11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 162
An L-marker makes it possible for the robot to dock in several different ways and
orientations. Robots can both dock to the inside and outside of an L-marker, and
the marker can be on any side of the robot. The marker is shaped liked an L with
a defined angle of 90˚ and the dimensions 400 mm × 600 mm.
The robot must dock so the longer side of the L-marker is parallel with the right
and left sides of the robot. If the robot is docking outside of the marker, it must
approach from the side with the 90˚ corner.
Figure 11.13. The icon used for L-markers in the interface and an illustration of how robots can
dock to the marker.
A Bar-marker can be used for forward or reverse docking between two bars or
plates, similar to pallet racks or shelves. Bar-markers must be between 400 mm
and 2000 mm long, and the distance between the bars must be between 750 mm
and 1500 mm. The robot can dock and undock from either end of the marker.
The distance between the bars must be larger than the physical
dimensions of your robot.
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