11. Commissioning
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 169
Robot height defines the height of the robot including top modules. Use this setting if your
robot operates permanently with a top module that makes the combined robot application
higher than the robot itself. This prevents the robot from colliding with obstacles from
above.
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. 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.
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 11.25.
For more information on Line-following, contact your distributor for the guide
How to set up Line-following mode.
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