10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 110
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Reduced speed
The reduced speed function can be connected to a top module, enabling it to
make the robot reduce its speed to 0.3 m/s. This is for example used by MiR
lifts to ensure that the robot does not drive fast when the lift is raised.
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Shelf mode
This function is intended to be used together with MiRShelfLift indicating
when the robot should check that it is carrying a shelf. If you do not have a
shelf lifting top module, this function should not be used.
These functions are described in further detail in the following sections.
The diagram in Figure 10.3 shows the inputs to these functions and interfaces
and how they are all connected and monitored by the safety PLC. The safety
PLCis able to switch the safety contactors to cut off power to the robot motors
and the top module whenever a Protective or Emergency stop is triggered. Also,
the safety PLCsends information to the robot computer to be displayed in the
robot interface (go to Monitoring > Hardware health) and to indicate the
robot's status through the status lights and the speaker.
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