MIR 1350 - System Emergency 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. 126
10.8 System emergency stop
The System emergency stop interface is used to control the Emergency stop state
between the robot and a top module. The interface has two inputs for bringing
the robot into Emergency stop and two outputs for signaling when the robot is in
Emergency stop.
The outputs are used to signal to the top module that the robot is in Emergency
stop. When the robot is in an operational state, the outputs deliver 24 V. As soon
as the robot enters Emergency stop, they deliver 0V.
The inputs are intended to enable the top module to bring the robot into
Emergency stop. When both inputs deliver 24 V, the robot can operate, but as
soon as either or both of the inputs deliver 0V, the robot enters Emergency stop.
These signals can be used if the top module has its own Emergency stop system
and you want both the robot and the top module to enter Emergency stop when
either system is triggered.
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.
The robot only delivers 24 V from the System emergency stop output
when one of the robot's Emergency stop buttons are pressed. The
robot can be in Emergency stop but delivers 0V from the System
emergency stop outputs if the Emergency stop signal is received
from the connected top module.