MIR 1000 - Emergency stop circuit

10. Safety system
MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 89
Pos. Description Pos. Description
1 Front-right Emergency stop
button
2 Auxiliary emergency stop
interface
3 Rear-right Emergency stop
button
4 Rear-left Emergency stop button
5 Safety PLC 6 Front-left Emergency stop button
Table 10.1.
Identification of parts in Figure 10.7
10.6 Emergency stop circuit
TheEmergency stop circuit goes through the four Emergency stop buttons in the robot—see
Emergency stop buttons on the previous page—and then through the Auxiliary emergency
stop interface where you can connect external input to bring the robot into an Emergency
stop. The interface uses two output pins to provide a 24 V signal and two input pins to bring
the robot into Emergency stop.
It is intended that the circuit is set up so the 24 V signal delivered from the safety
PLCoutputs passes through all Emergency stop buttons of the top module and then continues
to the two input pins. When the input pins both receive 24 V, the robot can operate. The
connected Emergency stop buttons must break the circuit when you press them so both
inputs receive a 0 V signal that will bring the robot into Emergency stop.
If the circuit or anEmergency stop button is installed incorrectly so the input signals are not
the same, the robot enters Protective stop until the circuit is fixed.