MIR 600 - Safeguarded Stop

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 112
In the Auxiliary emergency stop interface, pins 1 and 2 deliver 24 V from the safety PLC, and
pins 3 and 4 connect to the Emergency stop circuit inputs of the safety PLC. 24 V must be
delivered to pins 3 and 4 for the robot to operate.
10.6 Safeguarded stop
The Safeguarded stop interface provides an input to the robot that can bring the robot into
Protective stop. This interface uses two input pins where both pins must receive 24 Vfor the
robot to be able to operate. If either or both pins receive 0 V, the robot is brought into
Protective stop. The robot can be brought out of Protective stop again if both pins receive 24
Vagain.
If the input 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.