MIR MiR250 Dynamic - Page 76

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 76
Function name Description PFHd, PL, and
architecture
Overspeed Triggering event: The average speed
exceeding 2.07 m/s in forward direction or
1.3 m/s in reverse. In addition, the speed
difference between the drive wheels
exceeding 0.303 m/s.
l
0.303m/s while the robot is driving less
than 0.9m/s.
l
0.129m/s while the robot is driving more
than 0.9m/s.
See "Overspeed avoidance" on page82.
Reaction: Category 0 stop (IEC 60204) and
mechanical spring-applied brakes engage.
The robot enters Protective stop.
Reset function: Press the Resume button on
the robot.
PFHd:
2.82 × 10
-7
PL:
c
Architecture:
Category 3
Field switching
1
Triggering event: Changing the robot speed
to another case interval—see "Field switching
and Personnel detection" on page82.
Reaction: Activate the Protective field that is
suitable for the speed of the robot.
Reset function: Continuous function. No
action required.
PFHd:
4.01 × 10
-7
PL:
d
Architecture:
Category 3
1
If you modify the SICKconfiguration file or apply another SICKconfiguration files, the PFHd and PLno longer apply. You
must determine the new functional safety of the new configuration. This also applies if you apply MiR250Dynamic SICK
configuration.