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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12.6 Creating the mission
Variable docking
All mission actions that require the user to specify the value of a parameter when they
choose to use the mission have the option of defining a variable. If you use a variable in a
mission when you add the mission to the mission queue or embed it inside another mission,
you must select a value for the parameter where the variable is used. This allows you to
reuse the same mission for different but still similar tasks.
Variable docking
is a mission example that enables you to select which marker the robot
should dock to, which Protective fields it should mute when docking, and how long the robot
should wait before undocking each time you use the mission.
When the robot docks to a marker, it often has to drive very close to an
obstacle, for example, the marker itself. To prevent the robot from triggering
a Protective stop when it drives too close to the obstacle, you can make it
mute its Protective fields.
To create the mission
Variable docking
, it is assumed you have completed the following:
•
Enabled the muting of the Protective fields. Go to
System > Settings > Features
, and set
Mute protective fields
to
True
.
