MIR 600 - Page 121

10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 121
Function
name
Triggering event Reaction
Reset
function
PFHd, PL,
and
architecture
brakes engage. Architecture:
Category 1
System
emergency
stop
1
External device
delivering 0V to
the System
emergency stop
input pins. These
are Auxiliary
safety functions
pins 9 and 10—
see Interface
specifications on
page218.
Category 0 stop
(IEC 60204) and
mechanical
spring-applied
brakes engage.
When
external
signals are
active (24 V),
press the
Resume
button on the
robot.
PFHd:
3.7 × 10
-8
PL:
e
Architecture:
Category 3
1
This safety function uses external input.The values in Table 10.4 are evaluated without any
external input. The resulting functional safety, including the external device or equipment, is
determined by the overall architecture and the sum of all PFHds. This includes the PFHd
provided in Table 10.4.
2
The robot will stop within the active Protective field if the payload, CoM, mass inertia
moment, and friction coefficient are within specifications—see Making a brake test on
page159.
3
This function is by default disabled by a physical dummy plug inserted in the joystick
connector.