Function description
System Description Service Robotics Modules
1004870-EN-05
| 22
4 Function description
4.1 Triggering of safety-related functions
An industrial robot that is constructed using service robotics modules from Pilz has the fol-
lowing devices to trigger safety-related functions:
} Emergency stop device (teach pendant PRTM1)
} Enabling device to allow the robot to move in manual operating modes (teach pendant
PRTM1)
} Device to select and lock the operating mode (key switch on teach pendant PRTM1)
The following connections are pre-prepared, enabling safety-related functions to be
triggered and reset externally, depending on the application. Further information is available
under Connections for external devices [ 86].
} Reset emergency stop external
e.g. connection of an external reset device
} Emergency stop external
e.g. connection of an external emergency stop device
} Protective stop external
e.g. connection of an external safeguard
} External safeguard PSENmlock
Combined with other inputs/outputs to connect a PSENmlock (safety gate with guard
locking) from Pilz
} Configuration for restart after
– Protective stop external
– Protective stop external safeguard PSENmlock
You can configure whether the restart is triggered by an automatic or manual reset. The
configuration is made by inserting/removing a jumper.
} Reset after protective stop external or protective stop external safeguard PSENmlock
Connection of an external reset device in the event of a configuration for manual reset
} Requirement for manual brake test
e.g. after opening the safety gate
} Status of emergency stop on robot arm
} External device to start/stop the robot program in "Automatic" operating mode
e.g. start/stop via a higher level controller
To Next Page
Loading...
