MIR 600 - Page 100

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 100
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 MiR600:
• Personnel detection
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 either
motor is above the limits for maximum speed, or if the speed difference between the
motors exceeds the predefined limits. If a limit is exceeded, the robot enters Protective
stop.
• Emergency stop buttons
MiR600 has four Emergency stop buttons. When one of the buttons is pressed, the robot
goes into Emergency stop.
Safety-related electrical interfaces
The following interfaces are parts of the Auxiliary emergency stop and Auxiliary safety
function interfaces that can be used to connect the safety PLCto a top module—see Internal
parts on page21.Most of the electrical interfaces are redundant, meaning they use two
identical circuits. If one of the circuits fail, the robot enters Protective stop until both circuits
are working correctly again and the robot is restarted, ensuring safe communication
between the top module and robot—see Interface specifications on page218.
The following list introduces the main safety-related electrical interfaces between MiR600
and its top module:
• Emergency stop circuit
The Emergency stop circuit goes through all Emergency stop buttons and the Auxiliary
emergency stop interface. The circuit is broken whenever an Emergency stop button is
pressed which brings the robot into Emergency stop.