11. Commissioning
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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MiR1000 Shelf Lift can place shelves on other positions also, but then it cannot
pick up the shelf again autonomously.
Shelf positions act both as markers and positions. When there is a shelf on the position, the
robot uses the shelf as a marker to dock to. When there are no shelves on the position, the
robot treats the position like a Robot position since there is nothing physical to dock to.
When the robot docks to a shelf on a Shelf position, you must select a marker type that
describes the dimensions of the shelf the robot is docking to—see
.
If you need to place shelves with greater precision or have shelves placed close to obstacles
or other shelves, you can do so by creating Shelf positions in front of VL-markers—see
Creating the mission Place shelf at VL-marker on page 199
We recommend using VL-markers to place shelves, but you can also use other
markers if preferred.
To create a position, see
Creating positions on page 169
.
11.9 Creating missions
MiR robots function through missions that you create. A mission is made up of actions, such
as: move actions, logic actions, docking actions, and sounds, which can be put together to
form a mission with as many actions as needed. Missions themselves can also be embedded
