8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 74
Figure 8.1 Overview of components involved in each safety function and interface
8.1 Safety functions overview
MiR250 Dynamic is set up with the following safety configuration:
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Description: Standard configuration v. 2.
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Supported software version: 2.14.2 and higher
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Checksum: 4A5D6A37
Table 8.1 lists each safety function with its associated triggering event, reaction, reliability, and
how it is realized.
The following terms are used in the table:
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PFHd: The Probability of Failure on Demand per Hour
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PL: Performance Level as defined in EN ISO 13849-1:2015
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Architecture: As defined in EN ISO 13849-1:2015
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