8. Safety system
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 74
Safety-related functions
The following functions are integrated within the robot itself and cannot be modified or used
with other applications. The following list introduces the main safety-related functions
integrated in MiR200:
• Collision avoidance
This function ensures that the robot stops before it collides with personnel or an object. If
the laser scanners detect an object or person within a defined Protective field, the robot is
brought to a stop. The function determines what the current speed of the robot is based
on data from the motor encoders, and the function switches between predefined
Protective fields accordingly. The faster the speed, the larger the Protective field is.
• Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of each
motor is above the limits for maximum rated speed. If the limit is exceeded, the robot
enters Protective stop.
• Stability
The safety system monitors if the motor encoder data indicates that the speed difference
between the two motors are above predefined limits. If the limit is exceeded, the robot
enters Protective stop.
• Emergency stop circuit
The Emergency stop circuit goes through the Auxiliary emergency stop interface and
connects to the top module. It is possible to connect multiple emergency stop buttons to
the circuit. When the circuit is broken, the robot goes into Emergency stop.
These functions are described in further detail in the following sections.
The diagram in Figure 8.1 shows the inputs to these functions and interfaces and how they
are all connected and monitored by the safety PLC. The safety PLCis able to switch the
contactors to cut off power to the robot motors and the top module whenever a Protective
or Emergency stop is triggered. Also, the safety PLCsends information to the robot computer
to be displayed in the robot interface (in Monitoring > Hardware health) and to indicate
the robot's status through the status lights and the speaker.
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