MIR MiR250 HooK - Safety functions overview; Emergency stop buttons

8. Safety-related functions
MiR250 Hook Integrator Manual (en) 12/2023 - v.3.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 111
8.1 Safety functions overview
The following functions are integrated within the robot itself and cannot be modified or used with
other applications. The following list introduces the main safety-related functions integrated in
MiR250 Hook:
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Emergency stop buttons
MiRHook250 has one Emergency stop button. When the button is pressed, the robot goes into
Emergency stop.
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Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of either motor
is above the limits for maximum speed, or if the speed difference between the motors exceeds
the predefined limits. If a limit is exceeded, the robot enters Protective stop.
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Field switching and Personnel detection
These functions ensure that the robot stops before it collides with personnel or an object. The
Personnel detection function makes the robot stop if the laser scanners detect an object or
person within a predefined Protective field. The Field switching function determines what the
current speed of the robot is, based on data from the motor encoders, and switches between
predefined Protective fields accordingly. The faster the speed, the larger the Protective field is.
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MiRHook250 safety functions
MiRHook250 monitors the motor encoder data from the hook motors to ensure that the hook
operates correctly. If the hook computer detects any discrepancies or errors in the hook
components, it reports an error to the robot computer.
MiR250 Hook is set up with the following safety configuration:
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Description: Standard configuration for driving with hook v. 2
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Supported software version: 2.14.2 and higher
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Checksum: E9B1C0B6
8.2 Emergency stop buttons
There is one Emergency stop button on MiR250 Hook. When the button is pressed, it breaks the
Emergency stop circuit triggering an Emergency stop. The Emergency stop circuit runs through
the Emergency stop button and connects to the safety PLC through the Auxiliary emergency stop
interface.