9. Safety system
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 86
Figure 9.1. Overview of components involved in each safety function and interface. When a safety function is
triggered, the safety PLCswitches the STO and brake contactors so the brakes, motors, and safe power supply
to the top module no longer receive power.
9.2 Collision avoidance
The collision avoidance function prevents the robot from colliding with personnel or
obstacles by stopping it before it collides with any detected obstacles. It does this using the
safety laser scanners.
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