MIR 600 - Page 120

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 120
Function
name
Triggering event Reaction
Reset
function
PFHd, PL,
and
architecture
0.3m/s while the
Protective fields
are muted.
mechanical
spring-applied
brakes engage.
button on the
robot.
PL:
e
Architecture:
Category 3
Safeguard
stop
1
External device
delivering 0V to
the Safeguard
stop input pins—
see Interface
specifications on
page218.
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
brakes engage.
Resumes
when external
signals are
active (24 V).
PFHd:
3.7 × 10
-8
PL:
e
Architecture:
Category 3
Locomotion The speed of the
robot exceeding
0.1m/s—see
Locomotion on
page114.
Locomotion pins
deliver 0 V.
Unapplicable PFHd:
4.5 × 10
-8
PL:
e
Architecture:
Category 3
Hold to run
1
Driving the robot
using a connected
joystick (not the
virtual one in the
robot interface)
and the speed of
the robot
exceeding
0.1m/s.
3
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
brakes engage.
Press the
Resume
button on the
robot.
PFHd:
5.7 × 10
-8
PL:
e
Architecture:
Category 1
Mode
selection
Changing mode
or setting to
Locked mode.
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
Press the
Resume
button on the
robot.
PFHd:
1.2 × 10
-6
PL:
c