11. Safety-related functions and interfaces
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 123
11.2 Personnel detection
The Personnel detection safety function prevents the robot from colliding with personnel or
obstacles by stopping it before it collides with any detected obstacles. It does this using the safety
laser scanners.
Clear ahead
The robot drives when the area is clear.
Obstacle detected
The robot stops when it detects and
obstacle.
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 safety function. 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.
CAUTION
The Protective field sets are configured to comply with the safety standards of
MiR250 Hook. 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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