11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 168
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Are there small parts of different missions that are the same each time where
it would be worthwhile to make a mission for the repeated task and nest this
mission into the larger missions? For an example, see Figure 11.17.
Figure 11.17. You can nest small missions into other missions. In this example, the mission Pick
up from conveyor is used in three different missions. If you want to change how the robot picks
up a package from the conveyor, you only need to change it once in the original mission
instead of three times in each individual mission.
It is often a good idea to reuse the same missions if you know that
any changes that may need to be applied to one of the tasks will also
need to be applied to all other similar tasks.
When you make a mission, you should also consider all the possible outcomes
from the mission and prepare it for the possibilities of error and what the robot
should do if an error occurs—see an example of this in Creating the mission
Try/Catch on page206.
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