MIR 1350 - Page 159

11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 159
The undocking sequence will always occur if a robot begins an action where it
plans a new route while inside the undocking area, even if the robot was not
previously docked to the marker. This means the sequence is also initiated on
robots that have entered the area via a Relative move action or Manual control.
The robot will reverse from the marker as long as it's orientation to the marker is
below 90°.If the orientation difference is greater than 90°, the robot will move
forward to exit the undocking area instead. This means that if the robot reverses
into the area or is perpendicular to the marker, it will undock by moving forward.
Figure 11.10. Robots that stop inside the undocking area at an angle less than 90° to the marker
undock by driving backward. Robots that stop with an angle greater than 90° undock by driving
forward.
L-markers are the only markers that do not support automatic
undocking. If you want a robot to undock from anL-marker, you
must use a Relative move action.
Types of markers
There are four standard marker types that all MiR robots can use: V, VL, L, and
Bar-markers.