10. Safety system
MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 82
Figure 10.3. Overview of components involved in each safety function and interface. When a safety function is
triggered, the safety PLCswitches the STO and brake contactors so the brakes, motors, and power supply to the
top module no longer receive power.
10.2 Personnel detection
The Personnel detection safety function prevents the robot from colliding with personnel or
obstacles by stopping it before it collides with any detected obstacles. It does this using the
safety laser scanners.
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