MIR MiR100 Precision Docking - Troubleshooting; The robot does not dock or undock correctly

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7. Troubleshooting

This section describes how to handle some of the more common issues with MiR Precision

Docking.

7.1 The robot does not dock or undock correctly

If you are experiencing troubles with the robot docking to a MiR Precision Docking station, it

is most likely due to the precision holes and pins not aligning correctly. It is important to

keep in mind that with a precision of ±1 mm, it may take some time to configure the docking

correctly.

NOTICE

Even if your robot appears to dock correctly to the precision docking station,

the offsets still require configuration if the robot is not able to undock from

the station.

The following points describe possible solutions to issues regarding docking and undocking:

• Ensure that the surface around the docking station is level so the robot is not tilted when

it docks.

• As described in Creating a precision docking marker on the map on page13, configure

the offsets until the robot successfully docks and undocks from the station.

• Check that the height of the pins and holes also align. If not, you will need to remount the

precision docking bar. If the precision docking bar is placed too high, you may consider

placing a platform beneath the station to raise the robot to the correct height. The

platform must be large enough to fit all the robot's wheels when it docks, ensuring that

the robot is not tilted.

7.2 The precision docking marker is not available

If the precision docking marker is not available when you are creating markers in the map

editor, you must enable Precision docking under Features, as described in Enable MiR

Precision Docking on page13. If the option is not displayed under Features, update your

robot software to the latest version.