Pilz PRBT 6 - Page 88

Wiring
System Description Service Robotics Modules
1004870-EN-05
| 88
Device Implementation
(safety control sys-
tem)
Operating manual for robot control module PRCM1
Mod-
ule
Terminal configuration
Configuration for restart-
ing external safeguards:
} Protective stop external
} Protective stop external
safeguards PSENm-
lock 1 and 2
PSSu E F 4DI:
} Digital FS input
} Dual-channel
} Test pulse via safety
control system
A1.3 21
} Label in circuit diagram for channel
1:
Setting option protective stop ex-
ternal restart channel 1
} Terminal 21: Input I1
} Connection 22: Test pulse output T0
} Delivery condition: No automatic re-
start; i.e. no jumper terminals 21-22
A1.3 24
} Label in circuit diagram for channel
2:
Setting option protective stop ex-
ternal restart channel 2
} Terminal 24: Input I1
} Connection 23: Test pulse output T1
} Delivery condition: No automatic re-
start; i.e. no jumper terminals 24-23
Reset for protective stop
on external safeguards:
} Protective stop external
} Protective stop external
safeguards PSENm-
lock 1 and 2
PSSu E F 4DI:
} Digital FS input
} Single-channel
} No test pulse
A1.4 11
} Label in circuit diagram:
Reset protective stop external OK
} Terminal 11: Input I0
} Terminal 12: +24V periphery supply
} Delivery condition: No external wir-
ing
Prompt for manual brake
test
PSSu E F 4DI:
} Digital FS input
} Single-channel
} No test pulse
A1.4 21
} Label in circuit diagram:
Prompt for manual brake test
} Terminal 21: Input I1
} Terminal 22: +24VDC
} Delivery condition: No external wir-
ing
Protective stop external
safeguards PSENmlock 1
and 2:
Request guard locking
lock/unlock
PSSu E F 4DI:
} Digital FS input
} Single-channel
} No test pulse
A1.4 14
} Label in circuit diagram:
Request external safeguard 1&2
(PSENmlock) lock/unlock
} Terminal 14: Input I2
} Terminal 13: +24V periphery supply
} Delivery condition: No external wir-
ing