12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 162
Figure 12.14 The undocking area initiates an undocking sequence for any robots with their center in the
zone before beginning an action (except Relative move actions). The red dot represents the center of the
robot when it is docked to the marker, the blue dot represents how far back the robot intends to move to
undock from the marker, and the blue area represents the undocking area.
Pos. Description Pos. Description
A Always 100 mm. This is the
distance in front of the robot's
center when docked to the
marker. This ensures that
even if the robot is pushed
forward a bit, it will still
undock when leaving the
marker.
B The distance entered under
Docked at marker reverse
distance. This is the distance
from the center of the robot
when it is docked to the edge
of the undocking area furthest
from the marker.
C The distance entered under
Docked at marker side
threshold. This is the distance
to either side of the center
line from the robot's docked
position.
D Always 100 mm.To make sure
the robot's center has exited
the undocking area, the robot
aims to move back an
additional 100 mm.
Table 12.3 Identification of the dimensions in Figure 12.14
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