5. Commissioning
MiR Fleet PC Getting Started (en) 01/2021 - v.1.5 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 54
Figure 5.7. The position is released when the robot's center is more than one meter away from the center of
the position.
Markers
Every marker has an Entry position that is linked to the marker. The robot must acquire the
Entry position before being able to dock to the marker.
When the robot is docked to a marker, it continues to occupy the Entry position.
Entry positions are handled by the fleet the same way as other positions, so for the robot to
dock succesfully to a marker, the requirements for the marker's Entry position has to be
met, as described in Positions on page 52.
Figure 5.8. Charging station and VL-marker with Entry positions.
When a robot docks to a marker or undocks from a marker, it first checks that it does not
enter any occupied Limit-robots zones by doing so.
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