Types of stop

Normal stop

The robot is in Normal stop when you press the Stop button on the control panel, a mission action stops the robot, or you toggle the robot into Paused state. All moving parts are still connected to a power supply.

Protective stop

The robot enters Protective stop automatically to ensure the safety of nearby personnel.

When the robot is in Protective stop, the status lights of the robot turn red, and you are not able to move the robot or send it on missions until you bring the robot out of the Protective stop. The following cases describe the various Protective stops and how to bring the robot out of them:

• Switching between Manual mode and Automatic mode

  After turning the Operating mode key to switch operating modes, the robot enters Protective stop, and the Restart button flashes. Press the Restart button to bring the robot out of Protective stop.

• The robot finishes the startup process

  The Restart button will flash after startup. Press the flashing Restart button to bring the robot out of Protective stop.

• A safety laser scanner detects an object in its active Protective field

  Remove the object from the active Protective field—see Field switching and Personnel detection. The robot will resume its operating state after two seconds.

• The safety system detects a fault, or the motor control system detects a discrepancy

  To bring the robot out of Protective stop, resolve the fault causing the error. Use information regarding the error from the robot interface to determine the fault. Go to Monitoring > Hardware health to find specific information on what caused the issue. For further guidance, see the troubleshooting guides to help troubleshoot the issue. You can find these guides on MiR Support Portal. Press the Restart button to bring the robot out of Protective stop.

Emergency stop

The robot enters Emergency stop when an Emergency stop button has been pressed physically. When you press an Emergency stop button, internal mosfets are switched off so all moving parts of the robot do not receive power.

When the robot is in Emergency stop, the status lights of the robot turn red, and you are not able to move the robot or send it on missions until you bring the robot out of the Emergency stop. To do this, you must release the Emergency stop button and then press the flashing Restart button.

CAUTION

Emergency stop buttons are not designed for frequent use. If a button has been used too many times, it may fail to stop the robot in an emergency situation, and nearby personnel may be injured by a collision with moving parts.

• Only press Emergency stop buttons in emergencies.
• Check that all Emergency stop buttons are fully functional—see Maintenance and handling.
• Use the robot interface to stop the robot in non-emergency situations.