10. Safety-related functions and interfaces
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 97
• Emergency stop
• Manual stop
The last three types of stop are monitored by the safety PLC.
Operational stop
The robot is in Operational stop when it is stopped through the robot interface either
through a mission action or by pausing the mission. The top module and all moving parts are
still connected to a power supply.
Protective stop
The robot enters Protective stop automatically to ensure the safety of nearby personnel.
When the robot enters Protective stop, internal safety contactors are switched so the robot's
top module and all moving parts of the robot do not receive power. You can hear the safety
contactors emit audible clicks when they are switched.
When the robot is in Protective stop, the status lights of the robot turn red, and you are not
able to move the robot or send it on missions until you bring the robot out of the Protective
stop. The following cases describe the various Protective stops and how to bring the robot
out of them:
• A safety laser scanner detects an object in its active Protective field
Remove the object from the active Protective field—see Personnel detection on
page102. The robot will resume its operating state after two seconds.
• The robot finishes the startup process
The Resume button will flash after startup. Press the flashing Resume button to bring the
robot out of Protective stop.
• Switching between Manual mode and Autonomous mode
After turning the Operating mode key to switch operating modes, the robot enters
Protective stop, and the Resume button flashes. Press the Resume button to bring the
robot out of Protective stop.
• The safety system detects a fault, or the motor control system detects a discrepancy
To bring the robot out of Protective stop, resolve the fault causing the error. Use
information regarding the error from the robot interface to determine the fault. Go to
Monitoring > Hardware health to find specific information on what caused the issue. For
further guidance, contact your distributor for help troubleshooting the issue.
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