10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 101
• Safeguarded stop
This function consists of a circuit that goes through the Auxiliary safety function interface
that connects to the top module. This circuit can be used to bring the robot into Protective
stop until otherwise signaled.
• Locomotion
The locomotion function signals when the robot is driving. A top module can be connected
to this interface if the top module should operate differently when the robot is driving,
such as activating brakes or disconnecting the power to actuators.
• System emergency stop
This function consists of a shared circuit between the robot and top module, enabling
them to trigger each other into an Emergency stop.
• Reduced speed
The reduced speed function can be connected to a top module, enabling it to make the
robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the
robot does not drive fast when the lift is raised.
• Shelf mode
This function is intended to be used together with MiRShelfLift indicating when the robot
should check that it is carrying a shelf. If you do not have a shelf lifting top module, this
function should not be used.
These functions are described in further detail in the following sections.
The diagram in Figure 10.3 shows the inputs to these functions and interfaces and how they
are all connected and monitored by the safety PLC. The safety PLCis able to switch the
safety contactors to cut off power to the robot motors and the top module whenever a
Protective or Emergency stop is triggered. Also, the safety PLCsends information to the
robot computer to be displayed in the robot interface (go to Monitoring > Hardware
health) and to indicate the robot's status through the status lights and the speaker.
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