MIR MiR250 Dynamic - Page 75

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 75
Function name Description PFHd, PL, and
architecture
Emergency stop
1
Triggering event: Pressing the Emergency
stop button connected to the top module or
Emergency stop box—see "Emergency stop"
on page81.
Reaction: Category 0 stop (IEC 60204) and
mechanical spring-applied brakes engage.
The robot enters Emergency stop.
Reset function: Release all Emergency stop
buttons, and press the Resume button on the
robot.
PFHd:
5.54 × 10
-8
PL:
d
Architecture:
Category 3
Table 8.1 Overview of integrated safety functions in MiR250 Dynamic
1
This safety function can use another external input than the Emergency stop box delivered with the robot. The values in
Table 8.1 are applicable with or without the Emergency stop box connected. If you connect the interface to another
Emergecny stop device, the resulting functional safety is determined by the overall architecture and the sum of all PFHds.
This includes the PFHd provided in the table.