10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 105
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.
When the robot is in Protective stop or Emergency stop, the robot
loses connection to CANbus nodes 3, 4, and 20, and may report an
error regarding missing data. The connection is reestablished once
the robot is brought out of Protective or Emergency stop.
Operational stop
The robot is in Operational stop when it is stopped through the robot interface
either through a mission action or by pausing the mission. The top module and
all moving parts are still connected to a power supply.
Protective stop
The robot enters Protective stop automatically to ensure the safety of nearby
personnel. When the robot enters Protective stop, internal safety contactors are
switched so the robot's top module and all moving parts of the robot do not
receive power. You can hear the safety contactors emit audible clicks when they
are switched.
When the robot is in Protective stop, the status lights of the robot turn red, and
you are not able to move the robot or send it on missions until you bring the
robot out of the Protective stop. The following cases describe the various
Protective stops and how to bring the robot out of them:
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