12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 187
Max distance from path defines the maximum allowed distance in meters that the generated
global path is allowed to deviate from the most direct path on the map. Max distance from path
and Max distance from path with cart define the maximum allowed distance in meters that
the generated global path is allowed to deviate from the most direct path on the map. By default,
this parameter is disabled, meaning the robot will always make a global path and follow it to the
goal position no matter how far the path is. If you want to avoid the robot traveling paths of a
specific length and report an error instead, enter the maximum length that the global path may
exceed the most direct path.
Maximum planning time defines the maximum time allowed for planning a path. By default,
this parameter is disabled, meaning the robot will always try to finish planning a global path no
matter how long it takes. If you want the robot to report an error after a set time period instead,
enter the maximum amount of time in seconds that the robot can spend planning a path before
it reports an error.
Path timeout defines the maximum time the robot's path can be blocked before the robot
generates a new global path.By default, this value is 0, meaning the robot will not wait if its
current global path is blocked by an obstacle it cannot navigate around using the local planner. If
you want the robot to wait and see if the obstacle moves before planning a new path, enter the
maximum waiting time.
Maximum path deviation defines the maximum distance in meters that the local path is
allowed to deviate from the global path before the robot makes a new global path. By default, this
parameter is disabled, meaning the robot can deviate from the global path using the local
planner to go around an obstacle as far as possible in the map.
Optimizing the timeout and deviation of paths is useful in situations where you want to configure
how strictly the robot should follow the path it has planned. Making the robot follow the exact
path it has planned with little or no deviation is known as Line-following mode. This can be useful,
for example, in narrow corridors where there isn't enough space for the robot to go around
dynamic obstacles—see Figure 12.28.
For more information on Line-following, see the guide How to set up Line-following
mode.
To Next Page
Loading...
