MIR MiR250 HooK - Mir Hook 250 Safety Functions

8. Safety-related functions
MiR250 Hook Integrator Manual (en) 12/2023 - v.3.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 121
The only marker that does not mute the Protective fields is the L-marker.
The Protective fields are muted from when the docking starts and until the robot has undocked
and has started a new action that requires the robot to plan a path.
The Protective fields will remain muted during any Relative move action that comes right after the
docking action. The Protective fields will also remain muted if you engage the Manual brake
release—see "Manual brake release switch" on page16.
For more information about markers, docking, and undocking, see MiR Commissioning
Guide. You can find this guide on MiR Support Portal.
8.5 MiRHook250 safety functions
When MiRHook250 is mounted to MiR250 Dynamic, the electrical interfaces in the top
compartments are no longer accessible.
The interfaces are used to communicate with the hook and connect to the Emergency stop
button.
Component monitoring
The hook computer monitors the components within the hook to ensure they are operating
correctly and the hook does not pose a risk to nearby personnel. If the hook computer detects
any discrepancies or errors from the hook components, it relays this information to the robot
computer via the Ethernet connection, and the robot enters Protective stop if the error indicates
that the hook cannot be controlled reliably.