MIR 500 - Page 52

3. Safety functions
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 52
Safety laser scanners
The safety laser scanners on MiR500 are of the type AOPDDR (active opto-electronic
protective device responsive to diffuse reflection). AOPDDR is a protective device that uses
opto-electronic transmission and reception elements to detect the reflection of the optical
radiation generated by the protective device. The reflection is generated by an object in a
defined two-dimensional area. This is a type of ESPE (electro-sensitive protective device). In
this guide, the term safety laser scanner is used.
Scanner functions
Two safety laser scanners, diagonally placed on front and rear corners of the robot, scan
their surroundings. Each safety laser scanner has a 270° field of view, overlapping and thus
providing a full 360° visual protection around the robot.
The safety laser scanners serve three purposes:
• They are used for mapping, see alsoCreating and configuring a map on page86Creating
and configuring a map on page86 Planning on page1 and MiR Robot Interface 2.0
Reference Guide.
• They are used to localize the robot and to plan routes between points.
• They continuously scan the surroundings when the robot operates, thereby avoiding
collision with objects and people.