Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
25
Error code
Error type
Description
Solution
10201, "E_
LOCALIZATION_
FAILED"
Environmental
error.
Requires
interaction.
The robot is not able to
localize itself correctly .
If the red scanner lines do not align
enough with the black wall lines in the
active map in the robot interface, it
indicates that the robot is not able to
localize itself.
This often occurs if the active map
does not include enough landmarks,
includes dynamic obstacles that are no
longer there, or if the set gear ratio in
the robot computer and the safety
PLC are both incorrect. In the latter
case, you will experience that the
robot is able to correctly localize itself
at first, but as soon as it begins to
move, the robot in the map moves
either faster or slower than it does in
reality, resulting in the red scanner
lines being misaligned with the walls.
10202, "E_
LOCALIZATION_
FAILED_NO_
SCANNER_
DATA"
Hardware
error.
Can resolve
itself.
The robot computer is
not receiving scanner
information from the
laser scanners.
Check the connection from the robot
computer to the laser scanners (see
). This is the USB cable that
leads directly from the laser scanner
to the robot computer if your robot is
HW version 2.2 or lower for MiR100 or
HW version 1.3 or lower for MiR200.
For all other versions the cables lead
from the scanners to a scanner
converter and then to the robot
computer. Refer to the how-to guide
How to replace the Safety laser
scanner front and rear USB cables
for a
description of how the cables should
be installed and where they connect.
