**Alarm Code:**

13. Dist. before parking too short

**Context where the error occurs:**

To obtain a correct starting position for the cleaning robot, which is essential for repeatability, every parking position must be reached before ending the teaching process. Every movement is limited in the retracted position. The cause of this alarm is the parking movement of the tower, (turning). Parking the tower requires that the arm be completely retracted on parking; the boom must pass the centre line of the robot to the right. At this point, the parking movement takes place using a turn to the left. If the distance before the parking movement is too short to reach a correct position, this alarm appears. When acknowledging, the distance is reversed automatically. At this point the operator should turn the tower further to the right before attempting a new parking movement.