MIR 1350 - Page 132

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 132
Function
name
Description
PFHd, PL, and
architecture
Safeguard
stop
1
Triggering event: External device
delivering 0V to the Safeguard stop input
pins—see Interface specifications on
page243.
Reaction: Category 0 stop (IEC 60204)
and mechanical spring-applied brakes
engage.
Reset function: Resumes when external
signals are active (24 V).
PFHd:
3.7 × 10
-8
PL:
e
Architecture:
Category 3
Locomotion Triggering event: The speed of the robot
exceeding 0.1m/s—see Locomotion on
page125.
Reaction: Locomotion pins deliver 0 V.
Reset function: Unapplicable
PFHd:
4.5 × 10
-8
PL:
e
Architecture:
Category 3
Hold to run
1
Triggering event: Driving the robot using
a connected joystick (not the virtual one
in the robot interface) and the speed of
the robot exceeding 0.1m/s.
3
Reaction: Category 0 stop (IEC 60204)
and mechanical spring-applied brakes
engage.
Reset function: Press the Resume
button on the robot.
PFHd:
5.7 × 10
-8
PL:
e
Architecture:
Category 1