8. Safety system
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 78
8. Safety system
The robot's safety system is responsible for stopping or slowing down the robot and its top
module in situations where personnel are at risk of injury.
MiR100 Hook is equipped with a range of built-in safety-related functions. Each safety
function is designed according to the standard ISO 13849-1. The safety-related functions are
selected to support compliance with EN 1525 and ISO 3691-4.
8.1 System overview
The safety system is controlled mainly by the safety PLC. The PLCregulates inputs and
outputs from safety-related functions or interfaces involved with ensuring the safety of
personnel working nearby the robot.
If a safety function is triggered, the robot uses its relays to bring the robot to a category 0
stop (stopping by “immediate removal of power to the machine actuators" according to IEC
60204-1). This is known as bringing the robot into Emergency stop or Protective stop,
depending on the function—see Types of stop below.
There is also an Emergency stop electrical interface that enables you to connect any number
of Emergency stop buttons to your robot. These Emergency stop buttons can for example be
mounted to a top module. The Emergency stop buttons must be connected in series with two
identical circuits to ensure redundancy.
Types of stop
There are three different stopped states:
• Operational stop
• Protective stop
• Emergency stop
The last two 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.
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