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3.3
Safety
The pin up and down control system continuously monitors the MiR safety systems (Emergency
Stop and Laser Scanners). During the movement of the pin, if one of these safety devices is
activated, the movement stops immediately. Motion will only be restored when the MiR safety
systems are reset.
3.4
Troubleshooting
There are some frequent user-induced errors that should be avoided:
•
Both registers, 13 and 14, cannot be set to 1.
•
Both registers, 7 and 8, cannot be set to 1.
•
Records 7 and 8 should only be at 1 if the pin is either down or fully up (according to the
function of each). In case of doubt, it is suggested to activate one of the movements in manual
mode. The manipulation of the Towin Pin during the execution of a mission with these
changed values will cause an error in the MiR with the description: "Lift shelf aborted -
LiftShelfAction failed".
You should contact our support team when any other error not mentioned in this manual occurs.
