11. Safety-related functions and interfaces
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 118
11. Safety-related functions and interfaces
The robot's safety system is designed to mitigate significant hazards which could lead to injury,
for example, stopping the robot if a person is in its path.
MiR250 Hook is equipped with a range of built-in safety-related functions. Each safety function is
designed according to the standard ISO 13849-1. The safety-related functions are selected to
support compliance with EN 1525 and ISO 3691-4.
11.1 System overview
The safety system is controlled mainly by the safety PLC. The PLCregulates inputs and outputs
from safety-related functions or interfaces involved with ensuring the safety of personnel working
nearby the robot.
If a safety function is triggered, the robot uses its STO(Safe Torque Off) contactors to bring the
robot to a category 0 stop (stopping by “immediate removal of power to the machine actuators"
according to IEC 60204-1) followed by a controlled brake using an SS1 (Safe Stop 1) function. This
is known as bringing the robot into Emergency stop or Protective stop, depending on the
function—see "Types of stop" below.
For more information about how the safety-related electrical interfaces work without the MiR
Hook 250 top module, see MiR250 User Guide.
Types of stop
There are four different stopped states:
• Operational stop
• Protective stop
• Emergency stop
• Manual stop
The last three types of stop are monitored by the safety PLC.
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.
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