MIR 250 Hook - Cart Specifications

12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 139
MiR250 Hook as a partly completed machine
As a partly complete machine, it is not known or determined by Mobile Industrial Robots how the
application will be used. Adequate risk reduction measures and a risk assessment must be
implemented prior to hand-over to the end user.
It must be agreed between the commissioner and the end user who shall make the CE marking
for the application and draw up a Declaration of Conformity.
The following is meant as advice to the CE marking process
• Access to moving parts must be prevented by means of safeguards or protective device(s). The
Essential Health and Safety Requirement EHSR 1.3.7 in the Machinery Directive (MD) addresses
risks related to moving parts.
• It is required to prevent persons from coming so close to the MiR250Dynamic that it can’t
reliably stop before collision. This assessment is in line with current safety standards for
Automated Mobile Robots, for example ISO 3691-4:2020.
• With reference to MD Clause 1.1.2 (b), because MiR250Dynamic operates without an efficient
speed and separation monitoring system, the best method of minimizing the risks of using a
MiR250Dynamic is to inform users of risks. The following examples of information can be
employed where relevant:
• Information and signs on the machine
• Acoustic or light signals
• Information and signs in the environment
• Only allow people with special training access to the areas where the robots operate
• Specify PPE (personnel protection equipment), and make sure it is used
12.3 Cart specifications
This section describes the requirements for the carts that MiR250 Hook are going to tow.
Figure 12.1 illustrates the dimensions that must be within a certain range. You must create and
design your own cart type or purchase suitable carts that meet the design requirements.
The carts must have a gripper bar at the front, bottom part of the cart (typically a rectangular
tube).
MiR250 Hook can accommodate carts with the dimensions in Table 12.1.