9. Safety system
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 85
• Locomotion
The locomotion function signals when the robot is driving. This can be connected to a top
module if it should operate differently when the robot is driving, such as activating brakes
or disconnecting the power to actuators.
• Shared emergency stop
This function consists of a shared circuit between the robot and top module, enabling
them to trigger each other into an Emergency stop.
• Reduced speed
The reduced speed function can be connected to a top module, enabling it to make the
robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the
robot does not drive fast when the lift is raised.
These functions are described in further detail in the following sections.
The diagram in Figure 9.1 shows the inputs to these functions and interfaces and how they
are all connected and monitored in the safety PLC. The safety PLCis able to switch the
contactors to cut off power to the robot motors and the top module. Also, the safety
PLCsends information to the robot computer to be displayed in the robot interface and to
indicate the robot's status through the signal lights and the speaker.
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