8. Safety-related functions
MiR250 Hook Integrator Manual (en) 12/2023 - v.3.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 115
Protective fields when driving backward
The following tables show speeds and the field ranges when driving backward. Table 8.2
describes the length of the Protective field behind 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 8.4.
Case Speed Protective field
range
Comments
1 0.0 to -0.10 m/s 0–40mm When pivoting
2 -0.10 to -0.30 m/s 0–140 mm
3 -0.10 to -0.50 m/s 0–360 mm
4 -0.50 to -0.90 m/s 0–780 mm
5 -0.90 to -1.00 m/s 0–1 350 mm Backward at max. speed
Table 8.2 Range of the robot's Protective fields within its backward speed interval cases
Figure 8.4 The Protective field contours when the robot drives backward
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