10. Safety-related functions and interfaces
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 115
Field set when driving backward
The field set for driving backward is the same as the field set for driving forward.
The colors and cases in Table 10.2 correspond to the field set shown in Figure
10.6.
Case Speed
Protective field
range
Comments
1 0.0 to -0.10 m/s 0-250 mm When pivoting
2 -0.10 to -0.30 m/s 0-381 mm
3 -0.30 to -0.40 m/s 0-453 mm
4 -0.40 to -0.60 m/s 0-634 mm
5 -0.60 to -0.90 m/s 0-982 mm
6 -0.90 to -1.10 m/s 0-1242 mm
7 -1.10 to -1.25 m/s 0-1481 mm
Backward at max.
speed
Table 10.2.
Range of the robot's Protective fields within its backward speed interval cases.
Figure 10.6. The illustration shows the field set contours when driving backward. The range of the
active field changes with the robot's speed. The illustration also shows how the front scanner
reduces its Protective field to a minimum when the robot moves backward.
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