11. Safety-related functions and interfaces
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 125
Field set when driving backward
The field set for driving backward is the same as the field set for driving forward. However, the
robot is limited to a top speed of 1.0 m/s when driving backward and therefore only has five
fields. The colors and cases in Table 11.2 correspond to the field set shown in Figure 11.5.
Case Speed
Protective field
range
Comments
1 0.0 to -0.10 m/s 0-40mm When pivoting
2 -0.10 to -0.30 m/s 0-140 mm
3 -0.30 to -0.50 m/s 0-360 mm
4 -0.50 to -0.90 m/s 0-780 mm
5 -0.90 to -1.00 m/s 0-1350 mm Backward at max. speed
Table 11.2 Range of the robot's Protective fields within its backward speed interval cases.
Figure 11.5 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.
NOTICE
Scanners measure distances to diffuse reflections, which means that a tolerance is
added to the Protective field sets to secure a safe detection of persons crossing the
Protective field sets. The tolerance distance is 65 mm.
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