10. Safety system
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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10.6 MiR Shelf Lift safety functions
When MiR Shelf Lift is mounted to MiR1000, the electrical top interfaces are no longer
accessible.
The interfaces are used to communicate the position of the lift and any errors detected by
the lift controller in MiR Shelf Lift. This information is used for integrated safety functions
that are specific to MiR Shelf Lift.
Shelf specific Protective field sets
When the safety PLC registers that the lift is raised, it is assumed that the robot is carrying a
shelf. When the robot is carrying a shelf, its detection means are reduced due to the legs of
the shelf creating blind spots. To accommodate this, the Protective field sets are changed
automatically to a set that is specifically used when the robot carries shelves. These
Protective field sets include blind spots in the positions where legs of the shelf block the
safety laser scanners—see
and
..
NOTICE
The blind spots in
and
are wider than the legs (the
small crosshairs) because the safety laser scanners need some tolerance on
each side of the legs for small movements during transport to prevent the
robot from going into unnecessary Protective stops.
