3. Safety
MiR1000 Quick start (en) 06/2020 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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Emergency stop
MiR1000 has four emergency stop buttons and an option to connect additional emergency
stop buttons through the electrical interface.
The emergency stop is only intended to be used in case of an emergency and shall not be
used for operational stop.
Emergency stop must be manually deactivated by activation of the restart button.
3.10 Safety-related electrical interfaces
The robot is equipped with several safety-related electrical inputs and outputs. All safety-
related electrical inputs and outputs are dual channel. They are safe when low, e.g. the
emergency stop is not active when the signal is high (+24V).
Safety-related electrical inputs
This section contains the safety-related electrical inputs of the robot.
External emergency stop button input
This input is for connection of an optional emergency stop button. If activated, the safety
system issues a category 0 stop followed by a controlled brake which brings MiR1000 to a
stop.
Must be manually deactivated by activation of the restart button.
System emergency stop input
This input should be used in case a top manipulator has its own emergency stop circuit. The
input must be used in combination with a system emergency stop output. With this, it is
possible to ensure that activation of any emergency stop button will cause an emergency
stop of both MiR1000 and top manipulator. If activated, the safety system issues a category
0 stop followed by a controlled brake which brings the robot to a stop.
Must be manually deactivated by activation of the restart button.
Safeguard stop input
This input can be used to issue a category 0 stop followed by a controlled brake which brings
MiR1000 to a stop.
Will be automatically deactivated when signal is driven high again.
