MIR MiR250 HooK - How MiR Hook 250 top module works

2. Product presentation
MiR250 Hook Integrator Manual (en) 12/2023 - v.3.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 24
2.3 How MiRHook250 top module works
The MiR250 Hook can autonomously pick up, transport, and place carts. The carts can be
transported to user defined positions where they can be placed or reversed into a position.
The MiR250 Hook distinguishes between different types of carts by identifying them using ID tags
(QR code or AprilTag) and creates navigation routes that take size and shape of the cart into
account.
MiR250 Hook has its own computer which controls all hook-related tasks such as reading ID tags,
correct placement of the hook, and controlling the hook actuators.
With MiR250 Hook, you must provide the measurements of the carts as described in "Cart
specifications" on page94.
The MiR250 Hook has its own menu in the robot interface. To see the menu options for MiR250
Hook, the hook feature must be enabled—see "Enable the MiR250 Hook feature" on page68.
MiRHook250 is connected to MiR250 Dynamic through the Ethernet, Power, and Auxiliary
emergency stop interfaces. If any of these connections are disconnected, MiRHook250 is not
able to operate.
The robot uses Cart positions to identify places where it can pick up and place carts.
For more information about how much space is required for the hook maneuvers,
see the space requirements best practice guide for your robot. You can find this
guide on MiR Support Portal.