MIR 250 - Page 210

18. Interface specifications
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 210
Safety A:
Pin no.
Signal
name
Type Description
1 Test output
1
Output 24 V test signal. Sends test pulses (not on
constantly).
2 Safeguarded
stop 1
Input When inactive, the robot enters Protective
stop. If this pin and the other Safeguarded
stop pin are unequally set for a period
greater than three seconds, the robot must
be restarted.
3 Shared
emergency
stop in 1
Input When inactive, the robot goes into
Emergency stop.
4 Reduced
speed 1
Input When inactive, the robot drives with reduced
speed.
5 Locomotion
1
Output Is active when the robot is standing still.
6 Shared
emergency
stop out 1
Output Is inactive when the robot is in Emergency
stop.
Table 18.6.
Description of the pins in the Auxiliary safety function interface A in The pins of the
Auxiliary safety functions interfaces. on the previous page
Safety B:
Pin
no.
Signal
name
Type Description
1 Test output Output 24 V out test signal. Sends test pulses (not on
Table 18.7.
Description of the pins in the Auxiliary safety function interface B in The pins of the
Auxiliary safety functions interfaces. on the previous page