MIR MiR250 Dynamic - Page 93

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 93
System emergency stop
The System emergency stop function can be used if the top module has its own Emergency stop
circuit. Use this function to make it so both MiR250 Dynamic and the top module are brought into
Emergency stop when either system is triggered.
The interface has two inputs for bringing the robot into Emergency stop and two outputs for
signaling when the robot is in Emergency stop.
The outputs are used to signal to the top module that the robot is in Emergency stop. When the
robot is in an operational state, the outputs deliver 24 V. As soon as the robot enters Emergency
stop, they deliver 0V.
The inputs are intended to enable the top module to bring the robot into Emergency stop. When
both inputs deliver 24 V, the robot can operate, but as soon as either or both of the inputs deliver
0V, the robot enters Emergency stop.
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.
Not in Emergency stop
The robot is not in Emergency stop so the
output is 24 V.
Inputs are 0 V
The robot is in Emergency stop because it
receives 0V input from the System
emergency stop interface.