Two loading stations.
In each loading station a light curtain checks if somebody puts his hands into the hazardous zone and Eden sensors check if the robot is in the same zone. This means that a stop is only given if the robot and the person are in the same zone. When a station is ready the person presses the reset button connected to the light curtain.
Fence with an interlocked door using Eden.
If somebody enters the door the robot is stopped. In order to start the robot the door has to be closed and a supervised reset to the Vital has to be made.
Three E-stops with Tina adaptors.
If pressed stops the robot directly.