MIR 1350 - Page 109

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 109
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Emergency stop buttons
MiR1350 has four Emergency stop buttons. When one of the buttons is
pressed, the robot goes into Emergency stop.
Safety-related electrical interfaces
The following interfaces are parts of the Auxiliary emergency stop and Auxiliary
safety function interfaces that can be used to connect the safety PLCto a top
module—see Internal parts on page23.Most of the electrical interfaces are
redundant, meaning they use two identical circuits. If one of the circuits fail, the
robot enters Protective stop until both circuits are working correctly again and
the robot is restarted, ensuring safe communication between the top module
and robot—see Interface specifications on page243.
The following list introduces the main safety-related electrical interfaces between
MiR1350 and its top module:
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Emergency stop circuit
The Emergency stop circuit goes through all Emergency stop buttons and the
Auxiliary emergency stop interface. The circuit is broken whenever an
Emergency stop button is pressed which brings the robot into Emergency stop.
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Safeguarded stop
This function consists of a circuit that goes through the Auxiliary safety
function interface that connects to the top module. This circuit can be used to
bring the robot into Protective stop until otherwise signaled.
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Locomotion
The locomotion function signals when the robot is driving. A top module can
be connected to this interface if the top module should operate differently
when the robot is driving, such as activating brakes or disconnecting the power
to actuators.
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System emergency stop
This function consists of a shared circuit between the robot and top module,
enabling them to trigger each other into an Emergency stop.