Wiring
System Description Service Robotics Modules
1004870-EN-05
| 87
Device
Implementation
(safety control sys-
tem)
Operating manual for robot control module PRCM1
Mod-
ule
Terminal configuration
Protective stop external
PSSu E F 4DI:
}
Digital FS input
}
Dual-channel
}
Test pulse via safety
control system
A1.2
21
}
Label in circuit diagram for channel
1:
Protective stop external channel 1
OK
}
Terminal 21: Input I1
}
Terminal 22: Test pulse output T0
}
Delivery condition: Jumper terminals
21-22
24
}
Label in circuit diagram for channel
2:
Protective stop external channel 2
OK
}
Terminal 24: Input I3
}
Terminal 23: Test pulse output T1
}
Delivery condition: Jumper terminals
24-23
Protective stop external
safeguard PSENmlock 1:
Safety output
PSSu E F 4DI:
}
Digital FS input
}
Dual-channel
}
Test pulse via ex-
ternal safeguard 1
(PSENmlock)
A1.3
11
}
Label in circuit diagram for channel
1: Protective stop external safe-
guard 1 channel 1 OK
}
Terminal 11: Input I0
}
Terminal 12: +24 V periphery supply
}
Delivery condition: Jumper terminals
11-12
14
}
Label in circuit diagram for channel
2:
Protective stop external safeguard 1
channel 2 OK
}
Terminal 14: Input I2
}
Terminal 13: +24 V periphery supply
}
Delivery condition: Jumper terminals
14-13
