Pilz PRBT 6 - Page 89

Wiring
System Description Service Robotics Modules
1004870-EN-05
| 89
Device Implementation
(safety control sys-
tem)
Operating manual for robot control module PRCM1
Mod-
ule
Terminal configuration
Protective stop external
safeguard PSENmlock 1:
Message "PSENmlock 1
within response range"
PSSu E F 4DI:
} Digital FS input
} Single-channel
} No test pulse
A1.4 24
} Label in circuit diagram:
External safeguard 1 (PSENmlock)
within response range
} Terminal 24: Input I3
} Terminal 23: +24V periphery supply
} Delivery condition: Jumper terminals
24-23
Protective stop external
safeguard PSENmlock 2:
Safety output
PSSu E F 4DI:
} Digital FS input
} Dual-channel
} Test pulse via ex-
ternal safeguard 2
(PSENmlock)
A1.8 11
} Label in circuit diagram:
Protective stop external safeguard 2
channel 1 OK
} Terminal 11: Input I0
} Terminal 12: +24V periphery supply
} Delivery condition: Jumper terminals
11-12
14
} Label in circuit diagram:
Protective stop external safeguard 2
channel 2 OK
} Terminal 14: Input I1
} Terminal 13: +24V periphery supply
} Delivery condition: Jumper terminals
14-13
Protective stop external
safeguard PSENmlock 2:
Message "Safeguard
within response range"
PSSu E F 4DI:
} Digital FS input
} Single-channel
} No test pulse
A1.8 21
} Label in circuit diagram:
External safeguard 2 (PSENmlock)
within response range
} Terminal 21: Input I1
} Terminal 22: +24V periphery supply
} Delivery condition: Jumper terminals
21-22