10. Interface specifications
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
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10.2 Safety interfaces
This section describes the safety interfaces located in the right-hand side compartment on
the top side of MiR500.
Auxiliary emergency stop
An Auxiliary emergency stop connection is provided in the top right-hand side compartment.
Figure 10.6. Pin numbers: female connector viewed from the front (left) and wiring diagram (right).
Auxiliary emergency stop is designed to support emergency stop and other safety functions.
The emergency stop circuit in the robot runs through all four emergency stop buttons and
through pins 1-4. If the circuit is broken, MiR500 enters protective stop. To complete the
circuit, you must connect pins 1 and 3 together and pins 2 and 4. If you have any emergency
stop buttons on your top application, they can be connected to the emergency stop circuit
through these pins.
The following table contains the description of the pins of the Auxiliary emergency stop
interface.
Pin
number
Signal
name
Description
1
Test output
Input signal 1 from safety PLC for emer-
gency stop circuit. Should connect to pin 3.
2
Test output
Input signal 2 from safety PLC for emer-
gency stop circuit. Should connect to pin 4.