Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 •
C-17
2.4 Tool Side TSI
CAUTION:
It is required to use a PLe rated non-contact safety switch such as the
CES-AP with the DL15 module. Contact ATI before using another safety switch.
The tool stand interlock (TSI) circuit ONLY allows the Tool to release while in the tool stand or storage
location as indicated by actuation of a customer‑integrated switch. Refer to the following for switch
requirements:
•
For the DL10 Tool module, the customer must integrate a single throw, double pole (Normally
Open, spring return) limit switch (refer to
•
For the DL15 Tool module, the customer must integrate a (2) channel, PL e rated contactless safety
sensor, ATI Part Number 9120‑TSL‑SS‑9015 (Euchner CES‑I‑AP‑M‑C04‑USB‑117324), refer to
The safety switch should be mounted to the end effector so that the switch is “made” only when the Tool is
in the tool stand or storage location.
There is both a firmware and a hardware interrupt for the Unlatch output bit.
•
Unlatch Enabled in the bitmap reports that the tool change will process an Unlatch command if
issued. Refer to
.
•
The UNLATCH output signal is routed through the TSI relay in the Tool side module, and thus, the
UNLATCH output signal cannot be completed without the TSI switch circuit being closed.
A double pole, single‑throw limit switch or two‑chanel PL e rated contactless safety sensor (TSI Limit
Switch) is integrated on the EOAT such that the switch is made when the Tool is in the stand. One set of the
TSI Switch contacts sources US1 power and drives the TSI Relay (TSRV), thus closing the Unlatch solenoid
circuit. The second set of TSI Limit Switch contacts sources US1 power and drives the TSIV input.
The following TSI status signals are also reported in the bitmap (refer to
Section 2.6—Software
):
•
TSRV
(TSI Relay Verify): Status of the TSI Relay in the Tool module driven by first contact in the
switch.
•
TSIV
(TSI Limit Switch Verify): Status of second contact of the limit switch that is located on the
Tool.
•
RTLV
(Ready to Lock Verify): Ready to Lock Verify status of RTL bypass relay in the Master
module. Refer to
