10. Safety system
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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10.4 Stability
The stability function prevents the robot from driving if the motor encoders measure that
the expected difference between how fast each wheel turns is outside the predefined safety
limits. This indicates that the robot is not driving as intended, for example, if one of the
wheels loses traction.
If the robot detects instability, it is immediately brought into Protective stop. This ensures
that the robot cannot drive if it has lost control of the speed of each drive wheel.
10.5 Emergency stop buttons
There are two Emergency stop buttons on MiR250 Shelf Carrier. When one of the buttons is
pressed, it breaks the Emergency stop circuit triggering an Emergency stop. The Emergency
stop circuit runs through both of the Emergency stop buttons and connects to the safety PLC
through the Auxiliary emergency stop interface—see
.
Figure 10.7. The Emergency stop circuit in MiR250 Shelf Carrier.
Pos.
Description
Pos.
Description
1
Front Emergency stop button
2
Emergency stop circuit
3
Rear Emergency stop button
4
Safety PLC
Table 10.3.
Identification of parts in