8. Safety system
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 72
Operational stop
The robot is in Operational stop when it is stopped through the robot interface either
through a mission action or by pausing the mission. The top module and all moving parts are
still connected to a power supply.
Protective stop
The robot enters Protective stop automatically to ensure the safety of nearby personnel.
When the robot enters Protective stop, internal safety relays are switched so the robot's top
module and all moving parts of the robot do not receive power. You can hear the safety
relays emit audible clicks when they are switched.
When the robot is in Protective stop, the status lights of the robot turn red, and you are not
able to move the robot or send it on missions until you bring the robot out of the Protective
stop. The following cases describe the various Protective stops and how to bring the robot
out of them:
• A safety laser scanner detects an object in its active Protective field
Remove the object from the active Protective field—see Collision avoidance on page75.
The robot will resume its operating state after two seconds.
• The robot finishes the startup process
The reset button on the Emergency stop will flash after startup. Press the reset button on
the Emergency stop to bring the robot out of Protective stop.
• The safety system detects a fault, or the motor control system detects a discrepancy
To bring the robot out of Protective stop, resolve the fault causing the error. Use
information regarding the error from the robot interface to determine the fault. Go to
Monitoring > Hardware health to find specific information on what caused the issue. For
further guidance, see the troubleshooting guides on the Distributor site.
Emergency stop
The robot enters Emergency stop when an Emergency stop button has been pressed
physically. When you press the Emergency stop button, internal safety contactors are
switched so the robot's top application and all moving parts of the robot do not receive
power. You can hear the safety contactors emit audible clicks when they are switched.
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