Function description
System Description Service Robotics Modules
1004870-EN-05
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4.5
Protective stop function for PSENmlock (safety gate
function)
The safety gate function can be requested by a PSENmlock from Pilz. The PSENmlock is a
safety gate system for safe interlocking and safe guard locking.
The system or plant integrator is obligated to take the situations in which a safety gate func-
tion is requested into account in his risk analysis. The risk analysis must indicate the num-
ber of safety gate systems PSENmlock that are required. The position and wiring of the ex-
ternal safety devices will need to be planned (see
Planning external protective stop
).
The safety gate function is only effective in automatic operating mode. Triggering of the
safety gate function results in a controlled stop of the robot movement (SS1). Following the
controlled stop of the robot movement, guard locking on the safety gate system is unlocked
via the corresponding FS output (see
Connections for external devices [
Triggering of the safety gate function initiates the following procedure:
Aktion
erkannt
Request safety
gate function
Check the current
operating mode
Signal at FS input
was detected
SS1
Manual operating mode
Automatic
Unlock safety gate
Fig.: SS1 for unlocking a safety gate system PSENmlock
