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fruitcore robotics HORST900 Assembly Instructions Manual

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Robot System HORST900
Assembly Instructions
For installation, operating, and maintenance personnel
Always keep with the product!
Version 3.1 / 09.02.2022

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  • Page 1 Robot System HORST900 Assembly Instructions For installation, operating, and maintenance personnel Always keep with the product! Version 3.1 / 09.02.2022...
  • Page 2 Copyright © by fruitcore robotics GmbH fruitcore robotics GmbH claims copyright protection for these documents. Original language of the documentation: German This documentation must not be altered, expanded, reproduced, or passed on to third parties without the previous written consent of fruitcore robotics GmbH.

  • Page 4: Table Of Contents

    Contents Introduction ......................... 1 Principle ............................1 General Information ........................1 Operating Responsibility and Liability ..................1 1.3.1 Legal Disclaimer ......................2 Warranty ............................2 Organizational Measures ......................2 Applied Standards and Regulations ................... 2 Signs, symbols ..........................3 Marking of the Safety and Warning Signs ................3 Safety ..........................
  • Page 5 Protection Devices ........................23 4.3.1 Enabling Switch ......................23 4.3.2 Emergency Stop Button ..................... 23 Add-on Parts & Tools (Option) ....................23 Assembly ........................25 Working Area of the Robot ......................25 Assembly of the Robot ....................... 26 5.2.1 Mounting Surface ......................26 5.2.2 Assembling the Robot ....................
  • Page 6 Shutdown after End of Operation ..................... 61 Fault Rectification ....................63 10 Cleaning and Maintenance ..................64 10.1 Cleaning ............................64 10.2 Maintenance and Repair ......................65 11 Storage ........................66 12 Disassembly and Disposal ..................67 12.1 Disassembly ..........................67 12.2 Disposal ............................
  • Page 7 List of Tables Table 6-1: Mains connection characteristic values ......................32 Table 6-2: Functional difference between emergency stop and safety stop ............. 35 Table 6-3: Configurable functions for safe inputs ......................38 Table 6-4: Configurable functions for safe outputs ......................39 Table 6-5: Test signal characteristic values ........................
  • Page 8 Abbreviations Microseconds µs ................Assembly Instructions AI ............High, Logisch 1 HI ................ Highly Optimized Robotic Systems Technology HORST ..Input/Output I/O ................Kilovolt kV ..................Kiloohm kΩ ................... Low, Logisch 0 LO ............... Milliampere mA ................Millisekunden ms ................. Milliohm mΩ...

  • Page 9: Introduction

    1 Principle Introduction 1.1 Principle The Assembly Instructions contain important information on how to operate the robot system in a safe, proper, and economically efficient way. Adherence to these Assembly Instructions helps to avoid hazards, reduce repair costs and downtime, and to increase the reliability and service life of the robot system. The operator is obligated to add instructions arising from existing national or company regulations on accident prevention and environmental protection to the Assembly Instructions.

  • Page 10: Legal Disclaimer

    Unless otherwise agreed upon in the purchase contract, we will grant the legally prescribed warranty pe- riod for the robot system and spare parts, starting on the day of delivery. The warranty provisions specified in the general terms and conditions of fruitcore robotics GmbH or the individual purchase contract apply in addition.

  • Page 11: Signs, Symbols

    1 Signs, symbols − ISO 9409-1 Industrial robots– Mechanical interfaces – Part 1: Plates 1.7 Signs, symbols The following symbols are used in the Assembly Instructions: Lists − Simple lists are marked with “–”. Instructions for action All instructions for action for a procedure are listed in chronological order. ...
  • Page 12 1 Marking of the Safety and Warning Signs ELECTRICAL VOLTAGE! This sign is a warning for electricity. It is posted for all work and operating procedures that are to be observed precisely in order to prevent danger to persons and the system by electricity. ATTENTION! Danger of damage to robot or property.

  • Page 13: Safety

    2 General Safety Information Safety 2.1 General Safety Information The HORST robot system is a quality product manufactured in accordance with the recognized rules of technology. The robot system left the manufacturing plant in perfect condition in terms of safety. The robot system is designed and built according to the current state of the art in safety technology.

  • Page 14: Improper Use

    2 Improper Use 2.3 Improper Use Any use that is not described in subsection 2.2 or goes beyond it is considered improper use. 2.3.1 Foreseeable Misuse The robot system is not intended for hazardous applications. Any use or application that deviates from the intended use is considered as impermissible misuse.

  • Page 15: Operator's Duties

    2 Operator’s Duties 2.4 Operator’s Duties 2.4.1 EU Declaration of Conformity and Declaration of Incorporation The robot system is considered partly completed machinery in accordance with the EC Ma- chinery Directive. The robot system must be commissioned only under the following condi- tions: 1.

  • Page 16: Operations Manager

    − on occupational safety and accident prevention and who have been trained in handling the robot system by fruitcore robotics GmbH or by personnel authorized by fruitcore robotics GmbH. to only let persons who have read and understood the AI, and confirmed this with their signa- −...

  • Page 17: Operating Personnel

    − − to check the robot system in terms of safety and proper function before starting work. − to contact the operations manager or fruitcore robotics GmbH in case of questions. 2.5.2 Training of the Operating Personnel DANGER! Possible personal injuries caused by untrained operating personnel ...

  • Page 18: Safety Functions

    2 Safety Functions The danger zone includes the working area and stopping distance of the robot. Persons must not be in the danger zone while the robot is in operation. DANGER! Due to the robot’s automatic movement, sudden dangers must be expected within the danger zone.

  • Page 19: Safety Information For Assembly And Commissioning

    Danger resulting from incorrect assembly and commissioning  Assembly and commissioning must be performed only by persons with technical and elec- trotechnical training who were also authorized by fruitcore robotics GmbH. DANGER! Danger due to missing protection devices and safety equipment as well as defective/damaged modules or accessories.

  • Page 20: Emergency Situations

     Do not enter the danger zone of the robot during operation, and do not touch the robot.  Only operate the robot system in undamaged condition. Never modify the robot system. fruitcore robotics GmbH excludes any liability if the product has been modified.  Check the emergency stop and safety stop functions daily.
  • Page 21 Attention: The warranty expires when this ac- tion is performed and the robot system must only be started up again after consultation with fruitcore robotics GmbH. Fig. 2-1: Belt drive cover Belt Clamping set ...

  • Page 22: Safety Information For Fault Rectification, Cleaning, And Maintenance Work

    DANGER! Danger resulting from incorrect fault rectification and maintenance  Fault rectification and maintenance must be performed only by persons with technical and electrotechnical training who were also authorized by fruitcore robotics GmbH. DANGER! Danger of electric shock  The connection and any work on the electrical equipment must be performed by electro- technical specialist personnel only.

  • Page 23: Residual Danger

    Maintenance and inspection intervals stipulated in the Assembly Instructions, including the replacement of wear and spare parts, must be observed. Spare parts must correspond to the technical requirements specified by fruitcore robotics GmbH. This is always guaranteed with original spare parts.
  • Page 24 2 Residual Danger ELECTRICAL VOLTAGE! Possible personal injuries caused by applied electricity  Work on the electrical equipment must be performed only by specialist personnel with ap- propriate training and in accordance with the electrotechnical rules.  Make sure that the horstCONTROL or the cables do not come into direct contact with liq- uids.

  • Page 25: Transport

     Securely package the robot, horstPANEL, and horstCONTROL. ATTENTION! For transport, the robot system must be in the original packaging from fruitcore robotics GmbH.  During further transport, the robot system must be secured against toppling over and falling down.

  • Page 26: Description Of The Robot System

    4 Scope of Delivery Description of the Robot System In this section, we will describe the robot system and its components. 4.1 Scope of Delivery The robot system is delivered with: HORST robot − − horstCONTROL (switch cabinet) horstPANEL (portable operating panel) −...

  • Page 27: Modules

    4 Modules 4.2 Modules In this subsection, the main modules of the robot system are presented. The most important components are listed and some are explained in more detail. 4.2.1 Robot Fig. 4-1: Robot HORST 900 Base – fixed part with floor flange Base –...

  • Page 28: Horstpanel (Operating Panel)

    It is connected to the horstCONTROL by a DVI cable. As standard, a 5 m long DVI cable is supplied. Up to 15 m are possible after consultation with fruitcore robotics GmbH. Fig. 4-3: horstPANEL operating panel...
  • Page 29 4 Modules 2x USB 2.0 ports Enabling switch The enabling switch and two USB 2.0 ports for connecting additional input devices (keyboard, mouse) are located on the rear. The USB ports of the horstPANEL are intended only for connecting input devices. Use the USB port on the horstCONTROL to connect storage media.

  • Page 30: Horstcontrol (Switch Cabinet)

    4 Modules 4.2.3 horstCONTROL (switch cabinet) The horstCONTROL is the robot’s control system. The main control (horstIO) is installed in this switch cabinet. Countless interfaces also enable communication with and control of other machines and exter- nal sensors and actuators. The left-hand image shows the front side of the horstCONTROL, and the right-hand image shows the rear side.

  • Page 31: Protection Devices

    4 Protection Devices 4.3 Protection Devices 4.3.1 Enabling Switch The enabling switch is executed in three stages. The center position is “active”. Enabling switch The enabling switch is on the rear side of the horstPANEL. Fig. 4-7: Rear side of horstPANEL 4.3.2 Emergency Stop Button When integrated in a complete system, the robot system must be integrated in the emergency...

  • Page 32: Assembly

    5 Working Area of the Robot Assembly 5.1 Working Area of the Robot The following figures display the size and shape of the working area. Fig. 5-1: Side view of working area Fig. 5-2: Plan view of working area...

  • Page 33: Assembly Of The Robot

    (275 kg) and nine times the maximum tilting moment of the robot (1,620 Nm). The robot is not designed for movement on a linear axis or a moving platform. Permissible acceleration torques must be requested from the manufacturer, fruitcore robotics GmbH. Wall or ceiling-mounting only on consultation with fruitcore robotics GmbH.

  • Page 34: Assembling The Robot

    5 Assembly of the Robot 5.2.2 Assembling the Robot Fig. 5-3: Drilling pattern for base assembly  Prepare the mounting surface according to the drilling pattern.  Lift the robot by the carry/transport aid and position it on the prepared mounting surface. ...

  • Page 35: Assembling Add-On Parts

    5 Assembling Add-on Parts  The stop bolt is opposite the main connection in the robot base. (1)  Replace the M5 x 6 screw (DIN 7991) (2) of the selected stop position with a M5 x 10 coun- tersunk head screw (DIN 7991).

  • Page 36: Pneumatic Connection Of Add-On Parts

    5 Setting Up horstCONTROL Refer to the Annex for information on optional add-on parts from fruitcore robotics GmbH. For information on optional add-on parts from third-party manufacturers, refer to their product documentation. Optional accessory flange plates can be mounted for add-on parts that are to be attached to the robot arm (e.g.

  • Page 37: Electrical Installation

    6 Electrical System Warning Notes Electrical Installation This section describes the electrical installation of the robot system, i.e. the connection of the robot to the switch cabinet (horstCONTROL) as well as the connection of other devices and systems. There are several electrical interfaces: Robot connection: Connection of the robot to the horstCONTROL (switch cabinet) −...

  • Page 38: Robot Connection

    6 Robot Connection WARNING! Trip hazard  Ensure that the cables and hoses for media and power supply are properly laid and secured. WARNING! Unexpected movements of the robot  Only connect the power supply when you are certain that assembly has been fully com- pleted and is correct.

  • Page 39: Power Connection

    6 Power Connection 6.3 Power Connection The horstCONTROL power connection is a standard IEC C14 male socket (IEC-60320) with integrated pull-out protection. The supplied power cable has a safety plug at one end and an IEC C13 cold-device coupling with specially molded housing at the other end. This, together with the pull-out protection, en- sures reliable connection to the power supply.

  • Page 40: Horstcontrol I/O

    6 horstCONTROL I/O 6.4 horstCONTROL I/O This section describes how to connect devices to the horstCONTROL. The connections can be split into four categories: Safety-critical inputs/outputs − − General digital outputs +24 V power supply − Add-on interface − The inputs and outputs for this are located on the horstIO – the main control installed in the horstCON- TROL –...

  • Page 41: Overview Of All Interfaces

    6 horstCONTROL I/O 6.4.1 Overview of All Interfaces The following graphic shows the layout of the interfaces available on the horstIO. Fig. 6-5: horstIO interfaces 7 safety-critical inputs – 2-channels each (orange area) − 3 dedicated inputs (orange area with red font) Emergency stop input –...

  • Page 42: Safety-Critical Inputs/Outputs

    6 horstCONTROL I/O 6.4.2 Safety-critical Inputs/Outputs The horstCONTROL is equipped with several safe inputs and outputs. Safe I/Os are established redun- dantly through two independent lines. An incident or failure of a line therefore does not result in the com- plete loss of the safety function.
  • Page 43 6 horstCONTROL I/O Output Signal Switching Device (OSSD) For safety-critical inputs, an output signal switching device (OSSD) can be activated. With an output signal switching device activated, the output is periodically switched off and the input read back. If the results do not match, an error is triggered.
  • Page 44 6 horstCONTROL I/O 6.4.2.2 Enabling Switch I/O The Enable input (ENA, ENB) is another dedicated input (Safety In 3), which is in- tended exclusively for a three-stage enabling device (enabling switch) and there- fore cannot be configured. The enabling switch of the horstPANEL is connected to the safe inputs at terminals X3.5 and X3.7 in the lower half of terminal block X3, and to the control system at terminals X3.6 and X3.8.

  • Page 45: Table 6-3: Configurable Functions For Safe Inputs

    6 horstCONTROL I/O Software Configuration Options for The following functions can be configured for the safe inputs (see Digital Interfaces, page 44): Function Stop Description category None Emergency stop Signals an internal emergency stop Emergency stop output is set. External emergency stop External system signal emergency stop.

  • Page 46: Test Signals A/B

    6 horstCONTROL I/O Software Configuration Options for The following functions can be configured for the safe outputs (see Digital Interfaces, page 44): Function Description None Emergency stop “LO”: The robot is in emergency stop (internal emergency stop or trig- gered by an error). Robot stopped “HI”: No axis is moving.

  • Page 47: General Digital Inputs

    6 horstCONTROL I/O 6.4.4 General Digital Inputs There are 20 general digital inputs available at termi- nal blocks X1, X2 and X3. Inputs DI01 to DI20 (Digital In) are +24 V input channels and correspond to IEC 61131-2 Type 1 and 3. Configurable Safe Inputs If the , page 37 are config-...

  • Page 48: General Digital Outputs

    6 horstCONTROL I/O 6.4.5 General Digital Outputs There are 18 general digital outputs available at ter- minal blocks X9, X10 and X11. Outputs DO01 to DO18 (Digital Out) are +24 V output channels and can be configured as Push-Pull (switch to positive supply voltage and to ground) or High-Side switches (switch only to the positive supply voltage) via horstFX.

  • Page 49: Power Supply

    6 horstCONTROL I/O Safe Shut-down of the General Digital Outputs Digital outputs DO01 to DO16 are supplied by the +24 V power supply via a bridge at X17.7/X17.8. One bridge each is inserted here in the delivery state. If this bridge and the associated ground connection are routed to the connected actuators via a safety relay pair, these can be Fig.

  • Page 50: Common Features Of All Digital Interfaces

    6 horstCONTROL I/O 6.4.7 Common Features of All Digital Interfaces 6.4.7.1 Electrical Parameters The specifications described in this section apply to all digital interfaces (safety-critical and general). The Functional Wiring Diagrams functional wiring diagrams for the interfaces can be found in the Annex ( the Electrical Interfaces, page 78).
  • Page 51 6 horstCONTROL I/O 6.4.7.2 Software Configuration Options for Digital Interfaces Configuration of Inputs/Out- In the horstFX software, the inputs and outputs can also be configured in the puts Settings & Info menu under . See also the horstFX user manual. Assignment of Functions Function In horstFX, functions can be assigned to the general digital I/Os and the configurable safe I/Os (...

  • Page 52: Wiring Examples Of Safety-Critical Inputs/Outputs

    6 horstCONTROL I/O 6.4.8 Wiring Examples of Safety-critical Inputs/Outputs This subsection provides examples of the wiring of digital interfaces on the horstCONTROL. Other exam- ples can be found on horstCOSMOS. 6.4.8.1 Standard Safety Configuration In the delivery state, the control system is configured for sole operation of the robot.
  • Page 53 6 horstCONTROL I/O 6.4.8.4 Safety Stop The robot should be stopped safely as soon as the pro- tected area of a safety laser scanner is entered. The first example shows the connection of a laser scanner when using the internal test signal. This is routed to the control inputs of the laser scanner;...
  • Page 54 6 horstCONTROL I/O 6.4.8.5 Connecting Emergency Stop for Several Devices In a system, the robot should be integrated in the emergency stop circuit of the other devices so that there is no need, in an emergency, to decide which emergency stop button must be pressed.

  • Page 55: Wiring Examples Of Digital Inputs/Outputs

    6 horstCONTROL I/O 6.4.9 Wiring Examples of Digital Inputs/Outputs The following examples show the use of the general digital inputs and outputs. Fig. 6-26: Consumer at the digital output Fig. 6-27: Button at the digital input An inductive proximity switch in the configuration as a PNP normally closed contact should be con- nected to a digital input.

  • Page 56: Tool I/O

    6 Tool I/O 6.5 Tool I/O On support arm 3 of the robot, there are two interfaces (User 1, User 2), which supply current and control signals for grippers and sensors that can be mounted at the tool interface of the support arm 3. Each of these interfaces has two digital inputs/outputs as well as a +24 V power supply.

  • Page 57: Table 6-10: Characteristic Values Of Tool Inputs/Outputs

    6 Tool I/O Parameter min. typ. max. Unit Description Inputs Voltage -1.5 24.3 Input voltage Switching threshold Logical high–low HI – LO Switching threshold Logical low–high LO – HI Current consump- tion IEC 61131-2 Type Outputs Function Type Push-Pull, semiconductor Voltage Output voltage Current...

  • Page 58: Computer Interfaces

    6 Computer Interfaces 6.6 Computer Interfaces In the horstCONTROL there is an integrated computer whose accessible interfaces are described in this subsection. 6.6.1 PROFINET (optional) The horstCONTROL has an optional PROFINET communication interface (PROFINET IO, conformity class C), through which it is possible to exchange data between a PLC and the robot. PROFINET (Process Field Network) is a real-time capable industrial Ethernet protocol, which is used as the standard protocol in automation.

  • Page 59: Commissioning

    Danger resulting from incorrect commissioning  Commissioning must be performed only by persons with technical and electrotechnical training who were also authorized by fruitcore robotics GmbH. Before commissioning:  Make sure that any transport equipment or transport securing devices have been removed.

  • Page 60: Switching On The Robot System

    7 Switching on the Robot System 7.1 Switching on the Robot System  Switch the main switch on the horstCONTROL to ON.  The software (horstFX) starts up on the horstPANEL.  The main menu appears on the display.  Fig.

  • Page 61: Initializing The Robot

    7 Initializing the Robot 7.2 Initializing the Robot WARNING! Danger of impact and crushing due to robot movement The safety stop function is deactivated during the initialization.  During initialization operation, close off the area around the robot and protect it against ac- cess by unauthorized persons.
  • Page 62 7 Initializing the Robot To perform the initialization, the axes (starting with axis 6) must carry out a movement one after the other. If this is not possible, the axes must be moved manually. In this case, switch to the manual initialization menu.
  • Page 63 7 Initializing the Robot Fig. 7-5: Initialize robot – outputs menu Outputs can be switched manually here. For example, a gripper can be opened before the initialization drive is continued.  Switch the desired output via the corresponding changeover button. The automatic/manual initialization of the axes was successful if all six dots (initialization status) for the axes are shown in turquoise.

  • Page 64: Operation

    Modules of the robot system may be damaged if the robot arm was moved manually in an emergency. This may result in an uncontrolled start-up.  Have the robot system checked by the customer service of fruitcore robotics GmbH before recommissioning it.

  • Page 65: Operating Modes

    8 Operating Modes  A pop-up window with a warning mes- sage stating that an emergency stop was triggered appears on the display. Fig. 8-2: Emergency stop warning message  Rectify the danger situation. Reset the emergency stop  Check whether the danger has been rectified before resetting the emergency stop. ...

  • Page 66: Teaching Mode

    8 Operating Modes Fig. 8-4: Operating modes selector switch 8.2.1 Teaching mode WARNING! Danger of impact and crushing due to robot movement The safety stop function is deactivated in teaching mode.  While the robot is in teaching mode, close off the area around the robot, and protect it against access by unauthorized persons.

  • Page 67: Automatic Mode

    8 Operating Modes 8.2.2 Automatic Mode Programs are executed automatically in automatic mode. The robot acts without the enabling switch and the safety functions are active. Danger! Danger of impact and crushing due to robot movement  Ensure that there are no persons within the protected area. ...

  • Page 68: Shutdown After End Of Operation

    8 Shutdown after End of Operation 8.3 Shutdown after End of Operation At the end of operation, the robot system must be shut down.  To cancel a running program, tap the cancel program button (1).  The robot is braked immediately. Fig.
  • Page 69 8 Shutdown after End of Operation  Alternatively, you can also shut down the computer for the software (horstFX) that is inte- grated in the horstCONTROL as follows:  Press the PC ON/OFF button (see subsection horstCONTROL (switch cabinet), page 22) on the horstCONTROL.

  • Page 70: Fault Rectification

     Follow the instructions on the horstPANEL to rectify the cause of the fault.  Confirm the fault message on the display once all causes of the fault have been removed.  Call the fruitcore robotics GmbH service if you cannot remove the causes of the fault your- self.

  • Page 71: Cleaning And Maintenance

    Modules of the robot system may be damaged if the robot arm was moved manually in an emergency. This may result in an uncontrolled start-up.  Have the robot system checked by the customer service of fruitcore robotics GmbH before recommissioning it.

  • Page 72: Maintenance And Repair

    The operating personnel must check the robot system for external damage every day. If there is a service contract with fruitcore robotics GmbH, care must be taken that the robot system data is continuously sent to horstCOSMOS, see the horstFX user manual.

  • Page 73: Storage

    11 Maintenance and Repair 11 Storage If the robot system is stored away for use at a later time or decommissioned, it must be protected with suitable packaging. The robot system must be stored in a dry, frost-protected place that is not exposed to rainfall or heavy temperature fluctuations.

  • Page 74: Disassembly And Disposal

    12 Disassembly 12 Disassembly and Disposal 12.1 Disassembly  Disassemble or secure any add-on parts. Transport  Move the robot to transport position (see subsection , page 17). Shutdown after End  Shut the robot down (see subsection of Operation, page 61). ...

  • Page 75: Annex

    123 mm (eccentricity e: 61.5 mm; offset Z: 106.5 mm) Permissible load capacity Max. 5 kg (After consultation with fruitcore robotics GmbH) The permissible load capacity is reduced depending on the position of the center of gravity of the load.
  • Page 76 13 Technical Data Axis data H900 H900 without with horstFX performance horstFX performance Axis Range Speed Speed movement (independent of load) (at a load capacity of 0 kg) +/- 176 ° 95 °/s 280°/s +86.5 ° / -16 ° 35 °/s 150 °/s +42 °...
  • Page 77 13 Technical Data horstCONTROL Dimensions (L x W x H) 460 x 315 x 175 mm Weight 9 kg Protection classification IP20 Wiring of HORST Cable between robot and horstCONTROL: 3.0 m Wiring of the horstPANEL DVI-D 24+1, 5.0 m Power cable 5 m, CEE 7/4 / IEC-60320 C13, with pull-out protection Power supply...

  • Page 78: Stopping Distances And Stopping Times

    13 Stopping Distances and Stopping Times 13.2 Stopping Distances and Stopping Times The stopping distance is the distance covered by the TCP after the stop signal is triggered and until a complete standstill is reached. DANGER! A speed update or load change can result in longer braking distances and unexpected colli- sions with people or other objects and machines.

  • Page 79: Optional Accessories

    13.3 Optional Accessories The following accessories can be purchased from fruitcore robotics GmbH. Order number Component...
  • Page 80 13 Optional Accessories Accessory flange plate Accessory flange plates can be mounted for add-on parts that are to be attached to the robot arm (e.g. pneumatic valves). SECTION G-G 1:1 SCALE Fig. 13-3: Accessory flange plate Fig. 13-4: Positions of accessory flange plates on the robot...

  • Page 81: Spare Parts

    13 Spare Parts 13.4 Spare Parts Order number Component Comment On request Support arm 1 On request Support arm 2 On request Support arm 3 On request horstCONTROL On request horstPANEL On request Cable between horstCONTROL and robot On request Cardboard for packaging Table 3: Spare Parts 13.5 Type Plates...

  • Page 82: Overview Of Connectors

    13 Overview of Connectors 13.6 Overview of Connectors CON- DESCRIPTION NECTOR Digital inputs 1-8 Digital inputs 9-16 Digital inputs 17-20, Enable (enabling switch) Test signals A / B Safe inputs 4-7 Emergency stop/safety stop Safe outputs 1-4 Safe outputs 5-6 (pot.free) Digital outputs 1-8 Digital outputs 9-16 Digital outputs 17-18, +24 V...

  • Page 83: Terminal Assignment

    13 Terminal Assignment 13.7 Terminal Assignment Terminal Assignment Safe Description. X1.1 … X1.8 DI01 … DI08 General digital inputs 1-8 X2.1 … X2.8 DI09 … DI16 General digital inputs 9-16 X3.1 … X3.4 DI17 … DI18 General digital inputs 17-20 X3.5 Test signal for enabling switch, channel A X3.6...

  • Page 84: Table 13-5: Terminal Assignment Of Digital I/O Horstcontrol

    13 Terminal Assignment Terminal Assignment Safe Description X7.3 SO2A Configurable, safe output 2, Channel A X7.4 SO2B Configurable, safe output 2, Channel B X7.5 SO3A Configurable, safe output 3, Channel A X7.6 SO3B Configurable, safe output 3, Channel B X7.7 SO4A Configurable, safe output 4, Channel A X7.8...

  • Page 85: Functional Wiring Diagrams Of The Electrical Interfaces

    13 Functional Wiring Diagrams of the Electrical Interfaces 13.8 Functional Wiring Diagrams of the Electrical Interfaces 13.8.1 horstCONTROL I/O Safe input Safe output General digital input Potential-free output General digital output (High-Side)

  • Page 86: Tool I/O

    13 Functional Wiring Diagrams of the Electrical Interfaces General digital output (Push-Pull) 13.8.2 Tool I/O Digital input/output...

  • Page 87: Glossary

    14 Functional Wiring Diagrams of the Electrical Interfaces 14 Glossary Stop category 0 Stopping is achieved by an immediate interruption in the power supply to the drive components. This uncontrolled stopping can cause the robot to deviate from its programmed track. For more information on this, see EN ISO 13850 or DIN EN 60204-1.

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