11. Safety-related functions and interfaces
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 126
Field sets to the sides
The field sets on each side of MiR250 Dynamic varies with the speed of the robot. At speeds
below 0.5 m/s, the field sets are very small, making it possible for the robot to traverse narrower
corridors. The field sets in the front and back of the robot are also smaller on MiR250Dynamic
when driving at very low speeds.
Case Speed Field set on each side of the robot
1 0.0 to 0.30 m/s 0-50 mm
2 0.30 to 0.50 m/s 0-125 mm
3 0.50 to 0.90 m/s 0-210 mm
Table 11.3 Range of the robot's Protective fields to the sides
Figure 11.6 The illustration shows the field set contours to the sides. The range of the active field changes
with the robot's speed.
Muted Protective fields
When it is required that the robot moves close to surrounding objects, the robot can be
configured to mute the Protective fields. This muting is by default enabled in the template
missions for docking to known markers such as charging stations or pallet racks, or it can
manually be configured for any customized mission.
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