8. Safety system
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 78
Figure 8.3. The illustration shows the field set contours when the robot drives forward. The range of the active
field changes with the robot's speed.
Field set when driving backward
The field set for driving backward is the same as the field set for driving forward. Robots
with serial number 204203005 and higher have an improved SICK configuration and the
speed intervals are therefore different. The colors and cases in Table 8.2 correspond to the
field set shown in Figure 8.4.
Case
Speed
(serial numbers
204203004 and lower)
Speed
(serial numbers
204203005 and higher)
Protective
field
range
Comments
1 -0.14 to 1.80 m/s -0.150 to 2.000 m/s 0-30 mm Forward,
standstill
and slowly
backwards
2 -0.20 to -0.15 m/s -0.400 to -0.151 m/s 0-120 mm
3 -0.40 to -0.21 m/s -0.680 to -0.401 m/s 0-290 mm
Table 8.2.
Range of the robot's Protective fields within its backward speed interval cases.
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