12. Usage
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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12. Usage
The main way to use MiR250 Shelf Carrier is through missions that you create.
In the following sections you will find practical examples of how missions can be tailored to
different tasks. The examples include:
•
Setting markers and positions on the map.
•
Defining marker types that the robot uses when docking to a shelf.
•
Creating a mission that uses a Prompt user action. The example mission is titled
Prompt
user
.
•
Creating a mission that uses a Try/Catch action. The example mission is titled
Try/Catch
.
•
Creating a mission that uses variables. The example mission is titled
Variable docking
.
•
Creating a mission that makes the robot drive through an 80 cm doorway. The example
mission is titled
80 cm doorway
.
•
Creating a shelf position and integrating it with a VL-marker for higher precision and
closer placement of shelves. The example mission is titled
Place shelf at VL-marker
.
•
Creating a mission where the robot picks up and places a shelf using the template
missions. The example mission is titled
Pick up and place shelf
.
12.1 Creating markers
Before creating a marker, you must ensure that the robot is localized correctly on an active
map. If in doubt, you can check if the red lines representing the laser scanner view match
the black lines on the map, as shown in
.
