====== Magnetic markers ======

The cleaning process requires magnetic position markers. These position markers (which can be S or U shaped) are placed in a brackets, mounted on the house equipment before the cleaning process takes place. The robot reaches the markers during the cleaning process and position information is transferred to the computer. Different shapes of the markers are necessary depending on the width of the aisle and height of the walls in the aisle (see table below).

More information on [[:prog:basics_explaining_different_concepts#markers|how to use the markers can be found via this link. ]]

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===== Types =====

|**MAGNETIC MARKERS**   |**PART NO**   |**DxWxH [mm]**   |**AISLE WIDTH**   |**AISLE WALL HEIGHT**   |**DESCRIPTION**   |
|EVO marker S form short  |32026  |25×25×250  |80 cm or narrower  |74 cm or lower  |Installed standing in bracket where aisle width is limited.  |
|EVO marker S form  |32030  |130×25×250  |81 cm or wider  |74 cm or lower  |Installed standing in bracket.  |
|EVO marker U form  |32040  |130×25×210  |81 cm or wider  |75 cm or higher  |Installed hanging in bracket.  |

|**FITTINGS**   |**PART NO**   |**DxWxH [mm]**   |**DESCRIPTION**   |
|Marker bracket  |30000  |7x58x58  |Mounted permanently with screws (<M9) or clamps in the aisle.  |
|Tube clamp 35 mm  |30010  |Ø35  |For simple mounting of the marker brackets if there are usable pipes in the interior.  |
|Tube clamp 45 mm  |30020  |Ø45  |For simple mounting of the marker brackets if there are usable pipes in the interior.  |

{{:parts:markers.png?nolink&379x254}}\\
 //EVO marker U form, S form and S form short.//

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===== Marker placement examples =====

OBS: Do not mount markers so they get inte contact with metal. This may spread the magentism and disorient the robot. This is most relevant for Short S-markers.

==== Finishers/Weaning ====

Place a marker at every dividing wall. The pen (both right and left side) after the marker are associated with the marker, generally speaking.

{{:parts:markerplacement.png?nolink&200x361}}

==== Farrowing ====

Place one marker at every second dividing wall (if you have mirror flipped pens like the example below). The two pens (on right and left side) after the marker are associated with the marker, generally speaking.

{{:parts:markerplacementfarrowing.png?nolink&210x356}}

==== Distance ====

Since the markers are used to correct robot position it's important that the distance is not too long inbetween. Especially in difficult aisles with slippery floor or troublesome obstacles. It could for example be advantageous to use one marker per pen in farrowing or one marker per pen in finishing if the pens are much longer/wider than 3 meters.