10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 104
10. Safety-related functions and
interfaces
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.
MiR1350 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.
For the PFHd, PL, and Architecture as defined by ISO 13849-1:2015 of the main
safety functions, see Safety functions performance overview on page129.
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 which brings MiR1350 to a stop. This is known as bringing
the robot into Emergency stop or Protective stop, depending on the function—
see Types of stop on the next page.
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.
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