family to a smarter and cost-effective design of machine in compliance with the latest requirements of Machinery Directive and harmonized standards. For further assistance in replacing those devices, contact Rockwell Automation support, your local Allen-Bradley distributor, or Rockwell Automation sales office. -
Page 8: Gsr Benefits
However, this additional response time is likely to be an issue when presence-sensing devices like light curtains and safety mats are used. Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 9: Output Load Capability
Figure 1 - Output Load Capability Using Interposing Relays +24V DC L2 L3 RESET GSR CI 440R-S13R2 34 42 CR1 CR2 24V Com 700-HPSXZ24 (relay) Interposing Relays 700-HN123 (base) CR1 and CR2 consist of: 700-AD1LR (diode and status indicator) 700-HN119 (retainer) Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... - Page 10 Chapter 1 Introduction Notes: Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
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Page 11: Cu3 Control Unit
Chapter CU3 Control Unit In late 2019, Rockwell Automation launched the MSR55P safety relay to provide additional features for monitoring the speed of a motor as the motor spins down to a stopped condition by sensing the back EMF of the motor. The MSR55P safety relay has been well accepted, and the CU3 control unit is now being obsoleted. -
Page 12: Threshold And Delay Settings
Both control units are 45 mm (1.77 in.) wide. The MSR55P safety relay is taller. To achieve optimal heat dissipation, 50 mm (2 in.) of spacing is recommended above and below each control unit. Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 13: Threshold Settings
Figure 3 - Threshold and Delay Settings MSR55P 43 53 Voltage Voltage 44 54 Threshold Threshold Adjustment Adjustment Time Delay Adjustment MSR55P Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 14: Wiring Schematics
34 44 ON ERR A4 24 32 Brown Brown 500mA Fuse To Other Yellow Yellow Safety Green Green Devices Pink Pink ON Status Gray Gray Blue Blue ON Status Error Status 24V Common Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 15: Output Load Capability
Upon manual reset, the MSR55P displays a fault code 4. Figure 6 - Automatic and Manual Reset Manual Automatic L1 L2 L3 L1 L2 L3 Reset Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... - Page 16 Chapter 2 CU3 Control Unit Notes: Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
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Page 17: Msr300 Safety Relay
Y10 S34 Y40 Y41 Y42 A2 L12 L11 Y32 S34 L12 L11 Y32 S34 Y11 Y12 Y13 Y31 Y32 Y33 Y11 Y12 Y13 Y31 Y32 Y33 13 14 23 24 34 44 LNK2 Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 18: Input Module
A1 A2 B1 B2 MSR330P MSR338P 440R-W23221 GSR EM 440R-W23224 GSR EMD 440R-W23222 440R-EM4R2 440R-W23225 440R-EM4R2D 440R-W23223 440R-W23226 L12 L11 Y3 Y7 L12 L11 X32 18 28 27 28 Immediate Outputs Delayed Outputs Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 19: Muting Lamp Module
S11 S21 S22 S32 Function 2 LOGIC MSR310P Group 1 440R-D22R2 440R-W23219 S34 Y10 Y11 Y12 Y13 24 34 S42 S52 S62 To PLC Reset 1 24V Com Group 1 MSR320P MSR330P 440R-W23218 440R-W23221 Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 20: Three Input Modules And Three Output Modules
Group 1 Group 2 Group 3 +24V DC Reset +24V OSSD1 OSSD2 S11 S21 S11 S21 LOGIC LOGIC LOGIC 440R-D22R2 440R-D22R2 440R-D22R2 OSSD1 OSSD2 +24V To PLC To PLC To PLC 24V Com Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 21: Two Zones, Global E-Stop
Group 2 Group 3 +24V DC Reset +24V OSSD1 OSSD2 S11 S21 S11 S21 LOGIC LOGIC LOGIC 440R-D22R2 440R-D22R2 440R-D22R2 S32 L11 OSSD1 OSSD2 +24V To PLC To PLC To PLC 24V Com Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 22: Global E-Stop, Local E-Stop
Group 2 Group 3 +24V DC Reset +24V OSSD1 OSSD2 S11 S21 S11 S21 LOGIC LOGIC LOGIC 440R-D22R2 440R-D22R2 440R-D22R2 S32 L11 OSSD1 OSSD2 +24V To PLC To PLC To PLC 24V Com Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 23: Robot Zone (Function 8)
Schematic Shows Robot in Danger Zone 1 24V Com Group 1 Group 3 MSR329P MSR320P MSR330P MSR330P MSR330P 440R-W23217 440R-W23218 440R-W23221 440R-W23222 440R-W23223 Group 2 Group 1 Hazards Group 2 Hazards Robot Power Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... - Page 24 I-01 +24 O-00 O-01 CR30 440C-CR30-22BBB 2080-IQ4OB4 12 13 14 20 21 I-02 I-03 COM -24 O-02 O-03 Muting Muting Reset 2 Lamp 2 Lamp 1 24V Com Zone 1 Zone 2 Robot Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
- Page 25 Chapter 3 MSR300 Safety Relay Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
- Page 26 2, the loads are de-energized in zone 2. The hazards in zone 1 and robot power remain energized. After the E-stop is released and the light curtain is cleared, press the reset button once to energize the hazards in zone Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
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Page 27: Robot Zone With Additional Safe Area (Function 9)
OSSD1 OSSD2 OSSD1 OSSD2 +24V +24V Resets 24V Com Group 1 Group 3 MSR330P MSR330P MSR330P MSR329P MSR320P Group 2 440R-W23221 440R-W23222 440R-W23223 440R-W23217 440R-W23218 Group 1 Hazards Group 2 Hazards Robot Power Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... - Page 28 440C-CR30-22BBB 2080-IQ4OB4 12 13 14 20 21 12 13 14 20 21 I-02 I-03 COM -24 O-02 O-03 Muting Muting Lamp 1 Lamp 2 Reset 2 24V Com Zone 1 Zone 2 Robot Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
- Page 29 Chapter 3 MSR300 Safety Relay Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
- Page 30 44 14 44 14 L12 L11 L12 L11 L12 L11 34 44 Muting Lamp Muting Lamp Zone 2 Zone 1 24V Com Robot Power Local Hazards Local Hazards in Zone 1 in Zone 2 Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
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Page 31: Two-Hand Control Input
Relay user manual, 440C-UM001, for more details. +24V DC S22 S32 Function 7 MSR125 MSR310P Group 1 440R-D23171 440R-W23219 S34 Y10 Y11 Y12 Y13 24 34 S42 S52 S62 24V Com Group 1 MSR320P MSR330P 440R-W23218 440R-W23221 Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 32: One N.c. And One N.o. Input
EMD = 35 ms plus the timer selection, SWS output = 25 ms ATTENTION: You must evaluate the response time of your existing system and compare it to the new system. Based on the difference, you must adjust the safety distance. Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... -
Page 33: Output Load Capability
P300, DC-13 DC-13 2x6 A or 3 x 5 A/24V DC 3A/30V DC 2 A / 24V DC Thermal 2 x 5 A, 3 x 4 A 6 A on 1 circuit (non-switching) Rockwell Automation Publication 440R-RM003A-EN-P - July 2021... - Page 34 Chapter 3 MSR300 Safety Relay Notes: Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
- Page 35 CU3 to MSR55P Safety Relay Conversion Reference Manual Rockwell Automation Publication 440R-RM003A-EN-P - July 2021...
- Page 36 At the end of life, this equipment should be collected separately from any unsorted municipal waste. Rockwell Automation maintains current product environmental information on its website at rok.auto/pec. Allen-Bradley, expanding human possibility, Connected Components Workbench, Guardmaster, Minotaur, Rockwell Automation, and Sipha are trademarks of Rockwell Automation, Inc. DeviceNet and EtherNet/IP are trademarks of ODVA, Inc.
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