MIR MiR250 Dynamic - Safety-Related Functions and Interfaces

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 73
8. Safety-related functions and interfaces
The robot's safety system is designed to mitigate significant hazards which could lead to injury.
For an overview of all the safety functions and the PFHd, PL, and Architecture as defined by ISO
13849-1:2015 of each function, see "Safety functions overview" on the next page.
Several safety functions have been designed and implemented in MiR250 Dynamic. Some safety
functions are intended for integration with a connected top module. You must use the Auxiliary
safety functions and Auxiliary emergency stop interfaces to use these functions. Using these
interfaces requires proper design and validation in accordance with ISO13849-1 and ISO 13849-2
respectively.
The diagram in Figure 8.1 shows the inputs to these functions and interfaces and how they are all
connected and monitored by the safety PLC. The safety PLCis able to switch the safety contactors
to cut off power to the robot motors and the top module whenever a Protective or Emergency
stop is triggered—see "Types of stop" on page69. Also, the safety PLCsends information to the
robot computer. The robot computer displays the information in the robot interface (in
Monitoring > Hardware health) and indicates if the robot is inEmergency or Protective stop
with the status lights.