MIR 1350 - Safety Functions Performance Overview

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 129
10.10 Shelf mode
If you do not have a shelf lifting top module mounted on top of the
robot, this interface should remain inactive at all times.
The Shelf mode interface is a signal specifically used when MiRShelfLift is
mounted to the robot. The signal activates when the robot is carrying a shelf,
triggering the robot to change to the shelf specific Protective field sets and use
the laser scanners to check that the four shelf legs are detected around the
robot, ensuring that the robot has successfully picked up the shelf.
Pin 12 in the Auxiliary safety function interface is used for the Shelf mode
function.
10.11 Safety functions performance overview
Table 10.4 lists each safety function with its associated triggering event, reaction,
reliability, and how it is realized.
The following terms are used in the table:
•
PFHd: The Probability of Failure on Demand per Hour
•
PL: Performance Level as defined in EN ISO 13849-1:2015
•
Architecture: as defined in EN ISO 13849-1:2015
The text for the footnotes in the table can be found after the table.