MIR 100 - Safety-related functions and interfaces; Limiting safety-related functions

2. Safety
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 14
2.8 Safety-related functions and interfaces
MiR100 is equipped with a range of built-in safety-related functions as well as safety-related
electrical interfaces designed for integration with a top module and/or top manipulator.
Each safety function and interface is designed according to the standard ISO 13849-1.
The safety-related functions and interfaces are selected to support compliance with EN
1525.
2.9 Limiting safety-related functions
MiR100 has several built-in safety-related functions that are used to ensure safe operation in
the environment it is designed to be used in.
Advanced control software ensures that locomotion and the drive pattern are within safety
related limits and thereby avoid triggering a safety function. Violations of limits will hence
only occur in exceptional cases. Nevertheless, if a limit is violated, the safety system issues a
category 0 stop (stopping by “immediate removal of power to the machine actuators
according to IEC 60204-1”) followed by a controlled brake which brings MiR100 to a stop.
See Technical specifications on our website for more details.
Collision avoidance
The collision avoidance safety function ensures that the robot will come to a stop before it
collides with a human or object.
The function measures the speed on the two driving wheels and switches between the
predefined protective fields accordingly. The faster the speed, the larger the protective
fields will be.
This ensures that the robot will be brought to a stop in case a human or object is detected
within the active protective field.
Collision avoidance is automatically deactivated two seconds after the protective field is
free.
Overspeed avoidance
The safety system monitors if the speed of each motor is above limits for maximum rated
speed and hence an indication of speed control is lost for any reason.
The overspeed avoidance safety function must be manually deactivated by activation of the
restart button.