MIR 250 - 10.9 Reduced speed

10. Safety system
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 99
If the pins are unequally set for more than three seconds, the safety PLCregisters this as an
error in the system and needs to be reset before the robot can operate again. To do this, you
must restart the robot.
Not in Emergency stop
Shared emergency stop
inputs are 0 V
Shared emergency stop
inputs are unequal
Figure 10.10. The three cases above respectively describe: 1. the robot is not in Emergency stop so the output
is 24 V, 2. the robot is in Emergency stop because it receives 0V input from the Shared emergency stop
interface, and 3. the robot is in Emergency stop because the inputs are unequal.
In interfaces Aand B of the Auxiliary safety functions, pins 3 are used for the input and pins 6
are used for the input of the Shared emergency stop function.
10.9 Reduced speed
The Reduced speed interface is used to signal to the robot that it must drive at a reduced
speed of 0.3 m/s.This is the same speed used when the robot mutes its Protective fields. The
interface uses two input pins where the robot drives at a reduced speed if either input is 0 V.
This can for example be used in cases where the top module can register whether the load it
is carrying is not securely placed or the module is currently under operation.