MIR 600 - Page 145

11. Commissioning
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 145
Pos. Description Pos. Description
from the robot's docked position. cm.
The undocking sequence will always occur if a robot begins an action where it plans a new
route while inside the undocking area, even if the robot was not previously docked to the
marker. This means the sequence is also initiated on robots that have entered the area via a
Relative move action or Manual control.
The robot will reverse from the marker as long as it's orientation to the marker is below
90°.If the orientation difference is greater than 90°, the robot will move forward to exit the
undocking area instead. This means that if the robot reverses into the area or is
perpendicular to the marker, it will undock by moving forward.
Figure 11.10. Robots that stop inside the docking area at an angle less than 90° to the marker undock by driving
backward. Robots that stop with an angle greater than 90° undock by driving forward.
L-markers are the only markers that do not support automatic undocking. If
you want a robot to undock from anL-marker, you must use a Relative move
action.
Types of markers
There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers.