MIR 1350 - Page 157

11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 157
Undocking from markers
A MiR robot can undock from markers automatically. When undocking, the robot
reverses from the marker until it is outside of the undocking area—see Figure
11.9. The robot will keep muting its Protective fields while it undocks.Once the
robot begins a new action that requires it to plan a new path, the Protective fields
are activated again, and the robot continues normal operation.
The only case where the robot will not execute the undocking
sequence is if you use a Relative move action right after the Dock to
action. The robot will always execute the Relative move action first,
and if the robot is outside of the undocking area after finishing the
Relative move action, it will continue to the next action without
undocking.
To enable automatic undocking from markers, go to System >Settings
>Docking and enable the parameter Undock from markers .
You can also modify the size of the undocking area under System >Settings
>Docking by using the parameters Docked at marker reverse distance and
Docked at marker side threshold—see Table 11.1.