11. Commissioning
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
139
•
Are there small parts of different missions that are the same each time where it would be
worthwhile to make a mission for the repeated task and embed this mission into the
larger missions? For an example, see
Figure 11.20. You can embed small missions into other missions. In this example, the mission
Pick up from
conveyor
is used in three different missions. If you want to change how the robot picks up a package from
the conveyor, you only need to change it once in the original mission instead of three times in each
individual mission.
It is often a good idea to reuse the same missions if you know that any changes
that may need to be applied to one of the tasks will also need to be applied to
all other similar tasks.
When you make a mission, you should also consider all the possible outcomes from the
mission and prepare it for the possibilities of error and what the robot should do if an error
occurs—see an example of this in
Creating the mission Try/Catch on page 179
.
For more information on building robust missions, see the
Mission robustness
videos in MiR Academy on the MiR website. Contact your distributor for
access to MiR Academy.
