6. Commissioning
MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
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CAUTION
If you want to dock and/or undock to the shelf from both ends, or if you want
to undock the shelf by going forward, the operating hazard zone needs to be of
equal size on both ends of the shelf.
Required free space
This section describes the required free space around a shelf to ensure that the robot with
MiR Shelf Lift can dock to it.
It is the commissioner's responsibility to ensure an installation that functions, so the
commissioner must be aware that:
•
The required space varies between specific local environments.
•
The size and material of the obstacles surrounding the shelf influence the docking
procedure.
•
The more free space the robot has in front of the shelf, the closer the shelf can be placed
to other obstacles.
The required free space for a successful docking is indicated in
with the black
dashed line.
NOTICE
The space required for a successful docking can be larger than the operating
hazard zone.
Multiple shelves
If you have multiple shelves next to each other, it is important to place the shelves with
enough space between them to ensure a correct docking procedure.
Between every shelf, there must be at least 600 mm of free space and an additional 700 mm
space to the nearest obstacle behind the shelf, as shown in
Multiple shelves using VL-markers
However, if you use VL-markers, shelves can be placed significantly closer to other shelves
or obstacles: 150 mm on both sides and behind the shelf.