MIR MiR250 Dynamic - Page 87

8. Safety-related functions and interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 87
Protective fields when pivoting or at standstill
Table 8.4 identifies the length of the Protective fields behind and in front of the robot, and the
width of the field to either side of the robot when the robot is pivoting or at standstill. The cases
in Table 8.4 correspond to the fields shown in Figure 8.4.
Case Pivot speed Front and rear field length
L
Field width
W
15 0 to 15deg/s 105 mm 170mm
16 15 deg/s or more 105mm 210mm
Table 8.4 Range of the robot's Protective fields when the robot pivots or is at standstill
Figure 8.4 The Protective field contours when the robot pivots or is at standstill
Muted Protective fields
When it is required that the robot moves close to surrounding objects, the robot can be
configured to mute the Protective fields. This muting is by default enabled in the template
missions for docking to known markers such as charging stations or pallet racks, or it can
manually be configured for any customized mission.