MIR 1350 - Creating Robot Footprints

11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 169
For more information on building robust missions, see the Mission
robustness videos in MiR Academy on the MiR website. Contact your
distributor for access to MiR Academy.
When you have figured out which tasks you want the robot to perform and how
many different missions you need to create, you should consider how you want
to organize the missions in different mission groups. You can consider the
following:
•
Do you want to add the missions into existing action groups?
•
Do you want to create new mission groups to organize your missions in?If so,
consider how you want to divide your missions.For example, you can divide
them based on function, location, priority, or responsible users.
The section Usage on page193 provides several examples of how to create
simple missions with different types of mission actions and describes how you
add a mission to the mission queue to test it. Whenever you create a mission, it is
very important that you test it to ensure the robot performs as expected.
For more information on creating missions, see MiR Robot Reference
Guide and the Making your first missions-course in MiR Academy on
the MiR website. Contact your distributor for access to MiR Academy.
11.7 Creating a footprint
The footprint specifies how much space the robot occupies, including any loads
or top modules. The footprint is defined by a number of points relative to the
robot's center coordinate system and the total height of the robot application.
If your robot drives with loads or top modules that exceed the width or length of
the robot, you must define new footprints for the robot to ensure that the robot
plans its route correctly and avoids colliding with obstacles with its top module or
load.