Pilz PRBT 6, Manual

Page: 49 / 125

Function description
System Description Service Robotics Modules
1004870-EN-05
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4.10.1 "Automatic" operating mode
After a cold start (switch on supply voltage) the industrial robot is always started in auto-
matic operating mode.
The start conditions in "Automatic" operating mode must be configured in advance via the
teach pendant. The following options are available to select:
}
(Cold) start in the operating mode "Automatic" with external controller (see Controlling the
robot program in the operating mode "Automatic" with external controller [ 62] )
}
(Cold) start in the operating mode "Automatic" with teach pendant (see Controlling the ro-
bot program in the operating mode "Automatic" with teach pendant [ 61] )
With a (cold) start, the preconfigured mode is always used.
Start via higher level
controller
Waiting for enable
(safety control system)
Stop function SS1 was triggered Stop function SS1 was triggered
Safety control system:
Enable for "Automatic" operating mode
Configuration:
"Automatic" with teach pendant Configuration:
"Automatic" with external controller
Waiting for "Start external"
(controlled stop)
Waiting for "Start teach
pendant"
(controlled stop)
Stop via higher level
controller Start via
teach pendant Stop via
teach pendant
RUN
(Automatic: Start externally)
RUN
(Automatic: Start via teach
pendant)
Fig.: Robot movement in the operating modes "Automatic external" and "Automatic teach pendant"
Controlled stop (SS1) in this operating mode
} If the emergency stop function is triggered in automatic operating mode, the robot move-
ment will come to a controlled stop (SS1). The controlled stop will occur irrespective of
whether automatic mode was started externally or via the teach pendant.
}
In "Automatic" operating mode, if the signal changes from 1 to 0 at the input "Protective
stop external" or "Protective stop external safeguard PSENmlock" (1 or 2), the robot
movement will come to a controlled stop (SS1). Further information is available at
Con-
nections for external devices [ 86] .