10. Safety system
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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10. Safety system
The robot's safety system is designed to mitigate significant hazards which could lead to
injury, for example, stopping the robot if a person is in its path.
MiR1000 Shelf Lift is equipped with a range of built-in safety-related functions. Each safety
function is designed according to the standard ISO 13849-1. The safety-related functions are
selected to support compliance with EN 1525 and ISO 3691-4.
10.1 System overview
The safety system is controlled mainly by the safety PLC. The PLC regulates inputs and
outputs from safety-related functions or interfaces involved with ensuring the safety of
personnel working nearby the robot.
If a safety function is triggered, the robot uses its STO (Safe Torque Off) contactors to bring
the robot to a category 0 stop (stopping by “immediate removal of power to the machine
actuators" according to IEC 60204-1) followed by a controlled brake using an SS1 (Safe Stop
1) function. This is known as bringing the robot into Emergency stop or Protective stop,
depending on the function—see
.
Some interfaces are also used to signal safety-related states between the top module and
robot, for example whether the robot is in motion or if the top module is in a state where
the robot must stop or slow down. Each of these are connected through the safety-related
electrical interfaces through two identical circuits to ensure redundancy.
Types of stop
There are four different stopped states:
•
Operational stop
•
Protective stop
•
Emergency stop
•
Manual stop
The last three types of stop are monitored by the safety PLC.
