MIR 250 Hook - Creating the Mission Variable Docking

13. Usage
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 215
13.6 Creating the mission Variable docking
All mission actions that require the user to specify the value of a parameter when they choose to
use the mission have the option of defining a variable. If you use a variable in a mission, when
you add the mission to the mission queue or nest it inside another mission, you must select a
value for the parameter where the variable is used. This allows you to reuse the same mission for
different but still similar tasks.
Variable docking is a mission example that enables you to select which marker the robot should
dock to, whether to mute the Protective fields when the robot is docking, and how long the robot
should wait before undocking each time you use the mission.
When a robot docks to known markers except L-markers, the robot automatically mutes its
Protective fields to prevent itself from triggering a Protective stop when it drives close to the
marker. But, for L-markers, you must manually mute the Protective fields if you need the robot to
drive close to an obstacle. This mission is especially useful for this.
To create the mission Variable docking, it is assumed you have completed the following:
•
Enabled the muting of the Protective fields. Go to System > Settings > Features, and set Mute
protective fields to True.
•
Created several markers that the robot can dock to—see "Creating markers" on page194.