MIR 600 - Emergency Stop Circuit

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 110
Pos. Description Pos. Description
circuit on the next page
3 Rear-right Emergency stop
button
4 Connection interface for MiR
controller with dummy plug
5 Rear-left Emergency stop button 6 Front-left Emergency stop button
7 Safety PLC
10.5 Emergency stop circuit
TheEmergency stop circuit goes through the four Emergency stop buttons in MiR600—see
Emergency stop buttons on page108—and then through the Auxiliary emergency stop
interface where you can connect external input to bring the robot into an Emergency stop.
The interface uses two output pins to provide a 24 V signal and two input pins to bring the
robot into Emergency stop.
It is intended that the circuit is set up so the 24 V signal delivered from the safety
PLCoutputs passes through all Emergency stop buttons of the top module and then continues
to the two input pins. When the input pins both receive 24 V, the robot can operate. The
connected Emergency stop buttons must break the circuit when you press them so both
inputs receive a 0 V signal that will bring the robot into Emergency stop.
If the circuit or anEmergency stop button is installed incorrectly so the input signals are not
the same, the robot enters Protective stop until the circuit is fixed.