Mobile Industrial Robots Robot interface Reference Guide

Reference Guide (en)

Date: 02/2021 Revision: v.2.2

All rights reserved. No parts of this document may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice. Every precaution has been taken in the preparation of this document. Nevertheless, MiR assumes no responsibility for errors or omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ

www.mobile-industrial-robots.com

Phone: +45 20 377 577 Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 6

1.1 Where to find more information 6

1.2 Version history 6

2. MiRrobot interface 10

2.1 Signing in 10

2.2 Navigating the MiRrobot interface 13

3. Dashboards 15

3.1 Dashboards 16

3.2 Widgets 19

4. Setup 27

4.1 Missions 27

4.2 Maps 64

4.3 Sounds 88

4.4 Transitions 90

4.5 I/O modules 93

4.6 Paths 94

4.7 Path guides 96

4.8 Marker types 99

4.9 Footprints 104

4.10 Users 108

4.11 User groups 111

5. Monitoring 116

5.1 Analytics 117

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5.2 System log 118

5.3 Error logs 119

5.4 Hardware health 120

5.5 Safety system 121

5.6 Mission log 123

6. System 126

6.1 Settings 127

6.2 Processes 147

6.3 PLC registers 151

6.4 Software versions 155

6.5 Backups 157

6.6 Robot setup 158

6.7 Triggers 160

7. Help 164

7.1 Robot information 164

7.2 API documentation 165

7.3 Remote access 166

7.4 Service book 167

7.5 Manual 168

8. Hook 169

8.1 Controlling MiR Hook 170

8.2 Carts 173

8.3 Settings 180

8.4 Setup 181

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9. Modbus register reference 183

9.1 Status messages 183

9.2 PLC triggers 184

9.3 Mission triggers 184

9.4 Action commands 184

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1. About this document

This document describes the MiRrobot interface and is intended for administrators of the system and users responsible for updating the system regularly.

1.1 Where to find more information

At the MiR website, you can find the following resources under the Manuals tab on each product page:

• Quick starts describe how you start operating MiR robots quickly. It comes in print in the

box with the robots. Quick starts are available in multiple languages.

• User guides provide all the information you need to operate and maintain MiR robots and

how to set up and use top modules and accessories, such as charging stations, hooks, shelf lifts, and pallet lifts. User guides are available in multiple languages.

• Operating guides describe how to set up and use MiR accessories or supported functions

that are mainly hardware-based, such as charging stations and shelf functions.

• Getting started guides describe how to set up MiR accessories that are mainly software-

based, such as MiRFleet.

• Reference guides contain descriptions of all the elements of the robot interface and

MiRFleet interface. Reference guides are available in multiple languages.

• Best practice guides specify how much space MiR robots need to execute common

maneuvers.

• REST API references for MiR robots, MiR hooks, and MiRFleet. HTTP requests can be

used to control robots, hooks, and MiRFleet.

• MiR network and WiFi guide specifies the performance requirements of your network

and how you must configure it for MiR robots and MiRFleet to operate successfully.

1.2 Version history

This table shows current and previous versions of this document.

Revision

1.0 2017-03-02 First edition 2.0

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Release

date

Description

version

1. About this document

Revision

Release

date

Description

1.1 2017-10-30 Updated to SW version 2.0.2

New features in the robot interface:

• Continue/Pause button added to top bar.

• Pause action added to Missions

• Corrections and improvements throughout the

document

1.2 2017-12-06 Updated to SW version 2.0.14

New features in the robot interface:

• New widgets, improved mapping editor.

• Jumping from 2.0.2 to 2.0.14 to align with old

webinterface versions 1.8.14/1.9.14.

1.3 2018-01-26 Updated to SW version 2.0.15

New features in the robot interface:

version

2.0.2

2.0.14

2.0.15

• Redesigned Dashboard with flexible widgets

and new options, for example, control of Bluetooth functions

• New feature: Path guides for precise control

of robots´ paths between two positions

• New mapping method: Cartographer

• Positions & Mapping section removed and

fully integrated in Mapping section

1.4 2018-04-19 Updated to SW version 2.0.17

New features in the robot interface:

• New Hook widget: Hook widget described in

chapter 3 Dashboard

• Modbus: a section, Triggers, is added to

chapter 6 System, and a new chapter, 11 Modbus registers, has been added

2.0.17

1.5 2018-05-24 Updated to SW version 2.0.18 2.0.18

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1. About this document

Revision

Release

date

Description

New features in the robot interface:

• New section, Mission log, has been added to

the Monitoring menu

• A WiFi watchdog parameter has been added

to the Advanced settings section

• Minor corrections and improvements

throughout the document

1.6 2018-06-18 Updated to SW version 2.1.0

New features in the robot interface:

• The Directional zones functionality is added to

section 4.3 Maps

• Minor corrections and improvements

throughout the document

version

2.1.0

1.7 2018-07-20 Updated to SW version 2.2.0

2.2.0

New features in the robot interface:

• I/O module feature replaces Bluetooth

feature. Changes to chapters 3. Dashboards,

4.2 Missions, and 4.3 Maps. Chapter 4.9 I/O modules replaces 4.9 Bluetooth relays

• Sound feature has been updated. Changes to

chapters 4.2 Missions, and 4.3 Maps

1.8 2018-10-01 Updated to SW version 2.3.0.

2.3.0

New features in the robot interface:

• A speed control functionality is added to the

Mission editor

• Minor corrections and improvements

throughout the document

1.9 2019-03-06 Updated to SW version 2.6.0. 2.6.0

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1. About this document

Revision

Release

date

Description

New features in the robot interface:

• Map zones have been reconstructed and new

zone settings are available

• Minor corrections and improvements

throughout the document

2.0 2020-03-30 Updated to SW version 2.8.0

New features in the robot interface:

• Marker types, used for robots driving with

shelves, has been added to the Setup section

• A graphic Footprint editor has been added to

the Setup section

2.1 2020-09-11 Updated to SW 2.10.0

New features in the robot interface:

version

2.8.0

2.10.0

• Changes in cart calibrations for MiR hooks

• Removed default users

• Minor corrections and improvements

throughout the document

2.2 2021-02-09 Updated to SW version 2.10.3.1

New features in the robot interface:

• Turn off TOP FUSE feature added

• References to how to-guides added.

• Proximity sensors settings added

• Minor corrections and improvements

throughout the document

2.10.3.1

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2. MiRrobot interface

This section gives a quick overview of the MiRrobot interface.

The interface is responsive and automatically adapts to your use of smartphone, tablet, or PC.

2.1 Signing in

The interface comes with three default access levels:

• Distributor - the MiR distributor

• Administrator - the end-customer’s production engineer with technical responsibility for

the robot

• User - the daily operator(s) of the robot

There are two ways in which you can sign in to the MiRrobot interface:

• Username and password

• PIN code

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2. MiRrobot interface

System permissions are handled per user group whereas login credentials are handled per individual user. Read more in the sections Users on page 108 and User groups on page 111.

If necessary, contact your distributor for the guide How to improve IT security of MiR products.

Accessing the interface

The user interface is accessed by connecting to the robot's WiFi and opening your preferred web browser. Enter the IPaddress of robot or enter mir.com in the browser's address bar.

The interface can be accessed via Google Chrome, Apple Safari, Mozilla Firefox, and Microsoft Edge.

Username and password

Enter your username and password to sign in to the robot interface.

After signing in the first time, we recommend to change the passwords of the default users: Distributor, Administrator, and User. See Users on page 108 to change the passwords.

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2. MiRrobot interface

NOTICE

The original username and password for the robot’s web interface are in the document Getting the robot online.

The unique password for the WiFi access point is in the Passwords document.

Both documents are in the box with the product.

PIN code

Select the PIN code tab and enter a four-digit PIN code. This PIN code will now function as an access code to the interface. There is no preconfigured PIN code.

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2. MiRrobot interface

2.2 Navigating the MiRrobot interface

To access a section in the MiRrobot interface, first select an item on the main menu, then select the relevant sub-menu. The section appears in the main window.

For example, to go to the Sounds section, select Setup on the main menu, then select

Sounds on the submenu bar.

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2. MiRrobot interface

Top bar

The top bar shows information on the current state of the robot, and you can start and pause the robot by selecting the button.

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3. Dashboards

This section describes the items in the Dashboards menu.

The Dashboards menu displays all dashboards currently available on the robot.

In the subsection Dashboards, you can create new dashboards and edit existing ones. Select

Dashboards to open the list of dashboards, and select the Create dashboard button to open

the dashboard designer.

The Dashboards menu contains the following items:

3.1 Dashboards 16

3.2 Widgets 19

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3. Dashboards

3.1 Dashboards

Dashboards are an easy way for different user groups to control the robot giving direct access to the individual key functions. A dashboard is made up of a number of widgets, each representing a feature in the system, such as a particular mission, the map the robot is running in, or the current mission queue.

Create dashboard

Enter a name in the Name field to create a new dashboard. Select Create dashboard to continue to the design section. Design the dashboard by adding widgets that represent the features you want to assign to the dashboard.

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3. Dashboards

Dashboard designer

Design the dashboard by selecting widgets from the menus in the top bar. Resize the widgets by pulling the arrow in the lower right corner and rearrange their order by selecting and dragging them. Some widgets require further settings. For example, you must select a particular mission for mission buttons. To do this, select the pen icon in the lower left corner and select the wanted action.

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3. Dashboards

Edit dashboard

The dashboard design can be edited and widgets added or removed.

Select Edit next to the dashboard you want to edit.

You can change the name of the dashboard and select Design to make changes in the dashboard widgets.

Delete dashboard

You can delete all dashboards that are created by you or another member of the user group you belong to.

Select Delete next to the dashboard you want to delete. In the next dialog, select Delete

dashboard to delete the dashboard.

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3.2 Widgets

This section describes the dashboard widgets.

Maps

3. Dashboards

Locked map

A Locked robot map widget makes the active map of the selected robot visible on the dashboard. The robot is always shown in the middle of a locked map. Select the robot you want shown on the dashboard.

Map

A Map widget makes the active map visible on the dashboard. You can add and edit positions and markers in the widget and adjust the robot's position.

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Missions

3. Dashboards

Mission button

You can start a mission from the dashboard by adding a Mission button widget and selecting a predefined mission.

Pause/Continue button

The Pause/Continue button functions the same way as the pause/continue icon on the top bar of the robot interface, but may be inserted as wizard if you want it in a larger size.

Mission queue

You can have the mission queue displayed on the dashboard by selecting a Mission queue widget.

Mission action log

The Mission action log widget displays the individual actions being performed during the execution of a mission.

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3. Dashboards

Mission group

You can select a mission group and have all missions from that group displayed on the dashboard by adding a Mission group widget.

PLC registers

PLC button/display

Get easy access to PLC functions from the dashboard. A PLC widget can be designed as a button, for example, to shift between two stages, or a display button, for example, for monitoring read-out values.

I/O module

I/O configuration

The I/O configuration widget lets you program one or more actions that you want the I/O module to perform when the outputs are in a certain state and when you select the button. Add states to the widget and configure the conditions that trigger the state and the outputs that the robot sets on the I/O module when you select the widget. Use the Reset section to configure a default output configuration.

I/O module

The I/O module widget lets you connect and disconnect I/O modules from the dashboard.

I/O status

The I/O status widget shows the current status of the selected I/O module.

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Hook

3. Dashboards

Cart actions

This widget lets you queue the following missions: Pick up cart, Place cart.

Use the check boxes to define which missions are available in the widget. You must select at least one option (either Pick up cart or Place cart).

When you select the widget, the robot adds the mission shown in the widget to the mission queue. In the Place cart mission, the robot releases the gripper, lowers the hook, and leaves the cart in the current position. In the Pick up cart mission, the robot tries to find a cart within the hook camera's sight and pick it up. For the Pick up cart mission to work, it is necessary that the hook camera detects the QR code or AprilTag at the robot's current position.

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3. Dashboards

Hook brake

This widget lets you activate and deactivate the hook brake manually. The text in the widget shows the action that it executes when you select it and changes depending on the state of the hook brake. For example, if the brake is active (the arm is locked), the widget reads

Deactivate hook brake, and selecting the widget deactivates the brake.

After you select the widget, it shows the current action and you have an option to undo the action until it is over. For example, if the brake is active and you select the widget, it shows

Deactivating... Click to undo.

Hook gripper control

This widget lets you open and close the hook gripper. This widget shows the current action (closing or opening) and lets you undo it during execution.

Hook height

This widget lets you set the height of the hook manually. Use the arrows to change the value.

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Selecting the height value opens the following dialog:

Hook information

This widget shows the following information about the hook:

• Hook brake state

• Hook gripper state

• Hook height

• Hook angle

3. Dashboards

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Miscellaneous

3. Dashboards

Distributor

This widget shows information about the distributor if any distributor data has been entered in the Distributor data section under System > Settings.

Error log button

The Error log button allows you to get an error log via the dashboard. The error log is a list of all detected system errors. Each entry is shown with a description, an indication of which module is affected, and the time when the error occurred.

Joystick

Make one or more joysticks available directly on the dashboard. Different speeds can be selected for the joysticks; slow, medium or fast. The standard joystick in the top bar is fast, except when mapping where it runs medium speed.

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3. Dashboards

Log-out button

The Log-out button allows you to log off via the dashboard.

Pause/Continue button

The Pause/Continue button functions the same way as the pause/continue icon on the top bar of the robot interface, but may be inserted as wizard if you want it in a larger size.

Robot summary

The Robot summary widget makes it possible to have information about the robot on the dashboard: name, serial no., battery percentage, remaining battery time, uptime, and moved distance.

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4. Setup

This section describes the items in the Setup menu.

The Setup menu contains the following items:

4.1 Missions 27

4.2 Maps 64

4.3 Sounds 88

4.4 Transitions 90

4.5 I/O modules 93

4.6 Paths 94

4. Setup

4.7 Path guides 96

4.8 Marker types 99

4.9 Footprints 104

4.10 Users 108

4.11 User groups 111

4.1 Missions

A mission is a predefined series of actions that the robot can be set to perform. A mission can be a simple transportation task between defined positions or a more complex job that includes both moving between positions and performing actions, such as unloading a pallet, moving to a charging station when the battery is low, or sending an email on arrival at a position.

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4. Setup

Missions are started by adding a given mission to the mission queue. The robot will perform the missions in the order they are added, and an operator may rearrange the queued missions if needed.

In MiRFleet, missions are controlled in the Scheduler. The Scheduler makes it possible to prioritize missions in queue and to set a start time.

Start mission

You can enqueue a mission in one of the following ways:

• From a dashboard

You can configure a Mission button widget on a dashboard.

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• From the Missions menu

To enqueue a mission in the Missions menu, select Queue mission for the mission you want to add to the robot's mission queue.

4. Setup

If there are variable parameters in a mission, for example a variable position, you will be asked to select the position when adding the mission to the queue.

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4. Setup

The selected parameters are shown in blue text.

Creating a mission

MiR robots function through missions that you create. A mission is made up of actions, such as: move actions, logic actions, docking actions, and sounds, which can be put together to form a mission with as many actions as needed. Missions themselves can also be embedded into other missions.

Most actions have adjustable parameters, for example, which position to go to. Most actions can also use variables, enabling the user to choose the value of a parameter each time the mission is used. This can be practical in cases where the robot performs the same series of actions in different areas of the site that require different parameter settings in the mission actions.

When you create a mission, you can save it in the default Missions group, or you can choose to save it in any of the available actions groups. The actions groups are found in the top bar of the mission editor window, and you can distinguish missions from actions by the small icons shown next to their names: missions have a target icon , and actions have a runningman icon .

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4. Setup

You can find more information about mission groups in Mission groups on the next page.

The Mission section also comes with a set of template missions that you can use and/or modify.

When you create a mission, you must fill in the following information:

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4. Setup

• Name

The name must be unique and is used to identify the mission. For example, Go to charging station, Deliver spare parts or Warehouse to production line 1.

• Mission group

Select which group you want the mission to be part of.

• Site

If you are using more than one site, select which site you want the mission to belong to.

Select + Create mission to create a new mission that you can add actions to.

Mission groups

Each mission group has a number of predefined actions that can be selected when you build the mission. One mission can contain actions from several groups. When you save the new mission, it will be placed in the selected group and can be used as a separate mission or as an embedded mission in other missions.

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4. Setup

Create mission group

If you don't want to use any of the default group names, you can create your own group(s) and save missions here. New groups will be shown in the top bar next to the default groups and contain any mission(s) you want to add to it.

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4. Setup

Mission editor

A mission is built from actions that you pick from the menus in the top bar. You can also pick already created missions and embed them in new missions.

Actions and missions are grouped together in the top bar menus. All predefined actions are identified by a running-man icon. User created missions are placed together with actions in the group to which you append them and can be distinguished from actions by a target icon next to their names.

When you have picked the actions you want in your mission, do the following:

1. Drag the actions up or down with the four-headed arrow at the far left of the action line

to sort them in the desired order. The actions are executed in a top-to-bottom order.

2. Set the parameters for the selected action by selecting the gear icon at the far right of

the action line.

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4. Setup

Change mission settings

To change the name and mission group of a mission, select the gearwheel next to the name of the mission in the mission editor.

Save mission

When you have completed the mission by adding all actions and sorted them in the desired order, select Save to save the mission.

Save mission as

You can duplicate a mission by saving it with a new name. That way it is easy to create a new mission based on an existing one.

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4. Setup

In the Mission editor window, select Save as.

Name the copy of the mission, and select which site and mission group it should belong to.

Mission actions

Actions used in missions are in the Groups tool bar at the top of the window.

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4. Setup

Variables

All actions that require the user to specify something, for example, a position, a number of retries, a distance, or a subject text, have the option to define a variable. We recommend naming variables in the form of a question that describes what the value you are inserting should be used for. The question pops up on the operator’s user interface every time the mission is queued or embedded in another mission, and the user must select an answer before the mission can begin.

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4. Setup

Create variables

In the Name field, enter a question that describes what the variable is used for, for example, “Which position should the robot move to?”. In the Default value field, enter a default position.

Move

This action group contains the actions in the following table.

Action description Parameter descriptions

Adjust localization

An Adjust localization action adjusts the robot to the correct position on the map. This is useful if it has to move through an area with many dynamic obstacles where the localization is likely to drift.

Check position status

A Check position status action makes the robot check the status of a position or marker for a given amount of time. Positions and markers can be in the states

free or occupied.

If the condition in the action is satisfied,

No adjustable parameters.

Position

Select a position from the drop-down list, or select the XYZ icon to define a variable.

Option

Select if the robot should check if a position is empty or occupied, or select the

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Action description Parameter descriptions

4. Setup

the robot continues executing the mission. Otherwise, the robot reports an error.

Example: Use this action for the following purposes:

• Check whether the load is on the pallet

rack before docking to the rack.

This feature only works for pallet racks with the same dimensions as the pallet racks designed by MiR.

• Check whether the cart is in position

before picking it up with the hook.

• Check whether the target position is

free.

Docking

A Docking action sends the robot to dock to a marker.

XYZ icon to define a variable

Timeout (seconds)

Enter the maximum time during which the robot checks the position status. If the position status does not match the option selected for this position and the time expires, the robot shows an error.

Marker

Select a marker from the drop-down list, or select the XYZ icon to define a variable.

Move

A Move action defines a map position the robot should move to.

Position

Select a position from the drop-down list, or select the XYZ icon to define a variable.

Retries (Blocked Path)

Set the number of times the robot should try to reach the position if the path is blocked, or select the XYZ icon to define a variable. If, after the set number of retries, the path is still blocked, the robot stops and produces an error message.

Distance threshold

Depending on how accurately the robot is required to position itself on the goal

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Action description Parameter descriptions

position, the threshold can be increased or decreased. The default is 0.1 m.

4. Setup

Move to coordinate

A Move to coordinate action defines an X, Y position on the map the robot should move to. The map's origin (the 0.0 position with 0 orientation) is located at the point where the robot began mapping.

If you don't know the map's origin, you can create a fixed position with those values as a reference point.

Enter the X (horizontal) map position the robot should move to, or select the XYZ icon to define a variable.

Enter the Y (vertical) map position the robot should move to, or select the XYZ icon to define a variable.

Orientation

Enter the orientation in degrees, that is the way the robot should turn relatively to the 0-orientation when arriving on the position, or select the XYZ icon to define a variable. A positive value rotates the robot counterclockwise, and a negative value rotates it clockwise.

Retries (Blocked Path)

Distance threshold

Depending on how accurately the robot is required to position itself on the goal position, the threshold can be increased or decreased. The default is 0.1 m.

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Action description Parameter descriptions

4. Setup

Planner settings

A Planner settings action allows you to set the desired speed of the robot, to change the settings for how much the robot is allowed to deviate from its planned path, and to set how it should filter out obstacles when driving.

Path deviation and obstacle clearing can be used, for example, if you want your robot to follow its path without it attempting to maneuver around any dynamic obstacles, the so-called Linefollowing mode.

Planner settings

Desired speed: sets the desired speed of

the robot while it runs this mission.

Path deviation: sets the maximum

distance the robot is allowed to deviate from its path before it generates a new path. Setting the value to 0 means no deviation is allowed.

Path timeout sets the amount of time the

robot will wait for the path to clear before generating a new one. If you set the value to -1 the robot will wait indefinitely for obstacles to move out of its way instead of generating a new path.

Obstacle history clearing sets how the

robot will clear its obstacle history during driving. The available options are, No

clearing, Clear all, Clear in front of robot.

Relative move

A Relative move action defines an X and a Y distance you want the robot to move and an orientation you want it to turn relative to its current position. A Relative move can be used, for example, to undock a robot from a marker.

Enter a value in meters for how much the robot should move forward or backward from its current position. A positive value moves the robot forward, and a negative value moves it backward. Select the XYZ icon if you want to define a variable.

Enter a value in meters for how much the robot should move left or right from its current position. A positive value moves the robot to the right and a negative value moves it to the left. Select the XYZ icon if you want to define a variable.

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Action description Parameter descriptions

CAUTION

When using a Relative move action, be aware that the robot can move into Forbidden zones and through walls on the map. The robot will still drive with Collision avoidance and will not hit any obstacles it can detect.

4. Setup

Orientation

Enter a value in degrees for how much the robot should turn (yaw) when finalizing the

Relative move. A positive value moves it

counterclockwise, and a negative value moves it clockwise. Select the XYZ icon if you want to define a variable.

Maximum linear speed

Enter a value in meters per second for the maximum forward or backward speed during the Relative move, or select the

XYZ icon to define a variable.

Maximum angular speed

Enter a value in meters per second for the maximum turning speed during the

Relative move, or select the XYZ icon to

define a variable.

Collision detection

Select the check box to turn on automatic Collision detection.

Collision detection makes the robot look for obstacles while it executes the action, and the robot will either stop or slow down to avoid colliding with the obstacle. Once the obstacle is no longer in the way, the robot will finish the action.

In most situations we recommend enabling Collision detection, but in cases where the robot needs to turn around its own center in tight spaces, it can be a good idea to disable it to prevent the robot

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Action description Parameter descriptions

from stopping when it gets too close to surrounding obstacles or walls.

Collision detection is not a safety function. If a person enters the Protective field of the robot while Collision detection is disabled, the robot will still enter Protective stop.

4. Setup

Set footprint

A Set footprint action makes it possible to change the robot's default footprint. This can be necessary, for example, if the robot carries a top module with larger proportions than the robot's own or you want to extend the footprint when the robot tows a cart. The footprint is shown as a shadow around the robot on the map.

Switch map

A Switch map action is required if the robot needs to switch automatically from one map to another within a mission. The maps must have overlapping areas where the robot can locate itself in the physical environment. Switch map actions are the basis for Transitions (Setup > Transitions), which handle map switches automatically once they are set up.

Contact your distributor for the guide How to set up transitions between maps.

Footprint

Select a footprint, or select the XYZ icon to define a variable.

Entry Position

In the map you are switching to, select the position the robot should start from after the map transition, or select the XYZ icon to define a variable.

The Switch map action must be preceded by a Move action to the position in the current map that physically overlaps the Entry position in the other map that the robot is switching to. The overlap of the these two positions in the physical area is important for the robot to localize itself in the new map.

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Battery

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

4. Setup

Charging

A Charging action is used to make the robot go to a charging station for automatic battery recharge. The action is defined by setting a minimum charging time and a minimum charging percentage. When the first of those are reached, the action is completed. For example, if you set the minimum time to 30 minutes and the minimum percentage to 80%, the robot will charge for minimum 30 minutes or until it reaches a battery level of 80%. You may also choose to ignore either time or percentage.

A Charging action must be preceded by a Docking action where the robot moves to a previously defined charging marker in front of the charging station.

Minimum Time

Set a minimum amount of time the robot should charge before it moves on, or select the XYZ icon to define a variable. The system will compare the set minimum time with the minimum percentage, and when the first of those two requirements is fulfilled, the mission continues.

You may skip defining a minimum time by selecting the Ignore value check box. The robot will then charge until the minimum battery percentage level is reached.

Minimum Percentage

Enter the minimum battery percentage the robot should charge to before it moves on, or select the XYZ icon to define a variable. The system will compare the set minimum percentage with the minimum time, and when the first of those two requirements is fulfilled, the mission continues. You may skip defining a minimum percentage by selecting the

Ignore value check box. The robot will

then charge until the minimum charge time is reached.

Charge until new mission in queue

Select this check box if you want the robot to continue charging until it receives a new mission. If selected, the robot stays in

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Action descriptions Parameter descriptions

the charging station until it receives a new mission, but not until at least one of the criteria for minimum time or minimum percentage is reached.

If deselected, the robot leaves the charging station when either of the two charging criteria are reached regardless of queued missions.

Logic

This action group contains the actions in the following table.

4. Setup

Action descriptions Parameter descriptions

Break

A Break action is used to interrupt a Loop action.

See Loop for more information.

Continue

A Continue action is used to abort the rest of a loop action and continue from the start.

An If action makes it possible to check battery level, number of pending missions, PLC registers, or input from I/O modules and then define which actions or missions should be performed if the conditions return either true or false. You may use one or more actions or missions to define

No adjustable parameters.

Compare

Select either Battery Percentage, PLC

or select the XYZ icon to define a variable.

Module

For I/O inputs, select an I/O module from the drop-down list, or select the XYZ icon

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Action descriptions Parameter descriptions

4. Setup

both true and false conditions.

Battery Percentage: An If action on

battery percentage checks if the battery percentage is below, above, or equal to a set limit and, depending on the result, either sends the robot to a charging station or continues the mission. The True action could be a previously defined charging mission. The False action could be any alternative actions or missions, but may also be left blank. In that case, the robot will continue to the next step in the mission.

Pending missions: An If action on pending

missions checks if the number of pending (queued) missions is below, above, or equal to a set number. You then set actions that define what the robot should do if the set condition returns true or false. An example could be to send the robot to a charging station if the number of queued missions exceeds a certain amount.

to define a variable.

Index

For PLC registers: enter the required index number (Integer registers 1-100, Floating point registers 101-200), or select the XYZ icon to define a variable.

Operator

Select the arithmetic operator you want to use, or select the XYZ icon to define a variable.

Operators are arithmetic operators used to specify the compare mission, for example, use the < operator to specify “If Battery percentage is below 50 percent”.

The available operators are:

• == ‘equal to’

• != ‘not equal to’

• > ‘greater than’

• >= ‘greater than or equal to’

• < ‘lesser than’

• <= ‘lesser than or equal to’.

PLC Register: An If action on a PLC register

Value

checks if the register is set to a certain value, for example, register 6=1, indicating that a lift is lowered when the robot

Enter the value for the selected register,

or select the XYZ icon to define a variable. arrives at a shelf. The True action (the lift is lowered) could then be a Wait for PLC register action, for example, wait for register 6 to reset to 0.

I/O input: An If action on an I/O input

checks if the register is set to a certain value, for example, register 6=1, indicating that a lift is lowered when the robot

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Action descriptions Parameter descriptions

arrives at a shelf. The True action (the lift is lowered) could then be a Wait for PLC register action, for example, wait for register 6 to reset to 0.

4. Setup

Loop

A Loop action makes it possible to have the robot repeat a mission either a specified number of times or indefinitely (until stopped by an operator). Drag actions or predefined missions into the loop action to define the sequence of actions the robot will repeat. A loop can be interrupted with a Break action.

Pause

A Pause action pauses the mission execution until an operator selects

Continue.

This can be used in missions where the robot should wait for an operator to do something, for example, placing items on the robot and manually sending the robot on to another position by selecting

Continue.

Iterations

Set the number of times the robot should

run the loop, or select the XYZ icon to

define a variable.

Content

Insert the actions that should be

performed in each loop iteration.

No adjustable parameters.

Prompt user

A Prompt user action can be used when it is required to stop and ask the operator what the next step in the mission should be. The action consists of a Yes action, a No action, and a Time-out action. The operator will be asked, for example, “Do you want to go to position X?”. If the

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Question

Write a question which can be answered

with a yes or a no, or select the XYZ icon

to define a variable.

User group

Select which User group the mission is

intended for, or select the XYZ icon to

define a variable.

Action descriptions Parameter descriptions

4. Setup

operator answers Yes, the robot will go to position X. If the operator answers No, the robot will carry on to the defined No action, for example, move to an alternative position. If the operator does not answer yes or no within a given time, the Time-out action will be executed, for example, sending an email.

If necessary, contact your distributor for the guide How to create a Prompt User action in missions.

Return

A Return action is used to abort a mission. It can be used, for example, as catch action in a Try/Catch action.

Timeout (seconds)

Set a timeout for when the robot should continue if the user does not answer the question. If the timeout is reached, the robot will execute the actions in the Timeout scope.

No adjustable parameters.

Wait

A Wait action pauses the mission in a given period of time.

While

A While action makes it possible to check battery level, number of pending missions, PLC registers, or input from I/O modules and then define which actions or missions should be performed while these conditions return true. You may use one or more actions or missions to define the while conditions.

Battery Percentage: A While action on

battery percentage checks if the battery

Time

Set an amount of time the robot should wait before moving to the next action in the mission.

Compare

Select either Battery Percentage, PLC

or select the XYZ icon to define a variable.

Module

For I/O inputs, select an I/O module from the drop-down list, or select the XYZ icon to define a variable.

Index

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Action descriptions Parameter descriptions

4. Setup

percentage is below or above a set limit and, depending on the result, either sends the robot to a charging station or continues the mission.

PLC Register: A While action on a PLC

register checks if the register is set to a certain value, for example, register 6=1, indicating that a lift is lowered when the robot arrives at a shelf.

Pending missions: A While action on

pending missions checks if the number of pending (queued) missions is below, above or equal to the set number. You then set an action that defines what the robot should do if the set condition returns true. An example could be to send the robot to a charging station if the number of queued missions exceeds a certain amount.

I/O input: A While action on an I/O input

checks if the register is set to a certain value, for example, register 6=1, indicating that a lift is lowered when the robot arrives at a shelf. The True action (the lift is lowered) could then be a Wait for PLC

For PLC registers: enter the required index number (Integer registers 1-100, Floating point registers 101-200), or select the XYZ icon to define a variable.

Operator

Select the arithmetic operator you want to use, or select the XYZ icon to define a variable.

Operators are arithmetic operators used to specify the compare mission, for example, use the < operator to specify “If Battery percentage is below 50 percent”.

The available operators are:

• == ‘equal to’

• != ‘not equal to’

• > ‘greater than’

• >= ‘greater than or equal to’

• < ‘lesser than’

• <= ‘lesser than or equal to’.

Value

Enter the value for the selected register, or select the XYZ icon to define a variable.

Error handling

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

Create log

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Description

Action descriptions Parameter descriptions

4. Setup

A Create log action is used to create user generated error logs. The error logs are stored under Monitoring > Error logs. This is useful in, for example, a Try/Catch action where a log is created when catching an unsuccessful try.

Throw error

A Throw error action is used to enter an error message that will be shown in the user interface when the mission is run. You can, for example, use this with a Try/Catch action, to make the robot report an error if it fails to execute its main mission.

Try/Catch

A Try/Catch action is a way to reinforce missions by defining an alternative action if the first choice action fails. This will in many cases prevent a mission from discontinuing in case, for example, a position is blocked. A Try/Catch action consists of a Try action, which the robot should attempt to complete, and a Catch action that is used in case the Try action fails.

Enter a description for the log type you want to create, or select the XYZ icon to define a variable. An example of a description could be “Mission x fail log”

Message

Enter the message you want displayed on the user interface when the mission is run, or select the XYZ icon to define a variable.

Try

Select the action(s) that should be attempted.

Catch

Select the action that should be performed if the action(s) within Try fails.

Sound/Light

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

Play sound

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Sound

Select a sound from the list, or select the XYZ icon

Action descriptions Parameter descriptions

4. Setup

A Play sound action sets a sound, for example, a beep, a horn, or a voice message that the robot will play at a given stage in the mission or for the whole duration of the mission. There is a selection of standard sound bites to choose from, or you can upload your own sounds to the robot in the section Setup > Sounds.

to define a variable.

If you want to hear the sounds before selecting one, go to Setup > Sounds. You can hear the sounds on your computer by selecting the headset icon.

Volume

Set the volume of the sound (0-100), or select the

XYZ icon to define a variable. 100% is

approximately 80 dB.

Mode

Select how the sound should be used in the mission:

Full length plays the sound from start to finish,

starting at the point in the mission where it is inserted and ending when the sound file finishes.

Loop keeps repeating the sound file until the

mission is completed.

Custom length plays the sound for the duration of

time you set under Duration. If the set duration exceeds the duration of the sound file itself, the sound file will loop for the duration of the set time.

You can insert a Stop sound action anywhere in the mission. This will stop the playing of the current sound no matter which mode you have selected.

Duration

Set an amount of time the sound should play, or select the XYZ icon to define a variable.

Effect

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Action descriptions Parameter descriptions

4. Setup

Show light

A Show light action sets a combination of light effect, speed, color, and intensity of the robot's status lights at a given point in the mission.

Select a light effect from the drop-down list, or select the XYZ icon to define a variable.

Speed

Select a fast or slow speed from the drop-down list, or select the XYZ icon to define a variable.

Color 1

Select a color from the drop-down list, or select the

XYZ icon to define a variable. If you select two

different colors for Color 1 and 2, the robot will alternate between the two.

Color 2

Select a color from the drop-down list, or select the

XYZ icon to define a variable. If you select two

different colors for Color 1 and 2, the robot will alternate between the two.

Intensity

Set the intensity of the light, or select the XYZ icon to define a variable. The intensity is defined as a percentage where 100 is full intensity.

Timeout (seconds)

Set an amount of time the light should show, or select the XYZ icon to define a variable.

Stop sound

Stop playing the current sound. No adjustable parameters.

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PLC

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

4. Setup

Set PLC register

A Set PLC register action is used to set a value in a register. The register can be set in three ways:

• Set: sets a value every time the mission

is executed.

• Add: adds a value every time the

mission is executed.

• Subtract: subtracts a value every time

the mission is executed.

Select a specific PLC register, or select the

XYZ icon to define a variable. Registers 1

to 100 are reserved for integers and registers from 101-199 for floating point numbers.

Action

Select an action from the drop-down list, or select the XYZ icon to define a variable. The options are Set, Add, and Subtract.

Value

Enter a value for the selected register, or select the XYZ icon to define a variable. If the selected register is between 1 and 100, the value must be an integer. If the selected value is between 101 and 200, the value must be a floating point number.

Set and reset PLC register

A Set and reset PLC register action is useful in missions where the robot is requested to set a value in a PLC register and reset the register to the original value when the action is finished.

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Select a specific PLC register, or select the

XYZ icon to define a variable. Registers 1

to 100 are reserved for integers and registers from 101-199 for floating point numbers.

Value

Enter a value for the selected register, or select the XYZ icon to define a variable. If the selected register is between 1 and 100,

Action descriptions Parameter descriptions

the value must be an integer. If the selected value is between 101 and 200, the value must be a floating point number.

Reset value

4. Setup

Wait for PLC register

A Wait for PLC register action is used to wait for a value and continue to the next action when the value is found in the set register.

Select a specific PLC register, or select the

XYZ icon to define a variable. Registers 1

to 100 are reserved for integers and registers from 101-199 for floating point numbers.

Value

Timeout (seconds)

Define how long the robot should wait for the value in the set register before giving an error.

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Email address

This action group is only available after it has been enabled under System > Settings >

Features.

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

4. Setup

Send email

A Send email action is used to send email messages to selected recipients as part of a mission, for example, to let an operator know that the robot has arrived at a specific location. Recipients must be set up in the Users section (Setup > Users) with an email address. Furthermore, an email account must be set up in the robot under

System > Settings > Email configuration.

I/O module

Recipient

Select a recipient from the drop-down list, or select the XYZ icon to define a variable. The recipients on the list come from the Users section.

Subject

Type a subject of the email, or select the

XYZ icon to define a variable.

Message

Write the message that the robot should send to the selected email address when the mission is executed, or select the XYZ icon to define a variable.

This action group is only available after it has been enabled under System > Settings >

Features.

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

Connect Bluetooth

A Connect Bluetooth action is used when the robot must connect and stay connected to a Bluetooth module.

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Module

Select a Bluetooth module from the dropdown list, or select the XYZ icon to define a variable. Bluetooth modules are set up in the I/O modules section (Setup > I/O

Action descriptions Parameter descriptions

Disconnect Bluetooth

4. Setup

modules).

A Disconnect Bluetooth action is used when the robot must close the connection to a Bluetooth module.

Set output

A Set output action is used when the robot needs to send a command to an I/O module.

No adjustable parameters.

Module

Select an I/O module from the drop-down list, or select the XYZ icon to define a variable. I/O modules are set up in the section Setup > I/O modules.

SMTP port

Enter which output port relay should be activated (1-4) , or select the XYZ icon to define a variable.

Operation

Set operation to On or Off, or select the

XYZ icon to define a variable. For

example, select On if the I/O module is used to open a door.

Timeout (seconds)

Set an amount of time the relay should stay on, or select the XYZ icon to define a variable.

Set and reset I/O

A Set and reset I/O action is useful in missions where the robot is requested to set an output on an I/O module and make sure the output is reset to the original

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Module

Select an I/O module from the drop-down list, or select the XYZ icon to define a variable. I/O modules are set up in the section Setup > I/O modules.

Action descriptions Parameter descriptions

value in case the robot is paused, goes into Protective stop, or the mission is aborted, for example, in raise and lower shelf missions.

4. Setup

Output

Enter which output port relay should be activated (1-4) , or select the XYZ icon to define a variable.

Operation

Set operation to On or Off, or select the

XYZ icon to define a variable. For

example, select On if the I/O module is used to open a door.

Wait for input

A Wait for input action is used when the robot needs to wait for an I/O module to respond.

Timeout (seconds)

Set an amount of time the relay should stay on, or select the XYZ icon to define a variable.

Module

Select an I/O module from the drop-down list, or select the XYZ icon to define a variable. I/O modules are set up in the section Setup > I/O modules.

Input

Enter the input port number, or select the

XYZ icon to define a variable.

Value

Set operation to On or Off, or select the

XYZ icon to define a variable. For

example, select Off if the Wait for input action is used to stop a conveyor belt.

Timeout (seconds)

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Action descriptions Parameter descriptions

Define how long the robot should wait for the input to match the state set in Value before giving an error.

Safety system

MiR250, MiR500, and MiR1000 only

This action group is only available after it has been enabled under System > Settings >

Features.

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

4. Setup

Mute protective fields

A Mute protective fields action makes the robot mute selected protective fields while it is executing a number of actions. Drag the actions you want the robot to perform into the Mute protective fields action.

Sound

Select a sound from the list, or select the

XYZ icon to define a variable.

If you want to hear the sounds before selecting one, go to Setup > Sounds. You can hear the sounds on your computer by selecting the headset icon.

Volume

Set the volume of the sound (0-100), or select the XYZ icon to define a variable. 100% is approximately 80 dB.

Front, Rear, and Sides

Select whether to mute or unmute the protective fields to the front, rear, or sides of the robot.

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Cart

MiR100Hook and MiR200Hook only

This action group is only available after it has been enabled under System > Settings >

Features.

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

4. Setup

Pick up cart

Go to a position and pick up a cart.

Place cart

Place the cart currently attached to the robot at a specific position.

Position

Select a position from the drop-down list, or select the XYZ icon to define a variable.

Cart

Select either a specific cart or Any valid

cart from the drop-down list. If a specific

cart is chosen and another cart is at the position, the action will produce an error.

Position

Select a position from the drop-down list, or select the XYZ icon to define a variable.

Release cart

Choose whether or not to release the cart after arriving at the position.

Reverse into place

You can choose to allow the robot to reverse into place. Yes, with collision

check means that the robot will scan the

area and check for obstacles before moving the cart to the drop-off position.

Yes, without collision check means that

the robot will move the cart into place without scanning for obstacles. This can be

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Action descriptions Parameter descriptions

necessary when the robot docks into alignment fixtures.

Shelf

This action group is only available after it has been enabled under System > Settings >

Features.

This action group contains the following template missions that you can add to other missions and configure.

Action descriptions Parameter descriptions

4. Setup

Pick up MiR500/MiR1000 shelf

This template mission sends a MiR500/MiR1000 robot to a shelf position to pick up a shelf, changes the footprint of the robot, and then makes the robot move away from the shelf position.

Marker position

Select a marker from the drop-down list, or select the XYZ icon to define a variable.

Marker type

Select a marker type from the drop-down list, or select the XYZ icon to define a variable.

Shelf footprint

Select a footprint, or select the XYZ icon to define a variable.

Mute front

Select Muted to mute the Protective field set in front of the robot.

Mute rear

Select Muted to mute the Protective field set behind the robot.

Mute sides

Select Muted to mute the Protective fields

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Action descriptions Parameter descriptions

to the sides of the robot.

Undocking distance

4. Setup

Pick up Shelf I/O

This template mission sends a robot with a shelf lifting application controlled with I/Omodules to a shelf position to pick up a shelf and changes the footprint of the robot.

Module

For I/O inputs, select an I/O module from the drop-down list, or select the XYZ icon to define a variable.

Marker position

Select a marker from the drop-down list, or select the XYZ icon to define a variable.

Marker type

Select a marker type from the drop-down list, or select the XYZ icon to define a variable.

Shelf footprint

Select a footprint, or select the XYZ icon to define a variable.

Pick up Shelf PLC

This template mission sends a robot with a shelf lifting application controlled with PLC registers to a shelf position to pick up a shelf and changes the footprint of the robot.

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Marker position

Select a marker from the drop-down list, or select the XYZ icon to define a variable.

Marker type

Select a marker type from the drop-down

Action descriptions Parameter descriptions

list, or select the XYZ icon to define a variable.

Shelf footprint

Select a footprint, or select the XYZ icon to define a variable.

4. Setup

Place MiR500/MiR1000 shelf

This template mission makes the robot place a shelf at the current position, changes the robot's footprint to the default value, and then makes the robot move away from the shelf position.

Place Shelf I/O

This template mission makes a robot with a shelf lifting application controlled with I/Omodules place a shelf at the current position and changes the robot's footprint to the default value.

Mute front

Select Muted to mute the Protective field set in front of the robot.

Mute rear

Select Muted to mute the Protective field set behind of the robot.

Undocking distance

Module

For I/O inputs, select an I/O module from the drop-down list, or select the XYZ icon to define a variable.

Place Shelf PLC

This template mission makes a robot with a shelf lifting application controlled with PLC registers place a shelf at the current position and changes the robot's footprint

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No adjustable parameters.

Action descriptions Parameter descriptions

to the default value.

This action group is only available after it has been enabled under System > Settings >

Features.

This action group contains the actions in the following table.

Action descriptions Parameter descriptions

4. Setup

Run UR program

A Run UR action is used to communicate with a Universal Robots application. The action starts a .urp file saved on the Universal robot. The program name is [program name].urp. Leave out .urp when you type the name. The MiR robot will continue until the given UR program has been executed.

Program name

Enter the name of the UR program (without the urp extension), or select the

XYZ icon to define a variable.

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4. Setup

4.2 Maps

In the Maps section, you create or edit the maps the robot uses to navigate by. All maps must belong to a site, which is the overall container for one or more maps used in the same facility. A site may, for example, have one map per floor or one per section of a large production hall. Maps must be contained in the same site for the robot to be able to move from one map to another.

Import and export sites

A site can be exported and imported into other robots.

A site contains the following information:

• Zones

• Cart calibrations

• Cart types

• Carts

• Dashboards

• Docking offsets (for the positions - not the global ones for the robot)

• I/O modules

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• Maps

• Marker-types

• Missions

• Mission groups

• Path guides

• Path guides positions

• Paths

• Position transitions

• Positions/Markers

• Robot name

• Sessions (the site file itself)

4. Setup

• Sounds

• User group permissions

• User groups

• Users

• Widgets

To export a site, select Export next to the site you want to export. The exported file is named [Site name]_[Robot name]_[SW version]_[Date].site

To import a site, select Import site and select the site file.

If necessary, contact your distributor for the guide How to export and import .site files.

Site files must be imported to a robot with the same software version as the robot the site file was exported from. If you want to import a site file from another software version, you must update or downgrade your robot to that version first, import the file, and then update or downgrade back to the desired software version.

4. Setup

Create map

To create a map, first enter a name for the map and select the site the map should belong to. When you select Create map, you are directed to the map editor where you find the tools to draw the map and add various features.

Name

Enter a name that describes the map.

The name is used to identify a certain area of the site.

One way of naming maps is to select names that relate to the area of the map, for example, Ground floor or Hall A.

Site

Select which site the map should be part of, or select Create/Edit to create a new site or edit the name of an existing site.

4. Setup

Select Create site to create a new site. Name the site and select OK.

Select Create map to save the map.

If necessary, contact your distributor for the guide How to create and clean up a map.

Mapping tools

The built-in mapping functionality makes it possible to draw a map by manually driving the robot around the facility using the joystick while the robot uses the laser scanners to map the area.

Two mapping methods

Recording of maps can be done using two different mapping methods: Cartographer (default method) and Hector.

• The Cartographer method records multiple smaller maps and then compiles those into

one map after the recording session.

• The Hector method records and compiles data in one map during the mapping.

4. Setup

The tools used are the same for both methods, and when you start mapping you’ll not be able to see which method is activated. However, to obtain the best result, there are different mapping patterns recommended for the two mapping methods.

• Cartographer: Mapping in a circular pattern and closing loops.

• Hector: Mapping in a branch pattern, while going back over your own tracks several

times.

To change between the two mapping methods, go to System > Settings > Mapping.

For more information about creating maps, see your product's user guide or contact your distributor for the guide How to create and clean up a map.

The map recording and editing tools are all found on the icon tool bar, and the drop-down list contains all the features you can add to your map. Different tools are displayed on the icon toolbar depending on which feature you have selected from the drop-down list.

Mapping tools

Press the 3-dots icon to open the Upload, download and record map dialog box.

This toolbar has options for recording a new map or uploading/downloading existing ones.

You may upload a map from your computer in .png format. For example, if CAD drawings of the facility are available, it is possible to use those after converting them to .png instead of mapping the area with the robot, but you can also upload maps previously created with the robot and downloaded to your PC.

If necessary, contact your distributor for the guide How to create a map based on a CAD file.

When you download a map, only the recorded map data is saved. Any added features such as positions and zones are not saved with the map file. If you want to save a map including all details, you can do so by exporting the whole site that the map belongs to.

The Download, upload and record map dialog has the following options.

4. Setup

• Upload and overwrite

The Upload and overwrite option erases the existing map and replaces it with the map you upload.

• Upload and append

The Upload and append option adds the uploaded map to the existing one.

• Download map

The Download map option saves the map to your PC as a PNG file.

• Record and overwrite

The Record and overwrite option erases the existing map and replaces it with the map you record.

• Record and append

The Record and append option adds the recorded map to the existing one.

4. Setup

Recording a map

Select Record and overwrite or Record and append to start the mapping engine. If you select Record and overwrite, you will be asked if you want to overwrite current data.

A blinking icon indicates that the recording has started, and you can now activate the joystick and start moving the robot around the area.

The joystick switches to medium speed when used during mapping. This ensures better coverage of the mapped area.

As the robot moves, the laser scanners will detect physical obstacles, and those will be recorded in the map as walls. In the editing afterward, you can remove all obstacles that should not stay on the map, such as carts or boxes that were present at the time of recording but will not stay permanently.

During mapping, you may add positions based on the current position of the robot. If necessary, the positions can be edited after the mapping is finished.

To stop the mapping engine, press the record icon in the upper-left corner of the recording window.

After the mapping engine stops, you can rotate the map and align it using the grid.

Drag the map to rotate it. Route planning works better with horizontal or vertical paths. For example, if there is a long passage, route planning works best when the passage is either vertical or horizontal, that is when its walls on the map are parallel to the map borders.

On desktop computers, holding the Shift key when dragging the map rotates the map in increments of 11.25 degrees.

4. Setup

When you have finished the editing, select the check mark in the upper left-hand side corner to save the map. You'll be asked if you want to activate the new map. If you do this, you'll be able to see the robot on the map and may create positions using the robot's live-view.

The grid and the rotation feature will only be present this one time. If you want to open the grid and rotation feature again, you must download the map, and then upload it again.

Editing a map

When the map recording is done, modify the map by removing unwanted "noise", adding virtual walls, preferred or unpreferred drive zones, positions, and other features to get a reliable map that allows the robots to maneuver smoothly and efficiently in the area.

4. Setup

Left side tool bar

The left side tool bar has the basic tools for saving, undoing, and navigating in the map you are working on. Furthermore, different tools appear on the tool bar depending on which map layer you select from the Object types drop-down list. These are presented on the following pages.

The toolbar contains the following elements:

• Find position

Select the magnifying glass to search for a position on the map.

• Download, upload and record map

Select to upload, download and record maps.

• Undo icon

Select one or more times to undo your last operation(s). While you are drawing a shape or line in the map, the Undo tool is not available. But as soon as you finish by selecting the check mark, you can undo the whole shape or line.

• Save icon

Select to save the changes to the map. For the changes to take effect, you'll need to reload the map.

• Navigate icon

Select to view the map with all added details, and drag to move the view.

Select object list

The Select object-list contains all features that you can add to the map, such as markers, positions, zones, walls, and floors. See detailed descriptions in Object types on page 75.

4. Setup

Right side tool bar

The right side tool bar has tools for controlling the map view and synchronizing the robot’s position with the map view.

• Send robot to target

Select to move the robot to any map location. Use this tool to move the robot to a spot without having to create a position.

• Show the whole map

Select to zoom out to view the whole map.

• Keep robot in center

Select to view the robot in the center of the window. Otherwise, the map is centered.

• Adjust robot position

Select one or more times to adjust the robot on the map. When the red lines showing the scanners' live view align with the map lines (walls), the robot is adjusted. It may be necessary to first set the start position (see below).

• Set robot's start position

When you activate a map, the robot's actual position in the physical environment must be synchronized with the map. This is done by trying to align the robot's live sensors (shown as red flickering lines) with the black lines of the map. Select somewhere on the map that matches the robot's physical location as much as possible, and rotate the robot icon to turn the robot correctly, then select Adjust robot position a couple of times until the lines overlap. Setting the start position might require a couple of retries.

• Zoom in

Zoom in on the map.

4. Setup

• Zoom out

Zoom out on the map.

4. Setup

Object types

The Object types list lets you add elements such as walls, positions and zones to your map.

Walls and Floors let you remove unwanted objects and add straight lines to create a more

legible map. The other objects define the positions and markers robots can go to as well as different types of zones that set the rules for where and how the robots move.

Walls

When mapping, physical objects detected by the scanners are recorded as “walls” in the system. These mark areas on the map where the robot cannot drive.

Apart from real walls, these objects could also be shelves, chairs, tables, and even people passing by. Some of these recordings are regarded as "noise" and will, if they are not removed, potentially send the robot on unnecessary detours during its path planning. It is therefore recommended to remove the objects that are not permanent.

4. Setup

Noise refers to recorded data that originates from interfering elements. This can be physical obstacles that make the robot record walls where there are none or more subtle interferences that can make recorded walls appear pixelated.

Use the Eraser tool to remove recorded walls, and the Erase by selection tool to remove walls you've drawn.

Use the Draw new line tool to add new walls to the map, and replace the coarse pixelated lines. The tool works by adding lines between each point you add to the map. Select the check mark when the line is done.

Use the Select shape or line tool to change an added object. You can add extra points or move the existing ones to change the shape. To erase a whole shape, select the Erase shape

or line tool and select a shape to delete it.

Floors

When mapping, the floor is created automatically. The floor on the map marks the areas where the robot is able to drive. You can use the Floor tool to touch up the existing floor if there are areas where the floor is missing.

Use the Eraser tool to remove unwanted floor from the map.

Use the Draw a new shape tool to add a new floor or patch up the existing one. The tool works by filling the area between each point you add to the map with gray color. You may add as many points as needed and drag to where you want them on the map. Select the check mark when the shape is done. The gray shape will be converted to white indicating that it represents floor.

When you are using the floor tools, you cannot affect the walls on the map. If you make a shape that overlaps walls while you are using the Draw a new

shape tool, the walls will not be removed from the map when the shape is

converted to floor.

Use the Select shape or line tool to change an added object. You can add extra points or drag the existing ones to change the shape. To erase a whole shape, select the Erase shape

or line tool and select a shape to delete it.

If you want straight lines, hold down the shift key while drawing a line or an area.

4. Setup

Positions

Positions are defined as X-Y coordinates in the map and are used in missions.

Positions are used either as destination positions or as waypoints on a route. To define a position, select the Position tool, then select somewhere on the map, and rotate the position icon until the arrow points in the direction you want the robot to face at this position. In the dialog window that opens, it is then possible to adjust the position and the orientation manually or select Use robot position to use the current position of the robot.

When you select overlapping positions, a list of the overlapping positions is displayed. This enables you to easily select the position you want.

4. Setup

The Use robot position button is available only if you are editing the currently active map.

Optional positions:

• Elevator and elevator entry positions are used by robots that are inside or waiting for an

elevator. These should only be used if the robot is connected to MiRFleet and MiRFleet has an elevator set up.

• Emergency positions are positions that the robots go to when commanded to evacuate a

zone from MiRFleet.

• Cart positions for picking up and dropping off carts are available if a MiR hook is applied.

• Shelf positions for picking up and placing shelves are available if a shelf lift is applied.

• Staging positions used as waiting positions become available when the robot is part of a

fleet.

Hook, Shelf, or Fleet must be enabled in the Features section under System >

Settings > Features before the positions can be viewed.

Markers

Markers are position types used by the robot to dock to physical V, VL, L, or straight barshaped objects. Markers are used when you want the robot to position itself accurately relative to a physical object.

4. Setup

To define a marker, first place the robot either facing front or rear to the marker, depending on which way you want the robot to dock. For charging station markers, the robot must always be placed facing front.

When you select the Marker tool, the quickest way to set the position is to use Detect

marker. If the robot can detect the marker, the position, offset, and orientation fields will

automatically fill. Otherwise, move the robot a bit closer, and try again. The values can be adjusted manually afterward if required.

The Detect marker button is available only if you are editing the currently active map.

You can see and edit the entry position of a marker by selecting the marker and then Show

entry position(s). The entry position stays visible until you select the marker again and

select Hide entry position(s).

Zones

Zones are either used to influence the robot's global planner or to trigger actions automatically when a robot enters the zone—see for the division of zone types. Zones that trigger an action always have zone settings that you must set when creating the zone. These zones apply both when the robot operates autonomously and when it is driven in Manual mode.

4. Setup

Zones that only affect the robot's global planner are in the blue square, and the zones that only take affect when a robot enters the zone are in the green square.

It is possible to create overlapping zones so that multiple events have affect at the same time, for example blinking and slowing down the speed of the robot when it drives in a certain zone.

Each zone has its own color on the map. To add a zone, select it on the drop-down list, then select the shape or line tool on the icon bar and draw the shape or line where you want it on the map.

Draw a new shape

4. Setup

To create a zone shape:

• In the toolbar, select Draw a new shape and create a shape by placing the corners of the

shape on the map.

• You can edit the shape by dragging the corners.

Draw a new line

To create a zone line:

• In the toolbar, select Draw a new line and create a line by placing points on the map.

• Select Line settings to change the width of the line. Use one of the presets or enter a

custom width. Select Close to save line settings.

You can only create zone lines for zones that affect the global planner.

4. Setup

Hold down the shift key while drawing a line or an area if you want straight lines.

If necessary, contact your distributor for the guide How to use zones on a map.

If necessary, contact your distributor for the guide How to set up evacuation zones and fire alarms in MiRFleet.

Select the check mark on the tool bar to finish the shape or line.

4. Setup

To edit or remove a shape or line, select the zone type on the drop-down list. Then, to edit, select the Select shape or line tool and select the object. You can change a shape or line by pulling the points, adding or removing points, or by changing the thickness of a line. To add extra points, first select an existing point, then select where you want to add the point. Pull to change the shape if needed. To delete a line or shape, select the Erase shape or line tool and select the object to delete.

Zone settings: Zone settings allow the user to customize a certain zone to their needs. One or more actions can be set. While the robot is in the zone, it will perform the actions. When the robot leaves the zone, it will go back to the default settings.

Only zones that trigger an action have zone settings—see Speed, Sound and

light zones, Planner zones, I/O module zones, Limit-robots zones (Fleet), and Evacuation zones (Fleet).

Directional zones

Directional zones let you organize the motion of robots by specifying which direction the robot's global path can go. When you create a directional zone, you specify its direction, and the map shows the direction with arrows drawn on the zone.

The directional zones apply the following limitations to the robots' global planner:

• The global path is not allowed to move in the direction opposite to the direction of the

arrow.

• The global path can move perpendicular to the direction of the arrow or at any angle less

than 90° to the arrow.

There are two types of directional zones: directional shape and directional line. A directional shape is a shape on the map with a direction defined. The direction on a shape can have any value from 0° to 360° with an increment of 45°.

A directional line is a line with a direction defined. The direction of a line is from one of its ends to the other end. To reverse the direction of a line, select a line and select Reverse

direction in the toolbar.

4. Setup

Preferred zones

The robot tries to plan its global path to go through Preferred zones. It will drive out of the zone to avoid obstacles.

Unpreferred zones

The robot tries to avoid planning its global path through Unpreferred zones but may go into it if there are no other possibilities.

Forbidden zones

The robot's footprint never enters a Forbidden zone.

Critical zones

The robot's global planner can plan a path that brings the robot closer than usual to detected obstacles when there is a Critical zone in that area. This is useful in narrow passages where the robot can just fit. The safety system and local planner are still active, meaning the robot will still avoid and stop for obstacles.

Speed

The robot slows down or increases its speed when driving in a Speed zone. Slowing down may be used if the robot is driving in a zone with many people, and speeding may be used to traverse a zone free of people and obstacles quickly.

Zone settings

• Name

Enter a name for the zone.

• Desired speed

Enter the speed (m/s) the robot should drive with in this zone. Default: 0.8, minimum: 0.1, maximum: 1.5 m/s

4. Setup

Sound and light zones

The robot can play a sound and blink its status lights when driving in this zone. You can use this zone to warn people about the presence of the robot.

Zone settings

• Light

The robot drives with the status lights flashing.

• Sound

Select the sound you want the robot to play.

Planner zones

The robot can ignore date from its laser scanners and localize with encoders, decrease its field of view to run smoothly in populated areas, optimize the wait-time and deviation of paths, and ignore obstacles when in this zone.

Zone settings

• No localization

The robot ignores laser scanner data and only uses its motor encoders to localize itself. Useful for special driving, like ramps.

• Look-ahead

Look-ahead is used to define a decreased field of view. Maximum is 3 meters (default). Minimum is 0.

• Path timeout

Maximum amount of time the robot keeps trying to complete the current path before generating a new global path. Default is 5 seconds. Minimum is -1, which means that the feature is disabled.

• Path deviation

Maximum allowed distance the robot can deviate from the path before generating a new global path. Default is 0.5 meters. Minimum is 0. Maximum is 3 meters.

• Ignore obstacles

With this action, the robot ignores all obstacles detected with the 3D cameras. This is useful, for example, if you experience problems with the robot stopping in front of windows because of sunlight.

4. Setup

• Obstacle history clearing

Select how the robot will clear its obstacle history while driving. No clearing: the robot remembers all obstacles and only clears those in the field of view of the cameras. Clear in

front of robot: the robot disables obstacle history in a cone shape in front of the robot,

starting with the width of the footprint and increasing the width by 0.3 m per meter. Clear

all: the robot disables obstacle history altogether and only avoids obstacles that it detects

with its sensors while driving.

I/O module zones

The robot activates an I/O module when entering the zone. An I/O module zone may be used instead of controlling I/O activation through a mission.

Zone settings

• I/O module

Select the I/O module you want to use.

• PLC registers

Index: Index is the register number and spans from 1–200. Registers 1–100 are reserved

for integers and registers from 101–199 for floating point numbers.

Entry action:

An Entry action is used to set a value in a register. The register can be set in three ways:

• Set: sets a value every time the mission is executed.

• Add: adds a value every time the mission is executed.

• Subtract: subtracts a value every time the mission is executed.

Entry value: Enter the value that will apply to the Entry action. Exit action: An Exit action is used to set a value in a register. The register can be set in

three ways: Set: sets a value every time the mission is executed. Add: adds a value every time the mission is executed. Subtract: subtracts a value every time the mission is executed.

Exit value: Enter the value that will apply to the Exit action.

Limit-robots zones (Fleet)

Limit-robots zones apply only when robots are controlled by MiRFleet. Only a defined number of robots may be in the zone at the same time. This zone is used to keep an area clear of too many robots, for example in areas where MiR Hook robots unload and pick up carts.

4. Setup

Zone settings

• Robot limit

Enter the number of robots that are allowed to drive in the zone. Minimum is 1.

Evacuation zones (Fleet)

Applies only when robots are controlled by MiRFleet. Evacuate robots from one or more zones in case of an emergency situation. Draw the evacuation zones, and create one evacuation position per robot.

Delete map

You can delete maps that are created by you or another member of the user group you belong to.

Select Delete next to the map you want to delete. In the next dialog box, select Delete

map to delete the map.

4. Setup

4.3 Sounds

In the Sounds menu, you can upload new sounds to the robot or edit the volume and length of the sounds.

Sounds are used in missions and can be used as alerts or to attract people's attention, for example, when the robot has arrived at a position.

Edit sound

You can rename any of the user added sounds on the robot and adjust the volume.

Select the Play icon to listen to the sound on the robot itself.

Select the Listen icon to listen to the sound on your computer.

The volume can only be checked by playing the sound on the robot itself.

If necessary, contact your distributor for the guide How to use sounds on MiR robots.

4. Setup

The Edit sound dialog box contains the following fields:

• Name

You can change the names of user uploaded sounds. The names of the standard system sounds cannot be changed.

• Volume (0-100)

The maximum of 100 is approximately 80 dB.

• Note

You can write a small note about the selected sound (optional).

• Delete

You can delete user uploaded sounds from the robot.

Select Save changes to save the settings.

4. Setup

4.4 Transitions

Transitions are used to handle changeovers from one map to another within the same site. Map transitions are used, for example, where two adjoining production halls have separate maps.

A transition entry consists of two robot positions: a start position and a goal position, one in each map at a physical point where the two maps overlap. Furthermore, it requires predefined missions that include Switch map actions.

Going from map A to map B and from map B to map A requires two different missions.

Once the transition is set up in the user interface, the robot handles switches from one map to another automatically. You just set up your mission as you would in a single mapenvironment, and the system will include the switch positions, the Switch map mission, and the transition action automatically. When the robot transitions to another map, it stops for a short while to position itself on the new map.

If necessary, contact your distributor for the guide How to set up transitions between maps .

4. Setup

Create transition

To create a transition, select a start position and a goal position on two different maps at a point where the maps overlap. The positions must have been predefined as Robot positions on the two maps.

The Create transition dialog box contains the following fields:

• Site

Select the site in which the two maps are represented. Both maps must be part of the same site for a map transition to be possible.

• Start position

Select the start position of the transition. The start position must be a Robot position and must be created in advance in a place where the two maps overlap. Start and goal positions must be placed on the exact same spot physically but named differently, for example, "Map A_posA" and "MapB_posA" to indicate the relation between the two.

• Goal position

Select the goal position of the transition. The goal position must be a Robot position and must be created in advance in a place where the two maps overlap. Start and goal positions must be placed on the exact same spot physically but named differently, for example, "Map A_posA" and "MapB_posA" to indicate the relation between the two.

4. Setup

• Mission

Select a mission that includes a Switch map action. The Switch map mission must be created in advance and must include two Switch map actions: the first Switch map action must include the "from" map and the defined start position, and the second Switch map action must include the "to" map and the defined goal position.

Select Create transition to save the settings.

Edit transitions

To edit a transition you must select a start position and a goal position in two different maps at a point where the maps overlap. The positions must have been predefined as Robot positions in the two maps.

4. Setup

Delete transitions

You can delete transitions that are created by you or another member of the user group you belong to.

If you delete a transition, the start and goal positions and attached mission are deleted as well.

4.5 I/O modules

I/O modules (Bluetooth and WISE) are used for receiving and giving input and output to be able to communicate with external devices. Outputs are used to signal information from the robot to the external device, and inputs are used to receives signals from the device.

WISE modules work in the range of 0-3, Bluetooth modules work in the range of 1-4.

If necessary, contact your distributor for the guides How to use WISE I/O modules - LAN and How to use WISE I/O modules - wireless.

4. Setup

Create I/O connection

To create an I/O connection, you must choose an I/O module type (Bluetooth or WISE) and enter a name and an IP address.

Select Create to save the settings.

Delete I/O connection

You can delete I/O modules that are created by you or another member of the user group you belong to.

4.6 Paths

Paths are saved routes between two positions.

4. Setup

The first time the robot runs the route between two positions, the calculated path is saved and used every time the robot runs the same route, thereby saving time for route calculation. A path is automatically recalculated only in the event that one of its positions is modified.

If you find that an automatically calculated path is unnecessarily long, for example, if the robot had to go around a dynamic obstacle at the time it was created, you can delete it, and the robot will then calculate a new path the next time it runs between those two positions.

You can use Preferred zones and Unpreferred zones to influence where you want the robot to plan its path. After it has created the path using the zones, it will continue to use this path even if you remove the zones. Likewise, if the robot has already created paths between the affected positions, and you add zones afterward, the zones will not take effect until you remove the previous paths.

• View a path

The path is shown as a dotted line between two positions on the map. The view can be used to check if calculated paths look appropriate.

4. Setup

Delete path

Paths can be deleted if you want the robot to recalculate the route between two positions.

Select Delete next to the path you want to delete. In the next dialog, select Delete path to delete the path.

4.7 Path guides

A path guide makes it possible to define paths that the robot should follow between two positions by defining waypoint positions between the start and goal. Path guides can be very useful in locations where you want the robot to follow a certain path, for example, along a wall.

In environments where multiple robots operate, an obvious application of path guides would be to create right-drive paths where two robots can pass each other without stopping to recalculate each time they meet. This is done by creating one path guide going from A to B and another one in the opposite lane going from B to A.

To create a path guide, you must first create a number of robot positions that act as waypoints on the map. The positions must be placed on the path in succession, and they must be oriented in the driving direction.

When the positions are made, you create the path guide. A path guide consists of one or more start positions, one or more goal positions, and a number of waypoints in between. You may use the same path to go between more start and goal positions.

4. Setup

When you set up missions that include positions used as start and end positions, the robot will automatically use the path guide.

Two examples

The following two examples illustrate how robots avoid planning around each other every time they pass while crossing the production hall.

Example 1 Example 2

Path guide 1: south to north Path guide 2: north to south

Path guide 1 forces the robot to follow one lane going south to north, and Path guide 2 forces the robot to follow another lane going north to south. The same two positions are used for start and end positions but reversed in the two path guides.

4. Setup

Create a path guide

To create a path guide, first enter a name for the path guide and select the map it should belong to. After selecting Create path guide, you are directed to the section where you select start and goal positions as well as the waypoints that make up the path guide between them.

• Add start

Select one or more start positions for this path guide.

• Add waypoint

Select the waypoints created for this path guide. The waypoints must point in the driving direction.

• Add goal

Select one or more end positions for this path guide.

4. Setup

Delete path guide

You can delete path guides that are created by you or another member of the user group you belong to.

Select Delete next to the path guide you want to delete. In the next dialog box, select

Delete path guide to delete the path guide.

4.8 Marker types

To set up the robot for lifting, moving, and placing shelves or tables, marker types with unique names and dimensions must be set up in the robot interface. This will enable the robot to dock and undock correctly.

If necessary, contact your distributor for the guide How to create and dock to V-markers, VL-markers, L-markers, and Bar-markers.

Create marker type

To create a marker type, you must first select if it is a Bar shelf marker or a Leg shelf

marker.

Bar shelf markers are used for MiR100 and MiR200 robots.

Leg shelf markers are used for MiR250, MiR500, and MiR1000 robots.

4. Setup

After selecting the marker type, you must enter the dimensions of the shelf plus positional offsets, which the robot uses to fine-adjust its position when docking to the shelf.

• Name

Enter a name for the marker type.

Marker types are used in missions to define pick up and place shelf actions.

The marker type name must be unique and is used to identify the marker type.

Mobile Industrial Robots Robot interface Reference Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1. About this document

1.1 Where to find more information

1.2 Version history

2.1 Signing in

3. Dashboards

3.1 Dashboards

3.2 Widgets

4. Setup

4.1 Missions

4.2 Maps

4.3 Sounds

4.4 Transitions

4.5 I/O modules

4.6 Paths

4.7 Path guides

4.8 Marker types