12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 161
Figure 12.13 Illustration of how the robot Slow docks when the mission uses a Move action followed by
Dock to action to the same marker.
Undocking from markers
A MiR robot can undock from markers automatically. When undocking, the robot reverses from
the marker until it is outside of the undocking area—see Figure 12.14. The robot will keep muting
its Protective fields while it undocks.Once the robot begins a new action that requires it to plan a
new path, the Protective fields are activated again, and the robot continues normal operation.
The only case where the robot will not execute the undocking sequence is if you use a Relative
move action right after the Dock to action. The robot will always execute the Relative move action
first, and if the robot is outside of the undocking area after finishing the Relative move action, it
will continue to the next action without undocking.
To enable automatic undocking from markers, go to System >Settings >Docking and enable
the parameter Undock from markers .
You can also modify the size of the undocking area under System >Settings >Docking by using
the parameters Docked at marker reverse distance and Docked at marker side threshold—
see Table 12.3.
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