MIR 600 - Reduced Speed; Shelf Mode

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 117
been pressed, 4. the robot is in Emergency stop because the inputs are unequal.
In the Auxiliary safety function interface, pins 7 and 8 are used for the output and pins 9 and
10 are used for the input of the System emergency stop function.
10.9 Reduced speed
The Reduced speed interface is used to signal to the robot that it must drive at a reduced
speed of 0.3 m/s.This is the same speed used when the robot mutes its Protective fields. The
interface uses one input pin where the robot drives at a reduced speed when it is 0V.
This can, for example, be used in cases where the top module can register whether the load
it is carrying is not securely placed or the module is currently under operation.
Default speed Reduced speed
Figure 10.12. The robot drives at its default speed only when the input is 24 V. If the pin delivers 0V, the robot
drives at 0.3 m/s.
Pin 11 in the Auxiliary safety function interface is used for the Reduced speed function.
10.10 Shelf mode
If you do not have a shelf lifting top module mounted on top of the robot, this
interface should remain inactive at all times.