MIR 250 Hook - Page 174

12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 174
• If there are low hanging fixtures that the robot can pass under only when it is not carrying
certain loads or top modules, you must define new footprints for the various heights that the
robot and its load can have to ensure that they don't collide with the low hanging fixtures.
CAUTION
The footprint is only used by the robot's global and local planner to avoid obstacles.
The Personnel detection safety function—see "Personnel detection" on page123—
still uses the same Protective fields. If your robot is carrying a load or top module
that extends the footprint in front of or behind the robot, it may collide with
personnel or equipment.
• Avoid extending the footprint in front of or behind the robot.
• Mark all areas where the robot drives with an unsafe load as operating hazard
zones.
• Consider modifying the Protective field sets if necessary—see "Personnel
detection" on page123.
For a more thorough guide to creating footprints, see the guide How to change the
robot footprint. For more information about the footprint editor, see
MiRRobotInterfaceGuide.
How Protective fields affect the footprint size
Protective fields and footprints are both defined as areas relative to the robot that affect the
robot's driving behavior. The footprint is only used for navigation and path planning, whereas the
Protective fields are a safety feature that ensures the robot stops before colliding with an
obstacle.
During commissioning, the Protective fields are modified for the application and verified for safe
operation. A custom footprint must be created based on the adjusted Protective fields according
to the design considerations summarized below. It is important to note that while the Protective
fields are changing with the robot's speed, the footprint is constant for all robot speeds and
corresponding Protective fields. This means that the footprint must be sized appropriately for the
range of Protective fields—see example in Figure 12.22.
Significant changes to the Protective fields will not be reflected in the robot planner without a
custom footprint that reflects both the physical size of the application and its modified safety
configuration.