MIR 1350 - Safeguarded Stop Interface

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 123
In the Auxiliary emergency stop interface, pins 1 and 2 deliver 24 V from the
safety PLC, and pins 3 and 4 connect to the Emergency stop circuit inputs of the
safety PLC. 24 V must be delivered to pins 3 and 4 for the robot to operate.
10.6 Safeguarded stop
The Safeguarded stop interface provides an input to the robot that can bring the
robot into Protective stop. This interface uses two input pins where both pins
must receive 24 Vfor the robot to be able to operate. If either or both pins
receive 0 V, the robot is brought into Protective stop. The robot can be brought
out of Protective stop again if both pins receive 24 Vagain.
If the input pins are unequally set for more than three seconds, the safety
PLCregisters this as an error in the system and needs to be reset before the
robot can operate again. To do this, you must restart the robot.