Pilz PRBT 6 - Page 73

Design and planning
System Description Service Robotics Modules
1004870-EN-05
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Legend
[1] 180° position for the pin for mechanical limitation of the range of movement
of axis1
[2] Connecting element 1 (large)
[3] Connecting element 2 (small)
Axis 1 0° position of axis1: The marking on axis1 points to the 0° position for the
pin at the base of the robot arm. The 0° position for the pin is opposite the
180° position (see[1]).
Axis 2 0° position of axis 2: Connecting element1 (see[2]) is positioned vertically.
Axis 3 0° position of axis 3: Joint 2 points with axis4 vertically upwards.
Axis 4 0° position of axis 4: Connecting element 2 (see[3]) points in the same dir-
ection as connecting element1 (see[2]).
Axis 5 0° position of axis 5: Joint 3 points with axis 6 vertically upwards.
Axis 6 0° position of axis 6: The flange adjusting pin is positioned opposite the con-
nection of connecting element2.
The service program's default brake test position can be adapted to the required test posi-
tion, depending on the application.
Further information is available in the online help for the teach pendant.