9. Navigation and guidance system
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 90
The following points describe the main features of the proximity sensors once they are
enabled:
• The proximity sensors are constantly active.
• Because of the sensors' limited range, the data from them is only useful when the robot is
standing still or moving at low speeds.
• The proximity sensors are most reliable at detecting objects while standing still. The
faster the robot drives, the less reliable the sensor data becomes.
• The field of view of the proximity sensors does not span all the way around the robot.
They are mainly focused around the robot corners.
• The proximity sensors are used for navigation, not safety. The robot does not enter
Protective stop if the sensors detect an object. If the robot cannot navigate around an
obstacle detected by the sensors, the robot reports an error that it cannot find a free
path.
• The proximity sensors mitigate the risk of collision but cannot fully prevent it in all
scenarios.
CAUTION
Proximity sensors cannot be used as a means for safety related risk reduction,
for example, detecting feet. They cannot be used as an alternative to the
Personnel detection safety function—see Personnel detection on page102.
The robot may collide with and cause injury to personnel if you rely on the
proximity sensors alone to detect personnel.
• Do not modify the safety laser scanner settings with the expectation that
the proximity sensors will prevent collision with personnel.
• Do not include the proximity sensors as a risk reduction means in your risk
assessment of the robot.
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