9. Commissioning
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 95
Pos. Description Pos. Description
C Cart height: maximum 1800 mm D Height position: 80 to 350 mm
above the floor
E Length: minimum 350 mm F Width: 15 to 25 mm
For the robot to be able to locate and identify carts, an ID tag must be fixed on the front of
the cart—see ID tags on page97.
To enable the robot to pick up a cart, you must define the cart in the
interface—see Creating a cart on page150.
Wheel configuration of the cart
The carts must be fitted with two rigid and two swivel wheels. The two rigid wheels can
either sit on the front or the back of the cart.
Whether the robot performs better towing a cart with rigid wheels on the front or the back
depends on the maneuvering conditions on the individual site and should be assessed before
the gripper bar is fixed.
Two rigid wheels on the back and two swivels on the front
With this configuration, the turning radius of the robot and the cart is larger, but the driving
is more stable. Reverse parking is easier.
Two swivels on the back and two rigid wheels on the front
With this configuration, the turning radius of the robot and the cart is smaller, making it
ideal for areas with tight corner passages.
Payload
MiR100 Hook is designed to tow up to 300 kg.
The weight of any top modules mounted on the robot is part of the total payload.
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