9. Safety system
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 84
• Collision avoidance
This function ensures that the robot stops before it collides with personnel or an object. If
the laser scanners detect an object or person within a defined protective field, the robot is
brought to a stop. The function determines the speed of the two drive wheels using motor
encoder data and switches between predefined protective fields accordingly. The faster
the speed, the larger the protective field is.
• Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of each
motor is above the limits for maximum rated speed. If the limit is exceeded, the robot
enters Protective stop.
• Stability
The safety system monitors if the motor encoder data indicates that the speed difference
between the two motors are above predefined limits. If the limit is exceeded, the robot
enters Protective stop.
Safety-related electrical interfaces
The following interfaces are parts of the Auxiliary emergency stop and Auxiliary safety
function interfaces that can be used to connect the safety PLCto a top module—see Internal
parts on page20.Each electrical interface is redundant, meaning they use two identical
circuits. If one of the circuits fail, the robot enters Protective stop until both circuits are
working correctly again and the robot is restarted, ensuring safe communication between
the top module and robot—see Interface specifications on page192.
The following list introduces the main safety-related electrical interfaces between MiR250
and its top module:
• Emergency stop circuit
The Emergency stop circuit goes through the Auxiliary emergency stop interface and
connects to the top module. It is intended that any number of Emergency stop buttons can
be connected to the circuit. When the circuit is broken, the robot goes into Emergency
stop.
• Safeguarded stop
This function consists of a circuit that goes through the Auxiliary safety function interface
that connects to the top module. This circuit can be used to bring the robot into Protective
stop until it is signaled otherwise.
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