MIR 1350 - Page 133

10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 133
Function
name
Description
PFHd, PL, and
architecture
Mode
selection
Triggering event: Changing mode or
setting to Locked mode.
Reaction: Category 0 stop (IEC 60204)
and mechanical spring-applied brakes
engage.
Reset function: Press the Resume
button on the robot.
PFHd:
1.2 × 10
-6
PL:
c
Architecture:
Category 1
System
emergency
stop
1
Triggering event: External device
delivering 0V to the System emergency
stop input pins. These are Auxiliary safety
functions pins 9 and 10—see Interface
specifications on page243.
Reaction: Category 0 stop (IEC 60204)
and mechanical spring-applied brakes
engage.
Reset function: When external signals
are active (24 V), press the Resume
button on the robot.
PFHd:
3.7 × 10
-8
PL:
e
Architecture:
Category 3
1
This safety function uses external input.The values in Table 10.4 are evaluated
without any external input. The resulting functional safety, including the external
device or equipment, is determined by the overall architecture and the sum of all
PFHds. This includes the PFHd provided in Table 10.4.
2
The robot will stop within the active Protective field if the payload, CoM, mass
inertia moment, and friction coefficient are within specifications—see Making a
brake test on page175.
3
This function is by default disabled by a physical dummy plug inserted in the
joystick connector.