7. Usage
MiR250 Hook Integrator Manual (en) 12/2023 - v.3.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 100
The recommended size of a QR marker is between 70 and 100 mm, but the system is open to all
other sizes. The limit is whether the camera can see the QR marker or not.
It is required that at least 25 mm of empty white space surrounds the QR code.
QR markers can be created using any QR code generator. As long as the size is the same as stated
in the QR code, there are no requirements for how to create the codes. An easy and free method
is to search the internet for QR code generators and use one of the many results.
Be sure to print a QR marker in 1:1 scale. If it does not match the size, it will not work.
It is recommended to use less than 17 characters in the QR code. For example, 75mm-Cart_A is
11 characters long. If more than 16 characters are added, the QR code will change format, and it
will become more difficult to detect.
7.6 Calibrate cart
It is important to calibrate the relation between the robot and the cart. In the Manual control
menu in the dialog box under Hook > Manual control, enter values into the Height from floor
field to define Entry and Lock heights for the hook to use when docking to and gripping a cart.
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