MIR MiR250 Dynamic - Safety-Related Interfaces for Top Modules

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 91
For more information about markers, docking, and undocking, see MiR Commissioning
Guide. You can find this guide on MiR Support Portal.
8.3 Safety-related interfaces for top modules
The robot has safety functions that are intended to be used with a top module with a safety
device. The Auxiliary safety function electrical interface is used to connect the top module to the
input and output pins for these functions.
Safeguarded stop
The Safeguarded stop function brings the robot into Protective stop when the top module safety
device sends the appropriate signal. Use this function to enable the top module safety device to
trigger a Protective stop.
This function uses two input pins where both pins must receive 24 Vfor the robot to be able to
operate. If either or both pins receive 0 V, the robot is brought into Protective stop. The robot can
be brought out of Protective stop again if both pins receive 24 Vagain.
If the input pins are unequally set for more than three seconds, the safety PLCregisters this as an
error in the system and needs to be reset before the robot can operate again. To do this, you
must restart the robot.
Signal to enable operation
If both pins deliver 24 V to the robot, it can
operate.
Signal to enter Protective stop
If both of the pins deliver 0 V,the robot
enters Protective stop.