Pilz PRBT 6 - Page 71

Design and planning
System Description Service Robotics Modules
1004870-EN-05
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CANopen
CANopen
STO
24 V DC
24 V DC
24 V DC
24 V DC
24 V DC
Inputs
ST FS ST FS
Outputs
24 V DC
Switch
Ethernet
(Modbus/TCP)
STO_A
STO_B
Programmable safety system
PSS 4000
PSS 4000
user program
Motion control
user program
Motion controller
(CANopen Master)
End-effector
Indicator lamp
Status
Teach pendant
Voltage supply (230 V AC)
Low voltage power supply
Safety gate
with guard locking
Emergency stop Enable pushbutton
Robot arm
Stop of all axes
of the robot arm
Demand for a
brake test
Result of the
brake test
Protective stop
Emergency stop
Reset (ST)
Industrial robot
Switch
(Ethernet)
Fig.: Building a standard-compliant industrial robot system with service robotics modules from Pilz