Wiring
System Description Service Robotics Modules
1004870-EN-05
| 90
The following FS outputs for activation of external safety devices are pre-prepared:
Device
Implementation
(safety control sys-
tem)
Operating manual for robot control module PRCM1
Mod-
ule
Connection
Protective stop external
safeguard PSENmlock 1:
Activate guard locking
lock/unlock
PSSu E F 4DO 0.5:
}
Digital FS output
}
Dual-channel
A1.6
11
}
Label in circuit diagram:
Activate external safeguard 1
(PSENmlock) lock/unlock channel 1
}
Terminal 11: Output O0
}
Terminal 12: 0 V periphery supply
}
Delivery condition: No external wir-
ing
21
}
Label in circuit diagram:
Activate external safeguard 1
(PSENmlock) lock/unlock channel 2
}
Terminal 21: Output O1
}
Terminal 22: 0 V periphery supply
}
Delivery condition: No external wir-
ing
Protective stop external
safeguard PSENmlock 2:
Activate guard locking
lock/unlock
PSSu E F 4DO 0.5:
}
Digital FS output
}
Dual-channel
A1.6
14
}
Label in circuit diagram:
Activate external safeguard 2
(PSENmlock) lock/unlock channel 1
}
Terminal 14: Output O2
}
Terminal 13: 0 V periphery supply
}
Delivery condition: No external wir-
ing
24
}
Label in circuit diagram:
Activate external safeguard 2
(PSENmlock) lock/unlock channel 2
}
Terminal 24: Output O3
}
Terminal 23: 0 V periphery supply
}
Delivery condition: No external wir-
ing
