MIR Fleet PC - Page 56

5. Commissioning
MiR Fleet PC Getting Started (en) 01/2021 - v.1.5 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 56
Elevators
Elevator entry positions and Elevator positions are linked to enable MiR Fleet to handle the
elevator as a resource for robots.
Elevator entry positions are placed outside the elevator and identify where the robot should
wait for the elevator.
Elevator position are placed inside the elevator and identify where the robot should drive to
enter the elevator.
The following points describe the linked behavior:
• When a robot is waiting for the Elevator position, it occupies the Elevator entry position.
The Elevator entry position should be placed so the robot waits where it is not in the way
of other traffic going in and out of the elevator.
• A robot cannot occupy an Elevator position without first occupying the Elevator entry
position, regardless of the distance to the Elevator position.
Figure 5.11. Robot 2 is first in the queue for the Elevator entry position. Because Robot 2 occupies the Entry
position, it also occupies the Elevator position inside the elevator. Robot 1 will only be in the queue for the
Elevator position when it occupies the Entry position.
• The robot does not release the Elevator entry position until it has occupied the linked
Elevator position.