12. Usage
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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12.6 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.
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
.
