Overview
System Description Service Robotics Modules
1004870-EN-05
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Communication interface (Ethernet) for transmitting the robot program from the
teach pendant to the motion controller
[3]
Robot control module PRCM1
Control cabinet with
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Safety control system from Pilz including
– Pre-installed PSS 4000 user program
– Digital FS and ST inputs
– Digital FS outputs
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Motion controller from Pilz including
– Pre-installed motion control user program
– Communication interface (CANopen) for controlling the axes and the end-ef-
fector
– Communication interface (Ethernet) for transmitting the robot program from
the teach pendant to the motion controller
}
Low voltage power supply (24 V DC)
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Control cabinet main switch
[4]
Connection cable to X3 (AUX) of the robot arm with
Lines for control of an end-effector
[5]
Connection cable to X2 (signals) of the robot arm with
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STO lines from the safety control system to the robot arm
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CANopen lines from the motion controller to the robot arm
[6]
Connection cable to X1 (power) of the robot arm with
Voltage supply lines for supplying the robot arm and an end-effector with 24 V DC
[7]
Connection cable to the teach pendant with
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Lines to the safety control system and to the motion controller
}
Voltage supply lines for supplying the teach pendant with 24 V DC
