9. Commissioning
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 118
Maximum planning time defines the maximum time allowed for planning a path. By
default, this parameter is disabled, meaning the robot will always try to finish planning a
global path no matter how long it takes. If you want the robot to report an error after a set
time period instead, enter the maximum amount of time in seconds that the robot can spend
planning a path before it reports an error.
Path timeout defines the maximum time the robot's path can be blocked before it
generates a new global path.By default, this value is 0, meaning the robot will not wait if its
current global path is blocked by an obstacle it cannot navigate around using the local
planner. If you want the robot to wait and see if the obstacle moves before planning a new
path, enter the maximum waiting time.
Path deviation defines the maximum distance in meters that the local path is allowed to
deviate from the global path before it makes a new global path. By default, this parameter is
disabled, meaning the robot can deviate from the global path using the local planner to go
around an obstacle as far as possible in the map.
Optimizing the timeout and deviation of paths is useful in situations where you
want to configure how strictly the robot should follow the path it has planned.
Making the robot follow the exact path it has planned with little or no
deviation is known as Line-following mode. This can be useful, for example, in
narrow corridors where there isn't enough space for the robot to go around
dynamic obstacles—see Figure 9.23.
For more information on Line-following, see the how-to guide Enable Line-
following mode. Contact your distributor.
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