9. Safety system
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 91
Muted personnel detection means
When performing tasks that require the robot to move very close to surrounding objects, the
robot mutes the personnel detection means.
CAUTION
When the robot has muted personnel detection means, it may not stop in time
to avoid collisions with obstacles or personnel in its path.
• Mark areas where the robot mutes its personnel detection means as
operating hazard zones, and inform personnel not to enter the zone while
the robot is operating in it.
When muting the personnel detection means, the robot does the following:
• Reduces the size of the field sets
• Turns off Collision detection
• Decreases the speed
• Flashes the yellow signal lights
You can also mute the personnel detection means using the robot interface:
1. Put the robot into Manual mode—see Driving the robot in Manual mode on page49.
2. In the robot interface, select Muted personnel detection means in the joystick control.
3. In the dialog, select Yes to acknowledge the muting of personnel detection means.
The status and the signal lights start flashing yellow, and the robot is ready to drive with
muted personnel detection means.
9.3 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 a
Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled.
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