10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 119
10.3 Overspeed avoidance
The overspeed function stops the robot if the motor encoders measure that the
robot is driving over the predefined safety limits or that the difference between
how fast each wheel turns is outside the predefined safety limits. This indicates
that the robot is not driving as intended, for example, if one of the wheels loses
traction or if there is a hardware error in the robot.
If the robot detects overspeed, it is immediately brought into Protective stop.
This ensures that the robot cannot drive if it has lost control of the speed of the
drive wheels.
10.4 Emergency stop buttons
There are four Emergency stop buttons on MiR1350. When one of the buttons is
pressed, it breaks the Emergency stop circuit, triggering an Emergency stop. The
Emergency stop circuit runs through all of the Emergency stop buttons and
connects to the safety PLC through the Auxiliary emergency stop interface—see
Figure 10.7.
You must connect a circuit to the Auxiliary emergency stop interface that closes
the circuit before the robot can operate. If you mount a top module to the robot
that has Emergency stop buttons, you can connect these buttons to the circuit so
MiR1350 enters Emergency stop when the buttons on the top module are
pressed.
The Auxiliary emergency stop interface-circuit needs to be closed at
all times. To prevent the robot from entering Emergency stop, the
robot must be fitted with a closed connection such as a dummy plug
or top module. Dummy plugs are supplied by MiR. Additionally, the
connection interface for the MiR controller in the rear compartment
also has a dummy plug that must be connected to keep the circuit
closed.
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