Pilz PRBT 6 - Page 4

Contents
System Description Service Robotics Modules
1004870-EN-05
| 4
5 Design and planning ............................................................................................................. 66
5.1 Coordinate system.................................................................................................................... 66
5.2 Positions and orientation of the coordinate systems on the robot arm ..................................... 68
5.3 Tool centre point (TCP) ............................................................................................................ 69
5.4 Building an industrial robot with service robotics modules from Pilz ........................................ 70
5.5 Planning the position for the brake test .................................................................................... 72
5.6 Planning an external emergency stop device ........................................................................... 74
5.7 Planning external protective stop devices ................................................................................ 75
5.8 Planning an external reset device for an external emergency stop device............................... 77
5.9 Planning an external reset device for a protective stop device................................................. 78
5.10 Planning a restart after a protective stop .................................................................................. 79
5.11 Planning the prompt for the manual brake test......................................................................... 80
5.12 Circuit diagram.......................................................................................................................... 81
5.13 Test plan ................................................................................................................................... 82
6 Installation .............................................................................................................................. 84
6.1 Setting up the robot control module (control cabinet) ............................................................... 84
6.2 Setting up and installing the robot arm ..................................................................................... 84
6.3 Installing the wall holder for the teach pendant ........................................................................ 84
7 Interfaces ................................................................................................................................ 85
7.1 Bridging plug's connector pin assignment ................................................................................ 85
8 Wiring ...................................................................................................................................... 86
8.1 Connections for external devices.............................................................................................. 86
8.2 Connections for external control of robot program ................................................................... 92
8.3 Wiring the robot control module (control cabinet) ..................................................................... 93
8.4 Wiring the teach pendant.......................................................................................................... 95
8.5 Using the bridging plug ............................................................................................................. 96
9 Commissioning ...................................................................................................................... 97
9.1 Initial commissioning................................................................................................................. 97
9.2 Recommissioning ..................................................................................................................... 100
10 Change, maintenance, decommissioning ........................................................................... 101
10.1 Change ..................................................................................................................................... 101
10.2 Maintenance ............................................................................................................................. 102
10.2.1 Exchanging the robot control module PRCM1.......................................................................... 102
10.2.2 Exchanging the safety control system ...................................................................................... 104
10.2.3 Exchanging the teach pendant ................................................................................................. 105
10.2.4 Exchanging the robot arm......................................................................................................... 106
10.3 Decommissioning ..................................................................................................................... 107
10.3.1 Decommissioning the robot arm ............................................................................................... 107
10.3.2 Decommissioning the teach pendant........................................................................................ 108
10.3.3 Decommissioning the robot control module.............................................................................. 108