Wiring
System Description Service Robotics Modules
1004870-EN-05
| 88
Device
Implementation
(safety control sys-
tem)
Operating manual for robot control module PRCM1
Mod-
ule
Terminal configuration
Configuration for restart-
ing external safeguards:
}
Protective stop external
}
Protective stop external
safeguards PSENm-
lock 1 and 2
PSSu E F 4DI:
}
Digital FS input
}
Dual-channel
}
Test pulse via safety
control system
A1.3
21
}
Label in circuit diagram for channel
1:
Setting option protective stop ex-
ternal restart channel 1
}
Terminal 21: Input I1
}
Connection 22: Test pulse output T0
}
Delivery condition: No automatic re-
start; i.e. no jumper terminals 21-22
A1.3
24
}
Label in circuit diagram for channel
2:
Setting option protective stop ex-
ternal restart channel 2
}
Terminal 24: Input I1
}
Connection 23: Test pulse output T1
}
Delivery condition: No automatic re-
start; i.e. no jumper terminals 24-23
Reset for protective stop
on external safeguards:
}
Protective stop external
}
Protective stop external
safeguards PSENm-
lock 1 and 2
PSSu E F 4DI:
}
Digital FS input
}
Single-channel
}
No test pulse
A1.4
11
}
Label in circuit diagram:
Reset protective stop external OK
}
Terminal 11: Input I0
}
Terminal 12: +24 V periphery supply
}
Delivery condition: No external wir-
ing
Prompt for manual brake
test
PSSu E F 4DI:
}
Digital FS input
}
Single-channel
}
No test pulse
A1.4
21
}
Label in circuit diagram:
Prompt for manual brake test
}
Terminal 21: Input I1
}
Terminal 22: +24 V DC
}
Delivery condition: No external wir-
ing
Protective stop external
safeguards PSENmlock 1
and 2:
Request guard locking
lock/unlock
PSSu E F 4DI:
}
Digital FS input
}
Single-channel
}
No test pulse
A1.4
14
}
Label in circuit diagram:
Request external safeguard 1&2
(PSENmlock) lock/unlock
}
Terminal 14: Input I2
}
Terminal 13: +24 V periphery supply
}
Delivery condition: No external wir-
ing
