8. Safety system
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 85
Field sets when driving backward
The field set for driving backward is the same as the field set for driving forward. The colors
and cases in Table 8.2 correspond to the field set shown in Figure 8.4.
Case Speed Protective field range Comments
1 -0.14 to 1.80 m/s 0-30 mm Forward, standstill and
slowly backwards
2 -0.20 to -0.15 m/s 0-120 mm
3 -0.40 to -0.21 m/s 0-290 mm
4 -1.50 to -0.41 m/s 0-430 mm Backward at max. speed
Table 8.2.
Range of the robot's protective fields within its backward speed interval cases.
Figure 8.4. 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.
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