9. Commissioning
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 96
Because the robot tows the cart, the weight of the cart cannot be applied directly to the
robot's payload. In general we recommend using the robot to tow loads of max 300 kg. It is
possible that the cart itself cannot support the weight due to the cart design.
It is the responsibility of the commissioner to determine the safe total payload each cart
type can support regardless of the robot's payload.
The exact payload limit depends on the cart design, payload distribution, application, and
driving surface. The total payload should be determined during commissioning.
CAUTION
Risk of injury if excessive or incorrectly distributed loads are fastened to the
MiR100 Hook.
• Determine the safe total payload for your cart application during
commissioning.
9.4 Modifying the gripper
It is possible to modify the gripper if the length or thickness of the cart is slightly outside of
the specification. See Figure 9.2 to identify the parts required to modify the gripper. The
gripper length can be altered by unscrewing the upper gripper (1) and changing the length
between the arms. The lower-gripper (2) can be modified to enable a greater gripper area
thickness. This is done by removing the lower-gripper (3) and adding spacers to the
mounting of it (4).
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