Pilz PRBT 6 User Manual

Service Robotics Modules
System Description-1004870-EN-05
} Robotics

Pilz PRBT 6 Specifications

General

Model	PRBT 6
Operating Voltage	24 V DC
Protection Class	IP20
Number of Safe Inputs	6
Ambient Temperature	0°C to +55°C
Storage Temperature	-25°C to +70°C
Safety Standards	EN ISO 13849-1, IEC 61508
Response Time	< 20 ms
Certifications	CE
Supply Voltage	24 V DC

Summary

Introduction to Pilz Robotics Modules

Overview of Pilz Industrial Robot Systems

Safety Guidelines and Precautions

Intended Use of the Industrial Robot

Defines the purpose and conditions for using the industrial robot within an industrial system.

General Safety Guidelines

General safety rules and requirements for operating the robot system.

Use of Qualified Personnel for Operation

Specifies that only competent persons may assemble, install, and operate the products.

Responsibilities of Persons in Robot Operation

Defines roles and responsibilities for operators and system integrators.

Function Description of Robot Operations

Triggering Safety-Related Functions

Lists devices and connections for triggering safety functions like emergency stop and protective stop.

Overview of Robot Stop Reactions

Details how different triggers (e.g., E-stop, safety gate) cause stop reactions in manual and automatic modes.

Emergency Stop Function Details

Explains how the emergency stop function is triggered and the resulting SS1 stop procedure.

Protective Stop Function for External Devices

Describes the protective stop triggered by external safety devices in automatic mode.

PSENmlock Protective Stop (Safety Gate)

Details the safety gate function using PSENmlock for interlocking and guard locking.

Safe Retention with Holding Brakes

Explains the safety function ensuring safe holding of the robot arm axes with brakes.

Enabling Function for Manual Movement

Describes how the enabling device on the teach pendant allows manual movement of robot arm axes.

Brake Test Functionality

Explains the purpose and principle of checking the effectiveness of holding brakes on the robot arm.

Brake Test After Cold Start

Details the mandatory brake test required immediately after power-on due to unknown brake status.

Cyclical Brake Test Function

Explains the automated brake test performed cyclically to ensure continuous brake function.

Evaluation of Brake Test Results

Explains how the results of a brake test are evaluated and the consequences of success or failure.

Robot Movement with Time-Limited Motion Enable

Explains temporary motion enable for moving the arm when brake status is unknown.

Operating Modes of the Robot

Differentiates between automatic and manual operating modes and their usage.

Automatic Operating Mode

Describes the productive mode where safeguards are active and robot starts in this mode after cold start.

Manual Reduced Speed Operating Mode

Changing Operating Mode and Motion Enable

Controlling Program: Automatic Mode with Teach Pendant

Controlling Program: Automatic Mode with External Controller

Design and Planning for Pilz Robotics

Planning the Brake Test Position

Planning External Emergency Stop Devices

Guides on positioning and wiring external emergency stop pushbuttons for safety.

Planning External Protective Stop Devices

Covers planning for external protective stop devices and PSENmlock safety gate systems.

Planning External Reset Device for Emergency Stop

Details connecting external reset devices for the emergency stop function.

Planning External Reset Device for Protective Stop

Planning Restart After Protective Stop

Test Plan for Safety Actions

Installation Procedures for Pilz Robotics

Wiring and Connections for Pilz Robotics

Connections for External Devices

Connections for External Robot Program Control

Wiring the Robot Control Module

Commissioning of Pilz Industrial Robots

Initial Commissioning Procedure

Outlines prerequisites and procedures for the first-time setup and activation of the robot arm.

Recommissioning After Changes

Details the process for recommissioning the robot arm after changes to the plant or machine.

Change, Maintenance, and Decommissioning

Maintenance Procedures

Exchanging Robot Control Module PRCM1

Exchanging the Safety Control System

Exchanging the Teach Pendant

Exchanging the Robot Arm

Diagnostics and Troubleshooting for Robot Arm

Technical Details of Pilz Robotics System

Safety Characteristic Data Overview

Provides an overview of safety-related control functions and their integrity levels for the robot system.