MIR 600 - Locomotion; System Emergency Stop

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 114
10.7 Locomotion
The Locomotion interface is used to signal to a top module that the robot is driving. This
function uses two output pins, where both pins deliver 0 Vwhen the robot is driving and 24 V
when the robot is stopped. You can use this interface to make your top module behave
differently depending on whether the robot is driving or not.
The interface is intended to be used to ensure that the top module is programmed to go into
a safe state when the robot is driving. For example by engaging the brakes in any actuators
that may result in injury to personnel.
Signal when driving Signal when stopped
Figure 10.10. When the robot is driving, the safety PLC sends a 0 V signal to the top module through the
Auxiliary safety function interface. When the robot is stopped, the signal becomes 24 V.
Pins 5 and 6 in the Auxiliary safety function interface are used for the Locomotion function.
10.8 System emergency stop
The System emergency stop interface is used to control the Emergency stop state between
the robot and a top module. The interface has two inputs for bringing the robot into
Emergency stop and two outputs for signaling when the robot is in Emergency stop.
The outputs are used to signal to the top module that the robot is in Emergency stop. When
the robot is in an operational state, the outputs deliver 24 V. As soon as the robot enters
Emergency stop, they deliver 0V.