8. Safety system
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 86
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 100 mm.
8.3 Overspeed avoidance
The overspeed avoidance function prevents the robot from driving if the motor encoders
measure that the robot is driving faster than the predefined safety limit. This can occur if
there is a hardware error in the robot, or if it drives down a steep slope.
If the robot is driving faster than the predefined safety limit, it is immediately brought into a
Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled.
8.4 Stability
The stability function prevents the robot from driving if the motor encoders measure that
the expected difference between how fast each wheel turns is outside the predefined safety
limits. This indicates that the robot is not driving as intended, for example, if one of the
wheels loses traction.
If the robot detects instability, it is immediately brought into a Protective stop. This ensures
that the robot cannot drive if it has lost control of the speed of each drive wheel.
8.5 Emergency stop buttons
There is one Emergency stop button on MiR100 Hook. When the button is pressed, it breaks
the Emergency stop circuit triggering an Emergency stop. The Emergency stop circuit runs
through both the Emergency stop button and connects to the safety PLC through the
Auxiliary emergency stop interface.
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