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--- prog:basics_explaining_different_concepts [2022/01/03 11:02] – user
+++ prog:basics_explaining_different_concepts [2024/05/21 04:54] (current) – [Markers] joachim
@@ Line 95: / Line 95: @@
 ==== Markers ====
-[[:parts:magnetic_markers|]] are the robot's references. They make the robot place itself correctly in the aisle. Markers shall be placed in the same place at each pen (see illustrations below). Preferably we want the markers to be placed between the pens, somewhere close to the wall which divides the pens. Imagine that the two pens (right side pen and left side pen) after the marker is connected to the marker (see illustrations below). If you have identical rooms, place the markers in the same position in every room to ensure that the robot is positioned correctly and avoids collisions. The markers main task is to repeat the programs you have made with the joystick.
+[[:parts:magnetic_markers|]] are the robot's references. They make the robot place itself correctly in the aisle. Markers shall be placed in the same place at each pen (see illustrations below). Preferably we want the markers to be placed between the pens, somewhere close to the wall which divides the pens. Imagine that the two pens (right side pen and left side pen) after the marker is connected to the marker (see illustrations below). If you have identical rooms, place the markers in the same position in every room to ensure that the robot is positioned correctly and avoids collisions. The markers main tasks is to repeat the programs you have made with the joystick and to position the robot correctly in the corridor.
+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.
 **Examples of marker placements in a weaning, finishing or similar room:** \\
-As seen in the two illustrations below. One room doesn't have a marker at the last pen but the other does. If your room has gates (or something else) in the aisle that are sticking out a couple centimeters from the wall, which leads up as an obstacle for the robots guidance wheels, then you should use a marker at the last pen. If there are obstacles in the aisle the robot could position itself incorrect due to slipping/spun drive wheels (too big obstacle for the guidance wheels to climb over). \\
+As seen in the two illustrations below. One room doesn't have a marker at the last pen but the other does. If your room has gates (or something else) in the aisle that are sticking out a couple centimeters from the wall, which leads up as an obstacle for the robots guidance wheels, then you should use a marker at the last pen. If there are obstacles in the aisle the robot could position itself incorrect due to slipping/spun drive wheels (too big obstacle for the guidance wheels to climb over).\\
-The markers are there as a reference, making it possible for the robot to reposition itself if something goes wrong in the positioning in the aisle. If the aisles wall, which the robots guidance wheels are facing, are even and smooth it is not necessary to use a marker at the last pen. Since the last pen needs a special program due to the outer wall/door that are in the way for the guidance wheel at the front. Those programs could nevertheless be thought from the marker before. \\
+The markers are there as a reference, making it possible for the robot to reposition itself if something goes wrong in the positioning in the aisle. If the aisles wall, which the robots guidance wheels are facing, are even and smooth it is not necessary to use a marker at the last pen. Since the last pen needs a special program due to the outer wall/door that are in the way for the guidance wheel at the front. Those programs could nevertheless be thought from the marker before.\\
 In the examples below, we can use the programs in the middle to all the pens in the middle. The markers makes it possible to repeat these by putting the programs in to a recipe.
 {{:prog:markerplacementandprogramteach-ins1.png?direct&300x539}}{{:prog:markerplacementandprogramteach-ins2.png?direct&300x539}}
- \\ **Example of marker placements in farrowing: ** \\
+\\
+**Example of marker placements in farrowing: ** \\
 A farrowing room has most often mirror flipped pens. This means that the robot needs to do a program for each unique pen and then repeat the same programs at next marker. This means the robot only needs a marker at every second wall. The robot will in this case repeat four programs at the markers in the middle.
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 Markers are magnetic and the robot has a [[:parts:comp_marker_switch|magnetic sensor]] to read the markers. The magnetic markers are only placed in the aisle during the automatic wash. Brackets are mounted permanently. The magnetic sensor must be within 10 cm from the markers, otherwise the sensor cannot read the markers.
-**[[:prog:virtual_markers|]]**  give you the ability to use fewer markers in those rooms where you have a very long aisle with many identical pens. This means that physical markers are placed at every other pen.
+**[[:prog:virtual_markers|]]** give you the ability to use fewer markers in those rooms where you have a very long aisle with many identical pens. This means that physical markers are placed at every other pen.
 [[:prog:virtual_markers|Read more about virtual markers here. ]]
+ <font 11.0pt/inherit;;inherit;;inherit>**You can only start a wash and teach programs to the robot from a physical marker.**</font>
-<font 11.0pt/inherit;;inherit;;inherit>**You can only start a wash and teach programs to the robot from a physical marker.**</font>
 Do not use the virtual marker feature if the pens are 280 cm and above wide. The robot can only reposition itself when it reads a physical marker. If the distance between the physical markers are too far there is a greater risk for [[:troubleshooting:no_alarm:robot_positions_incorrect|incorrect positioning]].
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 ==== Examples ====