Function description
System Description Service Robotics Modules
1004870-EN-05
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4.9
Robot movement with time-limited motion enable
There are various cases in which the robot operator has to move the robot arm even
though the brake status is unknown. A temporary motion enable is provided for these
cases. The temporary enable lasts for 20 minutes and is monitored by the safety control
system. Provided all the safety devices are enabled, such as emergency stop, protective
stop and enabling device, then the robot arm is permitted to move during this time.
Movement of the robot arm with time-limited motion enable is possible and permitted in the
following cases:
}
When the industrial robot is cold started (switch on supply voltage)
The robot operator must perform the brake test within the time for the temporary motion
Brake test function after a cold start [
).
}
When the monitoring time is exceeded during the cyclical brake test
The robot operator must perform the brake test within the time for the temporary motion
Brake test function with cyclical brake test [
).
}
Brake test was performed but failed
The robot operator must move the robot arm to its transport position within the time for
the temporary motion enable (see
). The brakes must be
repaired by Pilz GmbH & Co. KG.
Requesting a time-limited motion enable via the teach pendant
If the operating mode "Automatic" with teach pendant is activated, in one of the above
cases the robot operator can request a time-limited motion enable via the reset button on
the teach pendant ("2nd" button) and then perform a brake test. While the brake test has
not been performed but the time for the temporary motion enable has not been exceeded, a
prompt to perform the brake test immediately will appear on the teach pendant.
External request for a time-limited motion enable
If the operating mode "Automatic" with external controller is activated, the time-limited mo-
tion enable can be requested externally via the reset button and a brake test can then be
performed. To do this, in the control cabinet the reset button must be connected to the ded-
Connections for external devices [
). While the brake test has
not been performed but the time for the temporary motion enable has not been exceeded, a
prompt to perform the brake test immediately will appear on the teach pendant.
