12. Usage
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
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•
Bar distance in meters
: Defines the distance between a set of legs perpendicular to
the robot. This can also be interpreted as the width of the space under the shelf where
the robot docks.
•
Orientation offset in degrees:
Adjusts the angle of the robot’s orientation when
docking to the shelf. A value of 180 will make the robot dock in reverse. With a
positive offset, the robot will turn to the left, and a negative value will turn it to the
right.
•
Offset X in meters
: Adjusts how far forward the robot should go under the shelf when
picking it up. By default, the robot should dock to the center. With a positive X-offset,
the robot will move more forward, and a negative value will move it backward.
•
Offset Y in meters
: Adjusts how far to either side the robot goes under the shelf when
picking it up. By default, the robot should dock to the center. With a positive Y-offset,
the robot will dock more the left side, and a negative value will make the robot dock
more to the right.
•
Leg asymmetry in meters:
Defines the offset between the two front legs. A zero value
means the legs are symmetrical.
If the robot is not docking correctly, try adjusting the X and Y offsets.
3.
Select
Create marker type
when you are done. The marker type is now displayed in the
list of marker types.
12.4 Creating the mission
Prompt user
Prompt user actions are used for prompting the user with a question on how the robot
should proceed.
Prompt user
is an example mission that uses a Prompt user action that lets
you choose whether to send the robot to one position or another.
Before you create the mission
Prompt user
, it is assumed that you have completed the
following:
