Function description
System Description Service Robotics Modules
1004870-EN-05
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4
Function description
4.1
Triggering of safety-related functions
An industrial robot that is constructed using service robotics modules from Pilz has the fol-
lowing devices to trigger safety-related functions:
}
Emergency stop device (teach pendant PRTM1)
}
Enabling device to allow the robot to move in manual operating modes (teach pendant
PRTM1)
}
Device to select and lock the operating mode (key switch on teach pendant PRTM1)
The following connections are pre-prepared, enabling safety-related functions to be
triggered and reset externally, depending on the application. Further information is available
Connections for external devices [
.
}
Reset emergency stop external
e.g. connection of an external reset device
}
Emergency stop external
e.g. connection of an external emergency stop device
}
Protective stop external
e.g. connection of an external safeguard
}
External safeguard PSENmlock
Combined with other inputs/outputs to connect a PSENmlock (safety gate with guard
locking) from Pilz
}
Configuration for restart after
– Protective stop external
– Protective stop external safeguard PSENmlock
You can configure whether the restart is triggered by an automatic or manual reset. The
configuration is made by inserting/removing a jumper.
}
Reset after protective stop external or protective stop external safeguard PSENmlock
Connection of an external reset device in the event of a configuration for manual reset
}
Requirement for manual brake test
e.g. after opening the safety gate
}
Status of emergency stop on robot arm
}
External device to start/stop the robot program in "Automatic" operating mode
e.g. start/stop via a higher level controller
