MIR 600 - Page 155

11. Commissioning
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 155
• The loads the robot transports.
• For each load the robot transports that exceeds the length or width of the robot, you
must define a footprint for that load.
• If you prefer to only have one footprint for the robot when it is carrying oversized
loads, create a footprint that is suitable for the load that has the largest footprint.
• 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102—still uses the same Protective field sets. 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102.
For a more thorough guide to creating footprints, contact your distributor for
the guide How to change the robot footprint.
For more information about the footprint editor, see MiRRobot Reference
Guide on the MiR website.