3. Safety
MiR1000 Quick start (en) 06/2020 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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Load handling position (position control of load)
This input can be used to apply the safe load position (position control of load) safety
function on a system with customized top modules or manipulators. A variety of sensors or
interlock switches that detect load handling position or position of load can be connected
and thereby enable the safe load position safety function.
Safety-related electrical outputs
This section contains the safety-related electrical outputs of the robot.
Locomotion
This safety related output is activated if the robot is in locomotion or intend to locomote
within two seconds.
The safety function is limited if locomotion is detected while the output is
deactivated.
Shared emergency stop output
This output should be used in case a top manipulator has its own emergency stop circuit. The
output should be used in combination with a system emergency stop input. With this, it is
possible to ensure that activation of any emergency stop button will cause an emergency
stop of both the robot and top manipulator.
Activated by an emergency stop button or emergency stop input.
