6. Getting started
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 85
• Activate/Deactivate brake: These actions activate or deactivate the hook brake. The hook
brake locks the hook arm and prevents it from turning horizontally.Activating the hook brake
makes it easier to perform the cart calibration since even small hook movements may affect
the calibration.
NOTICE
If the robot is transporting a cart, do not drive the robot in manual mode with the
brake activated as this may damage the motors or the brake.
NOTICE
Deactivate the brake if you need to move the hook arm manually.
• Home: The Home action sets the hook to home position (390 mm height). See "Homing"
below.
• Change height: The Change height action lowers or raises the hook to a set position. Use the
action to find the Entry, Lock, and Drive heights for a specific cart. Note down the heights and
use them when you create a new cart in the system.
Homing
The homing action calibrates the hook height actuator. The robot raises the hook arm to its
maximum height and resets the actuator.
To perform a homing, follow these steps:
1 In the robot interface, go to Hook > Manual control.
2 Under Hook actions, select Home, and wait until the hook stops moving.
3 Select Deactivate brake.
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