12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 159
Docking to markers
When robots position themselves at a set point relative to the marker, the robot must 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 12.11. The Entry position is
automatically created approximately one meter in front of the marker and can be moved in the
map editor.
The Entry position can be manually moved, however moving the entry position does not
guarantee that the robot is able to dock to the marker or dock within the claimed specifications. It
is the responsibility of the person who moves the Entry position to validate and ensure that the
docking can still be performed.
Figure 12.11 A VL-marker with its Entry position from the robot interface.
CAUTION
When a robot docks to a marker (except L-markers), it mutes its Protective fields and
disables Collision check, enabling it to drive closer to the marker. If an object is
placed or personnel walk in front of the robot while these functions are disabled, the
robot will continue docking until it collides with the obstacle.
• Mark the area around the marker as an operating hazard zone, and inform
personnel not to walk in front of the robot while it is docking—see "Using
operating hazard zones" on page177.
• Do not place objects directly in front of a robot marker.
• By default, Collision check is disabled 0.2m from the final docking point. If
necessary, you can modify the distance under System >Settings >Docking
>Distance to marker for disabling collision checks.
To Next Page
Loading...
