11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 158
Figure 11.9. The undocking area initiates an undocking sequence for any robots with their center
in the zone before beginning an action (except Relative move actions). The red dot represents the
center of the robot when it is docked to the marker, the blue dot represents how far back the
robot intends to move to undock from the marker, and the blue area represents the undocking
area.
Pos. Description Pos. Description
A Always 100 mm. This is the
distance in front of the
robot's center when docked
to the marker. This ensures
that even if the robot is
pushed forward a bit, it will
still undock when leaving
the marker.
B The distance entered under
Docked at marker reverse
distance. This is the
distance from the center of
the robot when it is docked
to the edge of the
undocking area furthest
from the marker.
C The distance entered under
Docked at marker side
threshold. This is the
distance to either side of
the center line from the
robot's docked position.
D Always 100 mm.To make
sure the robot's center has
exited the undocking area,
the robot aims to move
back an additional 100 mm.
Table 11.1.
Identification of the dimensions in Figure 11.9
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