MIR 1350 - Emergency Stop Circuit Operation

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 121
Pos. Description Pos. Description
7 Safety PLC
10.5 Emergency stop circuit
TheEmergency stop circuit goes through the four Emergency stop buttons in
MiR1350—see Emergency stop buttons on page119—and then through the
Auxiliary emergency stop interface where you can connect external input to bring
the robot into an Emergency stop. The interface uses two output pins to provide
a 24 V signal and two input pins to bring the robot into Emergency stop.
It is intended that the circuit is set up so the 24 V signal delivered from the safety
PLCoutputs passes through all Emergency stop buttons of the top module and
then continues to the two input pins. When the input pins both receive 24 V, the
robot can operate. The connected Emergency stop buttons must break the circuit
when you press them so both inputs receive a 0 V signal that will bring the robot
into Emergency stop.
If the circuit or anEmergency stop button is installed incorrectly so the input
signals are not the same, the robot enters Protective stop until the circuit is fixed.