MIR 1350 - Marker Setup for Docking

11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 155
To use Limit-robots zones, your robots must be connected to
MiRFleet.
11.4 Markers
Markers are defined as X-Y coordinates on a map that mark locations where you
want the robot to travel to. Markers are points on the map that mark a physical
entity, such as a charging station or a pallet rack, and enable the robot to position
itself accurately relative to this entity.
You should always use markers when it is important that the robot is positioned
accurately relative to an object in the work environment, such as load transfer
stations and work stations.
Docking to markers
Markers require the robot to do a docking sequence. When the robot is docking,
it uses its safety laser scanners to detect the marker and drives itself to the
correct position relative to the detected marker. The robot begins docking to a
marker from the marker's Entry position—see Figure 11.8. The Entry position is
automatically created approximately one meter in front of the marker and can be
moved in the map editor.
The Entry position can be manually moved, however moving the entry position
does not guarantee that the robot is able to dock to the marker or dock within
the claimed specifications. It is the responsibility of the person who moves the
Entry position to validate and ensure that the docking can still be performed.