MIR 600 - Safety Functions Performance Overview

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 118
The Shelf mode interface is a signal specifically used when MiRShelfLift is mounted to the
robot. The signal activates when the robot is carrying a shelf, triggering the robot to change
to the shelf specific Protective field sets and use the laser scanners to check that the four
shelf legs are detected around the robot, ensuring that the robot has successfully picked up
the shelf.
Pin 12 in the Auxiliary safety function interface is used for the Shelf mode function.
10.11 Safety functions performance overview
Table 10.4 lists each safety function with its associated triggering event, reaction, reliability,
and how it is realized.
The following terms are used in the table:
• PFHd: The Probability of Failure on Demand per Hour
• PL: Performance Level as defined in EN ISO 13849-1:2015
• Architecture: as defined in EN ISO 13849-1:2015
The text for the footnotes in the table can be found after the table.
Function
name
Triggering event Reaction
Reset
function
PFHd, PL,
and
architecture
Emergency
stop
1
Pressing any
Emergency stop
button on the
robot, connected
top module, or
connected MiR
Controller
joystick—see
Emergency stop
buttons on
page108.
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
brakes engage.
System
emergency stop
pins deliver 0 V—
see System
emergency stop
Release all
Emergency
stop buttons,
and press the
Resume
button on the
robot.
PFHd:
4.0 × 10
-8
PL:
e
Architecture:
Category 3
Table 10.4.
Overview of integrated safety functions in MiR600