2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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2.4 How MiR Shelf Carrier 250 works
When MiR250 Shelf Carrier docks to a shelf, the carrier pins can be raised to pick up a shelf
and lowered to place a shelf at a shelf position.
MiR250 Shelf Carrier uses I/O modules in the safety PLC to control the carrier pins. The
robot uses two inputs and two outputs to communicate with MiR Shelf Carrier 250.
The outputs are used to control the position of MiR Shelf Carrier 250, and the inputs are
used to signal the current position of the MiR Shelf Carrier 250—see
To see the menu options for the I/O modules under
Setup > IO modules
, you must enable
them first—see
Enable the MiR250 Shelf Carrier feature on page 67
.
Output
Function
2
Lowers the carrier pins when active.
3
Raises the carrier pins when active.
Table 2.9.
Descriptions of how the robot's internal outputs control the shelf carrier
Input
Function
2
Is active when the carrier pins are down.
3
Is active when the carrier pins are up.
Table 2.10.
Descriptions of what the robot's internal inputs signal regarding the status of the shelf
carrier
