11. Commissioning
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
126
Each site also includes other elements in the interface, such as missions. For
the full list of what is included in a site, see
MiR Robot Reference Guide
on the
MiR website or in the
Help
section of the robot interface.
Creating a map
To create a new map, you drive the robot around its intended work environment while its
sensors gather data to generate a map from. This process is known as mapping.
As the robot moves during mapping, the laser scanners detect physical obstacles, which are
recorded on the map as walls. In the editing afterward, you can remove all obstacles that
should not stay on the map, for example carts or boxes that were present at the time of
recording but will not stay permanently.
Before you map a new location, be sure to do the following preparations:
•
Clear the area of dynamic obstacles, such as pallets and carts. Dynamic obstacles can also
be deleted from the map later.
•
Ensure that all doors and gates that the robot should be able to go through are opened
before mapping.
Avoid doing the following:
•
Starting the mapping with the robot in a very open space.
•
Getting the robot stuck close to walls or objects as you will have to push it away manually.
To create a new map, see
MiR Robot Reference Guide
on the MiR website. When mapping,
you should apply the following best practices:
•
Focus on mapping in a circular pattern around the perimeter of the working environment.
•
When reaching long corridors with few obstacles, let the robot stay in position for
approximately five seconds before moving down the corridor.
•
Walk behind the robot as you map.
•
End the mapping in the same place you started it.
For more information on creating a map, see the
Creating your first map
-
course in MiR Academy on the MiR website. Contact your distributor for
access to MiR Academy.
