11. Safety-related functions and interfaces
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 121
Figure 11.2 The Stop button is the left-most button on the control panel.
Safety-related functions
The following functions are integrated within the robot itself and cannot be modified or used with
other applications. The following list introduces the main safety-related functions integrated in
MiR250 Hook:
• Personnel detection
This function ensures that the robot stops before it collides with personnel or an object. If the
laser scanners detect an object or person within a defined Protective field, the robot is brought
to a stop. The function determines what the current speed of the robot is based on data from
the motor encoders, and the function switches between predefined Protective fields
accordingly. The faster the speed, the larger the Protective field is.
• Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of each motor is
above the limits for maximum speed. If a limit is exceeded, the robot enters Protective stop.
• Stability
The safety system monitors if the motor encoder data indicates that the speed difference
between the two motors are above predefined limits. If the limit is exceeded, the robot enters
Protective stop.
• Emergency stop buttons
MiR Hook 250 has one Emergency stop button. When the button is pressed, the robot goes into
Emergency stop.
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