Pilz PRBT 6, Руководство пользователя

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Function description
System Description Service Robotics Modules
1004870-EN-05
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Reset after an emergency stop
Once the emergency stop function has been triggered, the state that triggered it must be
rectified before the emergency stop can be reset manually.
The system or plant integrator is tasked with determining how the reset should occur.
NOTICE
Reset via the teach pendant or via an external reset device
The reset must occur either via the teach pendant or via an external reset
device, depending on the application.
– If the emergency stop function was triggered via the teach pendant,
then the reset can only occur via the teach pendant ("2nd” button).
– If the emergency stop function was triggered via an external safe-
guard, then the reset can occur either via the teach pendant (“2nd”
button) or via an external reset device. Further information is avail-
able under
Planning an external reset device for an external emer-
gency stop device [ 77] .
If the reset occurs via the teach pendant, please note the requirements from
the safety standards.
Restart after an emergency stop
It is only possible to restart after an emergency stop if all the safety devices are enabled,
the emergency stop has been reset manually and the motion enable from the safety control
system is present.
NOTICE
A manual reset will not trigger a restart. However, a restart cannot be
triggered until the manual reset has been carried out.
Start the robot program either via the teach pendant (Play button) or via the
dedicated start/stop input (label in the wiring diagram: Start external).
Further information about starting the robot program via the teach pendant is available un-
der
Controlling the robot program in the operating mode "Automatic" with teach
pendant [ 61] . Information on starting the robot program externally can be found under
Controlling the robot program in the operating mode "Automatic" with external
controller [ 62] .