9. Commissioning
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 104
• 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 embed this mission into the
larger missions? For an example, see Figure 9.15.
Figure 9.15. You can embed 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 page135
For more information on building robust missions, see the Mission robustness
videos in MiR Academy on the MiR website.
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