Design and planning
System Description Service Robotics Modules
1004870-EN-05
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5.7
Planning external protective stop devices
The system or plant integrator is obligated to take the situations for protective stop into ac-
count in his risk analysis. The risk analysis must indicate which safety devices are required.
The industrial robot is equipped to evaluate two different external protective stop devices:
Protective stop external
In the control cabinet, the protective stop device must be connected to the dedicated dual-
channel FS input (see
Connections for external devices [
}
Module A1.2, terminals 21 - Protective stop external channel 1 OK
}
Module A1.2, terminals 24 - Protective stop external channel 2 OK.
PSENmlock from Pilz (safety gate system for safe interlocking and safe guard
locking)
The industrial robot is equipped to connect 2 PSENmlock. In the control cabinet a PSENm-
lock must be connected to various dedicated inputs and outputs (see
}
Protective stop external safeguard PSENmlock 1: Safety output
– Module A1.3, terminal 11 - Protective stop external safeguard 1 channel 1 OK
– Module A1.3, terminal 14 - Protective stop external safeguard 1 channel 2 OK
}
Protective stop external safeguard PSENmlock 2: Safety output
– Module A1.8, terminal 11 - Protective stop external safeguard 2 channel 1 OK
– Module A1.8, terminal 14 - Protective stop external safeguard 2 channel 2 OK
}
Protective stop external safeguard PSENmlock 1 and 2: Request guard locking lock/un-
lock
– Module A1.4, terminal 14 - Request external safeguard 1&2 (PSENmlock) lock/unlock
}
Protective stop external safeguard PSENmlock 1: Message "PSENmlock 1 within re-
sponse range"
– Module A1.4, terminal 24 - External safeguard 1 (PSENmlock) within response range
}
Protective stop external safeguard PSENmlock 2: Message "PSENmlock 2 within re-
sponse range"
– Module A1.8, terminal 21 - External safeguard 2 (PSENmlock) within response range
}
Protective stop external safeguard PSENmlock 1: Activate guard locking lock/unlock
– Module A1.6, terminal 11 - Activate external safeguard 1 (PSENmlock) lock/unlock
channel 1
– Module A1.6, terminal 21 - Activate external safeguard 1 (PSENmlock) lock/unlock
channel 2
}
Protective stop external safeguard PSENmlock 2: Activate guard locking lock/unlock
– Module A1.6, terminal 14 - Activate external safeguard 2 (PSENmlock) lock/unlock
channel 1
– Module A1.6, terminal 24 - Activate external safeguard 2 (PSENmlock) lock/unlock
channel 2
