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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CAUTION
When the robot has muted Protective fields, it may not stop in time to avoid
collisions with obstacles or personnel in its path.
•
Mark areas where the robot mutes its Protective fields as operating hazard
zones, and inform personnel not to enter the zone while the robot is
operating in it.
When muting the Protective fields, 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 Protective fields using the robot interface:
1.
Put the robot into Manual mode—see
Driving the robot in Manual mode on page 56
2.
In the robot interface, select
Muted Protective fields
in the joystick control.
3.
In the dialog box, select
Yes
to acknowledge the muting of the Protective fields.
The status and the signal lights start flashing yellow, and the robot is ready to drive with
muted Protective fields.
10.3 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
Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled.
10.4 Stability
The stability function prevents the robot from driving if the motor encoders measure that
the expected difference between how fast each wheel turns is outside the predefined safety
limits. This indicates that the robot is not driving as intended, for example, if one of the
wheels loses traction.
