10. Safety system
MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 77
10. Safety system
The robot's safety system is designed to mitigate significant hazards which could lead to
injury, for example, stopping the robot if a person is in its path.
MiR1000 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. 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 and ISO 3691-4.
10.1 System overview
The safety system is controlled mainly by the safety PLC. The PLCregulates inputs and
outputs from safety-related functions or interfaces involved with ensuring the safety of
personnel working nearby the robot.
If a safety function is triggered, the robot uses its STO(Safe Torque Off) contactors to bring
the robot to a category 0 stop (stopping by “immediate removal of power to the machine
actuators" according to IEC 60204-1) followed by a controlled brake using an SS1 (Safe Stop
1) function. This is known as bringing the robot into Emergency stop or Protective stop,
depending on the function—see Types of stop below.
Some interfaces are also used to signal safety-related states between the top module and
robot, for example whether the robot is in motion or if the top module is in a state where
the robot must stop or slow down. Each of these are connected through the safety-related
electrical interfaces through two identical circuits to ensure redundancy.
Types of stop
There are four different stopped states:
• Operational stop
• Protective stop
• Emergency stop
• Manual stop
The last three types of stop are monitored by the safety PLC.
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