MIR MiR Hook 100 TM, Руководство по эксплуатации

Страница: 23 / 32

•
•
•
•
•
•
Set up MiRHook
MiRHook User Guide, Robot Interface 2.0, 02/2019 v.1.9 15
4. Select OK .
9.6 Calibrate a specific cart in the MiR system
The next step is to calibrate the relation between MiRHook and the cart. In the Manual control
menu under Hook you must now enter values into the Change height field to define Entry and Lock
heights for the hook to use when docking to and gripping a cart.
When a value is entered in Change height and the button is pressed, the Hook will move up or down
depending on the chosen value (see Figure 8). The value represents the height from the bottom of
the Hook to the ground (mm).
1. First, insert a height which enables the Hook to go underneath the cart. Remember this
value as Entry height , for later use.
2. Place the cart over MiRHook 100 / MiRHook 200.
3. Now enter a height which enables the hook to grip the bottom frame (gripper bar) without
lifting or pushing the cart. This step may require some trial and error until you have the correct
height. When done, remember this value as
Lock height .
4. Change the height back to Entry height and make sure the cart is still positioned over MiRHook
100 / MiRHook 200.