12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 152
All zones are ignored when you drive the robot in Manual mode or when you use a Relative move
action (except when using Relative move actions in Limit-robots zones).
NOTICE
The robot prioritizes the instructions it receives in the following order:
• Instructions from zones.
• Instructions from mission actions.
• Instructions from system settings (except instructions from the setting Maximum
allowed speed, which are never overruled by neither zones nor mission actions).
Examples of when and how to use zones
The following sections describe examples of cases where certain zones can be used to improve
the robot's operations.
For more examples, see the guide How to use zones on a map.
Descending staircases
Issue: The robot sensors cannot detect descending staircases. Marking a staircase as a wall on
the map will only confuse the robot as it will try to navigate from a wall that is not there.
Solution: Mark staircases and areas surrounding staircases or holes in the floor as Forbidden
zones on the map.
Low hanging fixtures
Issue: If a low hanging fixture is outside of the robot sensors' range, the robot may try to travel
beneath it. This can be dangerous if the robot is carrying a tall top module or load that can collide
with the fixture.
Solution: Mark the area where the low hanging fixture is located as a Forbidden zone.
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