4-19
Protective Stops
When a protective stop is triggered, the AMR decelerates to a stop at the maximum allowed rate. It
then removes power to its motors and engages the brakes. After the AMR comes to a complete stop,
it waits a minimum of 2.5 seconds before it resumes operation.
No user intervention is necessary to recover from a protective stop (automatic restart). An automatic
restart will not occur under the following conditions.
Left Side Clearance Right Side Clearance Front Clearance
100 mm to 500 mm Not applicable
100 mm to 500 mm Less than 100 mm
Less than 100 mm 100 mm to 500 mm
Less than 100 mm Less than 500 mm
The protective stop circuit is classified as a Category 1 stop according to IEC 60204-1 (NFPA79)..
Protective stops can be triggered by one of the following events.
• Any time an object is detected within a Safety Laser Scanner Zone. Refer to 4-25 Safety Laser
Scanner Zones on page 4-51 for more information.
• Overspeed conditions in confined spaces or during normal operation. Refer to 4-20 Overspeed Pro-
tection on page 4-40 for more information.
• User-supplied protective stop devices connected to the SCPU connector in the User Connections
area can initiate a protective stop. Refer to 3-5-1 User Connections Area on page 3-19 for more in-
formation.
A protective stop differs from an emergency stop. Refer to 4-18 Emergency Stop on page 4-36 for
more information.
Two additional safety outputs are also available for controlling user-supplied equipment during a pro-
tective stop. The state of these safety outputs as well as the AMR response during a protective stop is
dependent on several factors. Refer to the following sections for more information.
• 4-19-1 AMR Response During Protective Stops on page 4-38
• 2-4-16 Safety Function Performance Levels on page 2-20
Additional Information
If the AMR does not decelerate at the prescribed rate during a protective stop, the mechanical
brakes will be applied to achieve a category 0 (immediate) stop. User intervention is required
for restarting the AMR.
4-19-1
AMR Response During Protective Stops
The AMR response during a protective stop depends on the AMR driving state. Use the information
below to understand how the AMR responds when a protective stop is triggered.
AMR State Protective Stop Inputs AMR Response Safety Outputs
Driving LOW Protective Stop Automatic
Reset
LOW
Driving HIGH No Change HIGH
Stopped LOW Safe Torque Off (STO)
Active, Motor power disa-
bled, Brakes engaged
HIGH
*1
4 Operation
4-38
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
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