MIR MiR100 Precision Docking - Product presentation; External parts

3. Product presentation
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 8
3. Product presentation
MiR Precision Docking is used in cases where high precision is required. It enables a
MiR100/MiR200 to dock with a precision of ±1 mm left and right, and ±1 mm in depth. This
is illustrated in Figure 3.1.
Figure 3.1. A MiR robot can dock with a precision of less than 1 mm in horizontal directions when using MiR
Precision Docking.
The product consists of two parts: a set of precision holes mounted in the robot, known as
the robot part; and a VL-marker station with a pair of precision pins. When the robot docks,
it aligns the precision holes and pins to guarantee a precise docking. When the pins are
inserted in the holes, the robot locks onto the docking station to ensure the robot is not
displaced. When the robot needs to move to another position, the robot releases the pins,
enabling the robot to undock. The pins are also released if you use Manual control to move
the robot from the station.
You can also release the pins manually by pressing the Manual pin release
button located on the side of the robot.
The robot part is already installed in MiR100/MiR200. The station can be placed anywhere
that is accessible by the robot. It is important that free space is available around the station
to ensure the robot is able to dock safely.
3.1 External parts
Figure 3.2 identifies the parts of the robot that are unique to a MiR100/MiR200 robot
installed with MiR Precision Docking.