12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 173
Default footprint
The default footprint can be used when you
do not have a top module or load that
exceeds the robot's physical dimensions.
Larger footprint
If the robot's top moduel or load exceeds
the robot's physical dimensions, increase
the footprint size accordingly to ensure that
the robot plans paths where the extended
size is taken into account.
If MiR250 Hook has a hook top module, you can select a footprint that has the hook top module
included. The hook footprint will provide a more smooth operation of MiR250 Hook.
The number of footprints you need to define depends on:
• The top modules you use with your robot.
• If a robot's top module exceeds the width or length of the robot, you must define a new
footprint for that top module.
• If a top module has moving parts that can extend over the edges of the robot's footprint
while the robot is moving, you must define a footprint that includes the moving parts when
they are at their most extended positions.
• The loads the robot transports.
• For each load the robot transports that exceeds the length or width of the robot, you must
define a footprint for that load.
• If you prefer to only have one footprint for the robot when it is carrying oversized loads,
create a footprint that is suitable for the load that has the largest footprint.
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