10. Safety system
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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10.2 Personnel detection
The Personnel detection safety function prevents the robot from colliding with personnel or
obstacles by stopping it before it collides with any detected obstacles. It does this using the
safety laser scanners.
Drives when the area is clear
Stops when an obstacle is detected
Figure 10.4. Personnel detection 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 set is
used when the robot is driving forward and the other when it is driving backward. The
Protective field sets are part of the robot’s Personnel detection safety function. Each
Protective field in the sets is an individually configured contour around the robot. The robot
activates the correct field based on the speed. If a person or object is detected within the
active Protective field, the robot enters Protective stop until the Protective field is cleared of
obstacles for at least two seconds.
The tables in the following sections show the sizes of the Protective fields at given speeds.
The faster the robot moves, the larger the scanners' field is. The speed of the robot is
determined based on the encoder data.
The Protective fields on each side of MiR250 Shelf Carrier are 210 mm at all
speeds. If the robot is carrying a shelf, the fields on each side are increased to
320 mm.
