8. Safety system
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 76
Drives when the area is clear Stops when an obstacle is detected
Figure 8.2. Collision avoidance ensures that the robot drives when its path is clear and stops if an obstacle is
detected within its Protective field.
The safety laser scanners are programmed with two sets of Protective fields.One field set is
used when the robot is driving forward and the other when it is driving backward. The
Protective field sets are part of the robot’s Personnel detection means. Each Protective field
in the sets is an individually configured contour around the robot. The robot activates the
correct field based on the speed. If a person or object is detected within the active Protective
field, the robot enters Protective stop until the Protective field is cleared of obstacles for at
least two seconds.
The tables in the following sections show the sizes of the Protective fields at given speeds.
The faster the robot moves, the larger the scanners' field is. The speed of the robot is
determined based on the encoder data.
WARNING
The Protective field sets are configured to comply with the safety standards of
MiR200. Modifications may prevent the robot from stopping in time to avoid
collision with personnel and equipment. Any modifications of the SICK
configuration requires a new CE certification of the robot and compliance to
all safety standards listed in the specification of the application and in other
way declared.
• Do not modify the safety system without a competent third party to
evaluate the safety of the design and performance of the robot after the
modifications are applied.
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