8. Safety-related functions
MiR250 Hook Integrator Manual (en) 12/2023 - v.3.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 112
Figure 8.2 The Emergency stop button on MiR250 Hook
When the robot is in Protective or Emergency stop, the safety PLC shuts down the power for the
motor controllers on the hook. This means that the hook cannot brake, open, and close the
gripper, or raise and lower the hook.
8.3 Overspeed avoidance
The Overspeed avoidance function prevents the robot from driving if the motor encoders
measure that the robot is driving faster than the predefined safety limit. This can occur if there is
a hardware error in the robot or if it drives down a steep slope. If the robot is driving faster than
the predefined safety limit, it is immediately brought into Protective stop.
Speed limit forward direction:
l
1.3 m/s
The pivot speed limit function itself does not ensure payload stability—see Payload distribution
and stability.
If any speed limit is exceeded, the robot reports an error. You must clear the error and press the
Resume button before the robot can continue operating.
8.4 Field switching and Personnel detection
The Field switching and Personnel detection safety functions are dependent on each other. The
functions make the robot enter Protective stop when the laser scanners detect a person within a
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