5. Commissioning
MiR Fleet PC Getting Started (en) 01/2021 - v.1.5 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 55
Limit-robots zones
The maximum number of allowed robots in a Limit-robots zone is set by the user when the
zone is created. There is no limit to how many robots can be queued to a Limit-robots zone.
A robot can be assigned to a Limit-robots zone if the following requirements are fulfilled:
• The number of robots assigned to the zone is fewer than the maximum capacity of the
zone.
• The robot's path intersects the edge of the zone.
• The intersection is within 10 meters of the robot's center on its global path.
Figure 5.9. The robot can be assigned to a Limit-robots zone (in blue) when its center is within 10 m of the edge
of the zone along its global path.
A robot is released from a Limit-robots zone when the robot's center crosses the edge of the
zone on its way out of the zone, making the resource available for other robots.
Figure 5.10. The robot releases the zone when its center reaches the edge of the zone.
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