MIR 600 - Emergency Stop Buttons

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 108
The only marker that does not mute the Protective fields are L-markers.
The Protective field sets are muted from when the docking starts and until the robot has
undocked and has started a new action that requires the robot to plan a path.
The Protective field sets will remain muted during any Relative move action that come right
after the docking action. The Protective field sets will also remain muted if you engage the
Manual brake release—see Manual brake release switch on page27.
For more information about markers, docking, and undocking—see Markers on page141.
10.3 Overspeed avoidance
The overspeed function stops the robot if the motor encoders measure that the robot is
driving over the predefined safety limits or that the difference between how fast each wheel
turns is outside the predefined safety limits. This indicates that the robot is not driving as
intended, for example, if one of the wheels loses traction or if there is a hardware error in
the robot.
If the robot detects overspeed, it is immediately brought into Protective stop. This ensures
that the robot cannot drive if it has lost control of the speed of the drive wheels.
10.4 Emergency stop buttons
There are four Emergency stop buttons on MiR600. When one of the buttons is pressed, it
breaks the Emergency stop circuit, triggering an Emergency stop. The Emergency stop
circuit runs through all of the Emergency stop buttons and connects to the safety PLC
through the Auxiliary emergency stop interface—see Figure 10.7.
You must connect a circuit to the Auxiliary emergency stop interface that closes the circuit
before the robot can operate. If you mount a top module to the robot that has Emergency
stop buttons, you can connect these buttons to the circuit so MiR600 enters Emergency stop
when the buttons on the top module are pressed.