5. Commissioning
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 81
V, VL, and L-markers markers must have open space on each edge of the marker. Charging
stations pallet racks and shelves have additional space requirements. Refer to the relevant
Operating guides.
Even though a few centimeters between markers should make docking possible, we
recommend at least 20 cm. Increase the distance between markers to more than 40 cm if
robots must park/dock next to each other at the same time.
For further information on markers, see the how-to guide Use relative markers
on the Distributor site.
Creating a Charging station-marker
This section explains how to create a charging station marker on a map.
Before creating the marker, you must ensure that the robot is localized correctly on an
active map. If in doubt, you can check if the red lines representing the laser scanner line
match the black lines on the map as shown in Figure 5.1.
Figure 5.1. The red lines represent what the laser scanners detect. The robot is correctly localized when they
align with the black lines that represent walls.
Once the robot is localized, insert a charging station marker on the map using the following
steps.
1. Manually drive the robot so its front is facing the charging station and is within one
meter from it.
2. In the robot interface, enter the map editor of the map where you want to create a
marker. This is done by navigating to Setup > Maps and selecting Edit next to the map
you would like to work on.
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