fruitcore robotics HORST600, Руководство по сборке

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6 horstCONTROL I/O
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6.4.2.2 Enabling Switch I/O
The Enable input (ENA, ENB) is another dedicated input (Safety In 3), which is
intended exclusively for a three-stage enabling device (enabling switch) and
therefore cannot be configured. The enabling switch of the horstPANEL is con-
nected to the safe inputs at terminals X3.5 and X3.7 in the lower half of terminal
block X3, and to the control system at terminals X3.6 and X3.8.
The signals at X3.5 and X3.7 are the enabling switch signals from the horst-
PANEL, which are fed from the test signals TA / TB (output signal switching de-
vice).
Instead of the internal enabling switch on the horstPANEL, an external enabling
switch can be connected between TA / TB (X4) and X3.6 / X3.8.
One bridge each
is inserted here in the delivery state. These bridges must be removed when
connecting an external enabling switch!
For the enabling switch input, it is possible to configure a filter in horstFX, see
Software Configuration Options for
Digital Interfaces, page 44.
6.4.2.3 Configurable Safe Inputs
There are 4 further, configurable safe inputs SI4 to SI7 (Safety In) on terminal block X5.
These are also designed redundantly with Performance Level “d”, Category 3, in accord-
ance with EN ISO 13849-1. They meet the same electrical specifications as the general
digital inputs. They can be used both as safety-critical inputs with different, configurable
functions, or as normal inputs.
In each case, two channels A and B are available for each safe input.
These inputs can be operated with safe OSSD outputs (for cross-circuit recognition, with
configured input filter), with internal test signals TA / TB or entirely without cross-circuit
recognition with 24 V signals.
The configuration for this is set up in the safety configuration in horstFX and sent to the
safety controller. A filter can also be configured for the configurable safe inputs,
see
Software Configuration Options for
Digital Interfaces, page 44.
Each time the safety configuration is changed, a new risk assessment must be carried
out!
Fig. 6-8: Connection
of safe inputs
Fig. 6-7: Enabling switch
connection