Wiring
System Description Service Robotics Modules
1004870-EN-05
| 89
Device
Implementation
(safety control sys-
tem)
Operating manual for robot control module PRCM1
Mod-
ule
Terminal configuration
Protective stop external
safeguard PSENmlock 1:
Message "PSENmlock 1
within response range"
PSSu E F 4DI:
}
Digital FS input
}
Single-channel
}
No test pulse
A1.4
24
}
Label in circuit diagram:
External safeguard 1 (PSENmlock)
within response range
}
Terminal 24: Input I3
}
Terminal 23: +24 V periphery supply
}
Delivery condition: Jumper terminals
24-23
Protective stop external
safeguard PSENmlock 2:
Safety output
PSSu E F 4DI:
}
Digital FS input
}
Dual-channel
}
Test pulse via ex-
ternal safeguard 2
(PSENmlock)
A1.8
11
}
Label in circuit diagram:
Protective stop external safeguard 2
channel 1 OK
}
Terminal 11: Input I0
}
Terminal 12: +24 V periphery supply
}
Delivery condition: Jumper terminals
11-12
14
}
Label in circuit diagram:
Protective stop external safeguard 2
channel 2 OK
}
Terminal 14: Input I1
}
Terminal 13: +24 V periphery supply
}
Delivery condition: Jumper terminals
14-13
Protective stop external
safeguard PSENmlock 2:
Message "Safeguard
within response range"
PSSu E F 4DI:
}
Digital FS input
}
Single-channel
}
No test pulse
A1.8
21
}
Label in circuit diagram:
External safeguard 2 (PSENmlock)
within response range
}
Terminal 21: Input I1
}
Terminal 22: +24 V periphery supply
}
Delivery condition: Jumper terminals
21-22
