Change, maintenance, decommissioning
System Description Service Robotics Modules
1004870-EN-05
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10.2
Maintenance
10.2.1
Exchanging the robot control module PRCM1
The system or plant integrator is obligated to take the situations in which service robotics
modules from Pilz are exchanged into account in his risk analysis. The risk analysis must
indicate the appropriate measures.
We recommend that you consider the following when exchanging the robot control module
PRTM1 (control cabinet) or parts thereof.
WARNING!
Risk of electrocution!
When voltage is applied, contact with live components could result in seri-
ous or even fatal injury from an electric shock.
Ensure that assembly and disassembly work is carried out only in the de-
energised state.
Before you start disassembling, switch off the supply voltage at the control
cabinet main switch and disconnect the supply voltage cable.
Prerequisites
}
The robot arm has been moved to its park position, depending on the application.
}
A backup copy of the robot program has been created.
}
The wiring diagram for the application is available.
}
The supply voltage to the robot control module has been switched off via the control cab-
inet main switch.
}
The supply voltage cable for the robot control module has been disconnected.
Procedure
}
Remove all connections and connectors from the control cabinet.
This includes:
– Signal cables for the robot arm
– Connection cable for the end-effector
– Connection cable for the teach pendant or bridging plug
– Connections to all external safety devices (e.g. external emergency stop device)
– Connections for external control of the robot program
