3. Safety functions
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
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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 MiR500 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
MiR500 to a stop.
Will be automatically deactivated when signal is driven high again.
Load handling position
This input can be used to apply the safe load position 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.
Driving
This safety related output is activated if the robot is driving or intend to drive within two
seconds.
The safety function is limited if driving is detected while the output is
deactivated.
Shared emergency stop output
This output should be used in case a top application 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 application.
Activated by an emergency stop button or emergency stop input.
