MIR MIR250 - Page 87

9. Safety system
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 87
Drives when the area is clear Stops when an obstacle is detected
Figure 9.2. Collision avoidance ensures that the robot drives when its path is clear and stops if an obstacle is
detected within its protective field.
The safety laser scanners are programmed with two sets of protective fields.One field is
used when the robot is driving forward and another when it is driving backward. The
protective field sets are part of the robot’s personnel detection means. The protective field
sets consist of individually configured contours around the robot. The robot activates the
correct field set based on the speed. If a person or object is detected within the active
protective field set, the robot enters Protective stop until the protective field set is cleared of
obstacles for at least two seconds.
The tables in the following sections show the sizes of the protective field sets at given
speeds. The faster the robot moves, the larger the scanners' field set. The speed of the robot
is determined based on the encoder data.
The field sets on each side of MiR250 are 210 mm at all speeds.