MIR 600 - Page 143

11. Commissioning
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 143
CAUTION
When a robot docks to a marker (expect L-markers), it mutes its Protective
fields and disables Collision avoidance, enabling it to drive closer to the
marker. If an object is placed or personnel walk in front of the robot while
these functions are disabled, the robot will continue docking until it collides
with the obstacle.
• Mark the area around the marker as an operating hazard zone, and inform
personnel not to walk in front of the robot while it is docking—see Using
operating hazard zones on page157.
• Do not place objects directly in front of a robot marker.
• By default, Collision avoidance is disabled 0.2m from the final docking
point. If necessary, you can modify the distance under System >Settings
>Docking >Distance to marker for disabling collision checks.
L-markers are the only markers where the Protective fields are not muted
automatically. If you want the robot to mute the Protective fields while
docking to an L-marker, you must use a Mute Protective fields action—see
Personnel detection on page102.
Undocking from markers
A MiR robot can undock from markers automatically. When undocking, the robot reverses
from the marker until it is outside of the undocking area—see Figure 11.9. The robot will
keep muting its Protective fields while it undocks.Once the robot begins a new action that
requires it to plan a new path, the Protective fields are activated again, and the robot
continues normal operation.
The only case where the robot will not execute the undocking sequence is if
you use a Relative move action right after the Dock to action. The robot will
always execute the Relative move action first, and if the robot is outside of the
undocking area after finishing the Relative move action, it will continue to the
next action without undocking.