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PRBT 6
Pilz PRBT 6 User Manual
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Overview
System Description Service Robotics Modules
1004870-EN-05
| 15
The robot control module PRCM1 (control cabinet) is used as a component to operate the
industrial robot in compliance with the standards in accordance with ENISO10218-1.
The robot control module PRCM1 (control cabinet) is constructed in accordance with IEC
60204-1. It meets the relevant requirements arising from this standard.
14
16
Table of Contents
Default Chapter
3
Table of Contents
3
1 Introduction
6
Validity of Documentation
6
Retaining the Documentation
6
Definition of Symbols
7
2 Overview
8
Overview of Industrial Robots with Service Robotics Modules from Pilz
8
Overview of Robot Arm from Pilz
10
Overview of Teach Pendant from Pilz
11
Overview of Robot Control Module from Pilz
14
3 Safety
16
Additional Documents that Apply
16
Intended Use
17
Foreseeable Misuse and Abuse
18
Safety Guidelines
19
Use of Qualified Personnel
19
Definition of the Responsibilities of Persons
19
Emcd
21
Warranty and Liability
21
4 Function Description
22
Triggering of Safety-Related Functions
22
Overview of Stop Reactions
23
Emergency Stop Function
25
Protective Stop Function for Protective Stop External
27
Protective Stop Function for Psenmlock (Safety Gate Function)
29
Safe Retention with Holding Brakes
31
Enabling Function
32
Brake Test Function
36
Brake Test Function after a Cold Start
38
Brake Test Function with Cyclical Brake Test
40
Brake Test Function When Prompted Via the Teach Pendant
42
Brake Test Function with an External Prompt
43
Evaluation of Brake Test
44
Default Robot Program for Brake Test
46
Robot Movement with Time-Limited Motion Enable
47
Operating Modes
48
Automatic" Operating Mode
49
Operating Mode "Manual Reduced Speed
51
Operating Mode "Manual High-Speed
54
Changing the Operating Mode and Motion Enable
57
Stopping Time and Stopping Distance in the Event of STOP 1
59
Stopping Time in the Event of a Complete Stop
60
Controlling the Robot Program in the Operating Mode "Automatic" with Teach Pendant
61
Controlling the Robot Program in the Operating Mode "Automatic" with External Controller
62
5 Design and Planning
66
Coordinate System
66
Positions and Orientation of the Coordinate Systems on the Robot Arm
68
Tool Centre Point (TCP)
69
Building an Industrial Robot with Service Robotics Modules from Pilz
70
Planning the Position for the Brake Test
72
Planning an External Emergency Stop Device
74
Planning External Protective Stop Devices
75
Planning an External Reset Device for an External Emergency Stop Device
77
Planning an External Reset Device for a Protective Stop Device
78
Planning a Restart after a Protective Stop
79
Planning the Prompt for the Manual Brake Test
80
Circuit Diagram
81
Test Plan
82
6 Installation
84
Setting up the Robot Control Module (Control Cabinet)
84
Setting up and Installing the Robot Arm
84
Installing the Wall Holder for the Teach Pendant
84
7 Interfaces
85
Bridging Plug's Connector Pin Assignment
85
8 Wiring
86
Connections for External Devices
86
Connections for External Control of Robot Program
92
Wiring the Robot Control Module (Control Cabinet)
93
Wiring the Teach Pendant
95
Using the Bridging Plug
96
9 Commissioning
97
Initial Commissioning
97
Recommissioning
100
10 Change, Maintenance, Decommissioning
101
Change
101
Maintenance
102
Exchanging the Robot Control Module PRCM1
102
Exchanging the Safety Control System
104
Exchanging the Teach Pendant
105
Exchanging the Robot Arm
106
Decommissioning
107
Decommissioning the Robot Arm
107
Decommissioning the Teach Pendant
108
Decommissioning the Robot Control Module
108
11 Diagnostics and Troubleshooting
109
12 Technical Details
111
Safety Characteristic Data
111
13 Order Reference
115
Product
115
Accessories
116
14 Appendix
118
Hash Value for Integrity Check of a Download
118
Calculate Hash Value with the Command Line Tool "Certutil
119
Calculate Hash Value with Windows Powershell
120
Check the Integrity of a File
121
Download File for the Teach Pendant PRTM1
122
Terminology
123
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Pilz PRBT 6 Specifications
General
Brand
Pilz
Model
PRBT 6
Category
Control Unit
Language
English
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