MIR MiR100 Manual
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MIR MiR100 Manual

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MiR100, MiR200 & MiRHook
Risk Analysis
Technical Documentation
Risk analysis
Release date: 12.07.2019

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Summary of Contents for MIR MiR100

  • Page 1 MiR100, MiR200 & MiRHook Risk Analysis Technical Documentation Risk analysis Release date: 12.07.2019...

  • Page 2: Table Of Contents

    MiR100, MiR200 & MiRHook Risk Analysis 1 Content Introduction ..............................3 Terminology ..............................3 Assumptions ..............................4 Safety components overview ...........................5 Safety laser sensors ..........................5 Emergency stops ............................5 Awareness Indicators ..........................6 Use Cases and Risk Identifications ........................7 Safety Design and Residual Risks ........................8 Docking to charging station ........................8...

  • Page 3: Introduction

    For each residual risk, the compensating safety features are highlighted, and based on this a conclusion is made on the significance of the residual risk. Please note that all scenarios are illustrated with MiR200 and MiRHook, but they apply equally for MiR100 and MiRHook.

  • Page 4: Assumptions

    The software collision avoidance is not safety rated. Normal driving position: The speed in normal driving position is 1.5 m/s for MiR100 and 1.1 m/s for •...

  • Page 5: Safety Components Overview

    The size of the protective fields depends on robot speed and driving direction. See the specifications of • the robot. The protective fields of MiR100 and MiR200 will never be turned off. However, the protective fields will adjust to the speed of the robot. Figure 1 Protective fields of MiR100 and MiR200 when driving forward.

  • Page 6: Awareness Indicators

    MiR100, MiR200 & MiRHook Risk Analysis 5.3 Awareness Indicators • Light signals: The robot has LED lights on each side of the robot. During commissioning the robot must be commissioned to give appropriate light signals when operating in hazard zones.

  • Page 7: Use Cases And Risk Identifications

    MiR100, MiR200 & MiRHook Risk Analysis 6 Use Cases and Risk Identifications Use cases Risks Dock to charging station Docking to MiRCharge Risk of crushing Docking to MiRCharge Risk of crushing Docking to MiRCharge Risk of crushing Localization failure Risk of crushing...

  • Page 8: Safety Design And Residual Risks

    MiR100, MiR200 & MiRHook Risk Analysis 7 Safety Design and Residual Risks 7.1 Docking to charging station Phase 1: Approaching entry position Phase 2: Marker detection Maximum speed [m/s] 1.5 (1.1) Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone...
  • Page 9 MiR100, MiR200 & MiRHook Risk Analysis Phase 3: Approaching docking station Phase 4: Docking Maximum speed [m/s] Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Phase 5: Charging. Final position reached Maximum speed [m/s] Awareness indicator...
  • Page 10 MiR100, MiR200 & MiRHook Risk Analysis Residual risks 1. A person is standing between the charging station and the robot while the robot is docking to the charging station  Risk of being crushed. But: • Speed reduced to 0.1 m/s (not a safety function) •...
  • Page 11 MiR100, MiR200 & MiRHook Risk Analysis 3. A person enters during docking  Risk of being crushed. But: • Speed reduced to 0.1 m/s (not a safety function) • Software collision avoidance (not a safety function) will detect the person and stop the robot Markings on the floor indicate an operating hazard zone •...

  • Page 12: Entering And Exiting Enclosure

    MiR100, MiR200 & MiRHook Risk Analysis 7.2 Entering and exiting enclosure Phase 1: Approaching entry position Phase 2: Entering operating hazard zone Maximum speed [m/s] 1.5 (1.1) Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone...
  • Page 13 MiR100, MiR200 & MiRHook Risk Analysis Phase 3: Enter enclosure Phase 4: Reach goal position Maximum speed [m/s] Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 13 of 35...
  • Page 14 MiR100, MiR200 & MiRHook Risk Analysis Phase 5: Initiate exit move Phase 6: Approaching exit goal position Maximum speed [m/s] Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 14 of 35...
  • Page 15 MiR100, MiR200 & MiRHook Risk Analysis Phase 7: Normal driving position Maximum speed [m/s] 1.5 (1.1) Awareness indicator Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 15 of 35...
  • Page 16 MiR100, MiR200 & MiRHook Risk Analysis Residual risks 5. Person standing in entry of the passage when the robot drives through (phase 3 and phase 6). Lack of escape zone.  Risk of being crushed or sheared between the door and the robot.

  • Page 17: Picking Up Cart

    MiR100, MiR200 & MiRHook Risk Analysis 7.3 Picking up cart Phase 1: Approaching cart. Locating long range Phase 2: Setting search height Maximum speed [m/s] 1.5 (1.1) Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone...
  • Page 18 MiR100, MiR200 & MiRHook Risk Analysis Phase 3: Long range docking Phase 4: Setting entry height. Locating short range Maximum speed [m/s] -0.3 Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019...
  • Page 19 MiR100, MiR200 & MiRHook Risk Analysis Phase 5: Short range docking Phase 6: Setting lock height Maximum speed [m/s] -0.3 Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 19 of 35...
  • Page 20 MiR100, MiR200 & MiRHook Risk Analysis Phase 7: Locking to cart Phase 8: Normal driving position Maximum speed [m/s] -0.3 Maximum speed [m/s] 1.5 (1.1) Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019...
  • Page 21 MiR100, MiR200 & MiRHook Risk Analysis Residual risks 7. Person standing between robot and cart when the robot adjusts its pick-up angle. Alignment is done without collision check.  Risk of being crushed. But: • Speed is reduced to 0.3 m/s (not a safety function) •...
  • Page 22 MiR100, MiR200 & MiRHook Risk Analysis 9. A person is standing in front of the cart while the robot is driving in reverse towards the cart (phase 4).  Risk of being crushed. But: • Awareness indicators when driving in reverse will warn the person.

  • Page 23: Towing Cart

    MiR100, MiR200 & MiRHook Risk Analysis 7.4 Towing cart Phase 1: Driving forward Phase 2: Turning left or right Maximum speed [m/s] 1.5 (1.1) Maximum speed [m/s] 1.5 (1.1) Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019...
  • Page 24 MiR100, MiR200 & MiRHook Risk Analysis Phase 3: Stopping Phase 3: Starting. Maximum speed [m/s] Maximum speed [m/s] 1.5 (1.1) Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 24 of 35...
  • Page 25 MiR100, MiR200 & MiRHook Risk Analysis Residual risks 11. The MiRHook does not close correctly around the lower bar of the cart (phase 1). The MiRHook loses the grip of the cart when the robot is driving, special attention must be given when driving on a slope.

  • Page 26: Parking Cart In Reverse

    MiR100, MiR200 & MiRHook Risk Analysis 7.5 Parking cart in reverse Phase 1: Approaching cart entering position Maximum speed [m/s] 1.5 (1.1) Awareness indicator Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 26 of 35...
  • Page 27 MiR100, MiR200 & MiRHook Risk Analysis Phase 2: Reaching entering position. Phase 3: Driving forward to initiate parking Checking area Maximum speed [m/s] Maximum speed [m/s] 1.5 (1.1) Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019...
  • Page 28 MiR100, MiR200 & MiRHook Risk Analysis Phase 4: Driving in reverse towards parking position Phase 5: Goal position Maximum speed [m/s] -0.3 Maximum speed [m/s] Awareness indicator Awareness indicator Operating hazard zone Operating hazard zone Copyright Mobile Industrial Robots 2019...
  • Page 29 MiR100, MiR200 & MiRHook Risk Analysis Phase 6: Releasing cart and driving forward Maximum speed [m/s] Awareness indicator Operating hazard zone Copyright Mobile Industrial Robots 2019 Page 29 of 35...
  • Page 30 MiR100, MiR200 & MiRHook Risk Analysis Residual risks 13. A person is standing in the parking zone (phase 4).  Risk of being crushed. But: • Awareness indicators in phase 4 • Markings on the floor indicate an operating hazard zone •...

  • Page 31: Driving With Mirhook Without A Cart

    MiR100, MiR200 & MiRHook Risk Analysis 7.6 Driving with MiRHook without a cart Phase 1: Driving forward Phase 2: Turning left or right Maximum speed [m/s] 1.5 (1.1) Maximum speed [m/s] 1.5 (1.1) Awareness indicator Awareness indicator Operating hazard zone...
  • Page 32 MiR100, MiR200 & MiRHook Risk Analysis Residual risks 15. The robot is driving in reverse (phase 4). The protective field of the robot is not extended with the MiRHook. A person is standing in the path of the robot. ...

  • Page 33: Appendix A: Resources

    MiR100, MiR200 & MiRHook Risk Analysis 8 Appendix A: Resources • MiR100 Robot: MiR100 User Guide rev. 3.0 • MiR200 Robot: MiR200 User Guide rev. 2.0 • MiRCharge: MiRCharge Technical Documentation rev. 1.4 • MIRHook: MiRHook Operating Guide rev. 1.9 •...
  • Page 34 MiR100, MiR200 & MiRHook Risk Analysis 6. Operating hazard zone 7. Charging station 8. Robot position 9. Cart position 10. Cart Copyright Mobile Industrial Robots 2019 Page 34 of 35...

  • Page 35: Changelog

    MiR100, MiR200 & MiRHook Risk Analysis 11. Person 10 Changelog Version Date Changes 04.07.2019 Document created Copyright Mobile Industrial Robots 2019 Page 35 of 35...

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