MIR MiR250 Dynamic - Page 84

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 84
Protective fields when driving forward
The following table shows speeds and the field ranges when driving forward. Table 8.2 describes
the length of the Protective field in front of the robot in different cases. Each case is defined by a
speed interval that the robot may operate at. The cases in Table 8.2 correspond to the fields
shown in Figure 8.2.
Case Speed Front field
length (L)
Field width
(W)
Rear field
length (R)
1 0.00 to 0.30 m/s and
less than 15deg/s
385mm 170mm 110mm
2 0.00 to 0.30 m/s 385mm 210mm 110mm
3 0.30 to 0.50 m/s and
less than 15deg/s
495 mm 170mm 110mm
4 0.30 to 0.50 m/s 495 mm 210mm 110mm
5 0.50 to 0.90m/s 805mm 210mm 110mm
6 0.90 to 1.30 m/s 1 245 mm 210mm 110mm
7 1.30 to 1.70 m/s 1 915 mm 210mm 110mm
8 1.70 to 2.10 m/s 2 855 mm 210mm 110mm
Table 8.2 Range of the robot's Protective fields within its forward speed interval cases