9. Navigation and guidance system
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 103
9.8 Brakes
Once the approximated position of the robot determined from localization is the
same as the goal position calculated by the global planner, the robot stops by
using regenerative braking in the motors.
Figure 9.12. The robot has reached the goal position and stops by engaging the dynamic brake
function.
Once the robot has stopped, the mechanical brakes are enabled. These brakes
are used to keep the robot in place once it has stopped. You can compare the
mechanical brakes with the parking brake or hand brake in a car.
The mechanical brakes are only used to stop the robot when it is in
motion in emergency situations triggered by the safety system. They
will wear down if they are used repeatedly to stop the robot—see
Safety stop on page134.
The mechanical brakes are automatically released again when the robot receives
a new order requiring it to move.
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