MIR MiR250 Dynamic - Page 78

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 78
Function name Description PFHd, PL, and
architecture
Safeguard stop
1
Triggering event: External device delivering
0V to the Safeguard stop input pins—see
"Electrical interfaces" on page105.
Reaction: Category 0 stop (IEC 60204) and
mechanical spring-applied brakes engage.
The robot enters Protective stop.
Reset function: Resumes when external
signals are active (24 V).
PFHd:
5.45 × 10
-8
PL:
d
Architecture:
Category 3
Locomotion Triggering event: The speed of the robot
exceeding 0.1m/s—see "Locomotion" on
page92.
Reaction: Locomotion pins deliver 0 V.
Reset function: Inapplicable
PFHd:
2.38 × 10
-7
PL:
d
Architecture:
Category 3
Mode selection Triggering event: Changing the operating
mode of the robot by turning the Operating
mode key—see "Control panel" on page11.
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:
1.2 × 10
-6
PL:
c
Architecture:
Category 1
1
This safety function uses external input. The values in Table 8.1 are evaluated without any external input. The resulting
functional safety, including the external device or equipment, is determined by the overall architecture and the sum of all
PFHds. This includes the PFHd provided in the table.