MIR 250 - Page 93

10. Safety system
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 93
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 10.2 correspond to the field set shown in Figure
10.6.
Case Speed Protective field range Comments
1 0.0 to -0.10 m/s 0-80 mm When pivoting
2 -0.10 to -0.30 m/s 0-180 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 10.2.
Range of the robot's Protective fields within its backward speed interval cases.
Figure 10.6. 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.