MIR 600 - Page 119

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 119
Function
name
Triggering event Reaction
Reset
function
PFHd, PL,
and
architecture
on page114.
Overspeed The speed of the
robot exceeding
2.10m/s or the
difference in
speed between
the drive wheels
exceeding
0.37m/s—see
Overspeed
avoidance on
page108.
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
brakes engage.
Press the
Resume
button on the
robot.
PFHd:
5.2 × 10
-8
PL:
e
Architecture:
Category 3
Field
switching
Changing the
robot speed to
another case
interval—see
Personnel
detection on
page102.
Activate
Protective field
that is suitable for
the speed of the
robot.
Continuous
function. No
action
required.
PFHd:
2.0 × 10
-7
PL:
d
Architecture:
Category 3
Personnel
detection
Safety laser
scanners
detecting an
object in the
active Protective
field—see
Personnel
detection on
page102.
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
brakes engage.
2
Resumes
automatically
after 2s of
cleared
Protective
field.
PFHd:
1.2 × 10
-7
PL:
d
Architecture:
Category 3
Speed
monitor
The speed of the
robots exceeding
Category 0 stop
(IEC 60204) and
Press the
Resume
PFHd:
5.2 × 10
-8