MIR MiR250 Dynamic - Page 77

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 77
Function name Description PFHd, PL, and
architecture
Personnel
detection
1
Triggering event: Safety laser scanners
detecting an object in the active Protective
field—see "Field switching and Personnel
detection" on page82.
Reaction: Category 1 stop (IEC 60204) and
mechanical spring-applied brakes engage.
The robot enters Protective stop .
Reset function: Resumes automatically after
2s of cleared Protective field.
PFHd:
7.36 × 10
-7
Speed monitor Triggering event: The speed of the robots
exceeding 0.3m/s while the Protective fields
are muted.
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:
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.