12. Usage
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 193
7. Select Save to save the mission.
12.5 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 embed 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, which Protective fields it should mute when 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.
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