MIR MiR250 Dynamic - Page 79

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 79
Function name Description PFHd, PL, and
architecture
System
emergency stop
1
Triggering event: External device delivering
0V to the System emergency stop input
pins—see "System emergency stop" on
page93.
Reaction: Category 0 stop (IEC 60204) and
mechanical spring-applied brakes engage.
The robot enters Emergency stop.
Reset function: When external signals are
active (24 V), press the Resume button on the
robot.
PFHd:
5.45 × 10
-8
PL:
d
Architecture:
Category 3
Manual stop Triggering event: Pressing the Stop button
on the control panel —see "Control panel" on
page11.
Reaction: Category 0 stop (IEC 60204) and
mechanical spring-applied brakes engage.
The robot enters Manual stop.
Reset function: Press the Resume button on
the robot.
PFHd:
4.29 × 10
-6
PL:
a
Architecture:
Category b
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.