11. Commissioning
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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The red hatched area marks the scanner zone. Only the shelf legs may be
positioned in this area. Any other objects in the scanner zone will trigger a
Protective stop.
WARNING
If any of the dimensions above are exceeded, the shelf is not supported by
MiR. MiR takes no responsibility if the shelf or its load collides with personnel
or equipment if the shelf specifications are not met.
•
Ensure that the shelves MiR250 Shelf Carrier transports meet the shelf
specifications provided in this section.
Leg dimensions and positions
MiR supports only shelves made with four asymmetrical legs. Each leg must be 20 mm in
diameter (+1/-0) and positioned as shown in
. If the legs are placed outside the
described positions, the safety system will trigger a Protective stop each time it tries to drive
with the shelf.
The robot uses the legs as markers to dock to the shelf correctly. It is therefore important
that the legs are correctly placed and that the legs are made of a material that the safety
laser scanners can detect reliably.
NOTICE
The inside of the legs must be coated with a non-reflective material that has a
light, neutral color. We recommend using a matte light gray.
