MIR 250 Hook - Page 119

11. Safety-related functions and interfaces
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 119
Protective stop
The robot enters Protective stop automatically to ensure the safety of nearby personnel. When
the robot enters Protective stop, internal safety contactors are switched so the robot's top
module and all moving parts of the robot do not receive power. You can hear the safety
contactors 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 "Personnel detection" on page123.
The robot will resume its operating state after two seconds.
• The robot finishes the startup process
The Resume button will flash after startup. Press the flashing Resume button to bring the robot
out of Protective stop.
• Switching between Manual mode and Autonomous mode
After turning the Operating mode key to switch operating modes, the robot enters Protective
stop, and the Resume button flashes. Press the Resume button 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,
contact your distributor for help troubleshooting the issue.
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.
When the robot is in Emergency 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 Emergency stop. To
do this, you must release the Emergency stop button and then press the Resume button.The
Resume button begins flashing blue after you have released the Emergency stop button. If the
robot is in Emergency stop, it will immediately resume an operating state after you press the
flashing Resume button.