MIR 1350 - Page 131

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 131
Function
name
Description
PFHd, PL, and
architecture
Field
switching
Triggering event: Changing the robot
speed to another case interval—see
Personnel detection on page111.
Reaction: Activate Protective field that is
suitable for the speed of the robot.
Reset function: Continuous function. No
action required.
PFHd:
2.0 × 10
-7
PL:
d
Architecture:
Category 3
Personnel
detection
Triggering event: Safety laser scanners
detecting an object in the active
Protective field—see Personnel
detection on page111.
Reaction: Category 0 stop (IEC 60204)
and mechanical spring-applied brakes
engage.
2
Reset function: Resumes automatically
after 2s of cleared Protective field.
PFHd:
1.2 × 10
-7
PL:
d
Architecture:
Category 3
Speed
monitor
Triggering event: The speed of the
robots exceeding 0.3m/s while the
Protective fields are muted.
Reaction: Category 0 stop (IEC 60204)
and mechanical spring-applied brakes
engage.
Reset function: Press the Resume
button on the robot.
PFHd:
5.2 × 10
-8
PL:
e
Architecture:
Category 3