10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 111
Figure 10.3. Overview of components involved in each safety function and interface. When a
safety function is triggered, the safety PLCswitches the STO contactors so the motors and power
supply to the top module no longer receive power.
10.2 Personnel detection
The Personnel detection safety function prevents the robot from colliding with
personnel or obstacles by stopping it before it collides with any detected
obstacles. It does this using the safety laser scanners.
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