MIR 200 - Markers

9. Commissioning
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 98
9.4 Markers
Markers are defined as X-Y coordinates on a map that mark locations where you want the
robot to travel to. Markers are points on the map that mark a physical entity, such as a
charging station or a pallet rack, and enable the robot to position itself accurately relative to
this entity.
You should always use markers when it is important that the robot is positioned accurately
relative to an object in the work environment, such as load transfer stations and work
stations.
Markers require the robot to do a docking sequence. When the robot is docking, it uses its
safety laser scanners to detect the marker and drives itself to the correct position relative to
the detected marker. The robot begins docking to a marker from the marker's entry
position—see Figure 9.8. The entry position is automatically created approximately one
meter in front of the marker and can be moved in the map editor.
Figure 9.8. A VL-marker with its entry position.
There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers.
A V-marker is a small, V-shaped marker that is designed for the robot to either dock to so its
front or its rear is facing the marker. The V-marker is the simplest marker available for the