Docking keeps retrying

The robot fails to dock at the charging station and keeps trying again. In most cases the marker is not visible; the next most common cause is an alignment offset.

First checks

• Confirm the robot is within 3 m of the docking station.
• Confirm the robot's front or rear camera is facing the docking station.
• Check the marker on the docking station for obstructions, dirt or water.
• Confirm the docking station is powered.

The marker is not recognized

Cause: Docking works by locating the marker on the docking station. Recognition fails if any of the following applies.

• The distance is more than 3 m.
• Only part of the marker is visible. The marker is a group of several patterns on one board, and enough of them must be fully visible for the pose to be computed.
• The marker is hard to see because of shade, backlight or reflections.

Fix:

1. Move the robot within 3 m, in front of the docking station.
2. Clean the marker surface and remove anything blocking it.
3. If there is direct sunlight or strong reflection, change the lighting or move the station.
4. Start docking again.

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NOTE

Do not move the robot by hand while docking. The docking station must also be fixed to the floor.

The marker is recognized but the alignment is off

Cause: The robot reaches the front of the docking station but is slightly out of position laterally or front-to-back. The alignment offsets need adjusting.

Fix: Adjust Offset X and Offset Y following Adjusting the docking parameters below.

Adjusting the docking parameters

The alignment offsets and retry counts can be viewed and changed under Robot settings → Calibration → Docking calibration in the app.

Preparation

• Move the robot to a place where docking can be tested.
• Keep the surrounding area clear of obstacles.
• The app must be connected to the robot.

Procedure

1. Open Robot settings → Calibration in the app and scroll down to Docking calibration. The current values load automatically when you enter the screen; press Reload to read them again.
2. Edit the values that are off.
3. Press Apply to store them on the robot. The screen refreshes with the values the robot actually accepted and shows Applied (re-confirmed with robot values).
4. Repeat steps 2–3 until docking is stable.
5. Once adjusted, use the docking function as usual.

To restore the originals press Defaults — it only fills the fields with the factory values, so you still have to press Apply to store them on the robot.

Adjustable parameters

Item	Meaning	Default
Offset X (m)	Position correction along the robot's X axis	—
Offset Y (m)	Position correction along the robot's Y axis	—
Req Count	Upper limit on consecutive failed responses when requesting the marker (charger) pose	300
Try Count	How many times docking is retried after a failure	10

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CAUTION

Raising the retry counts is not a real fix. If the marker cannot be seen, a higher count only repeats the failure for longer. Check the recognition conditions above first.

Still stuck?

Open Logs → Real Time, start docking and read the messages that appear. Phrases such as Marker Not Found or too far are useful to include.

See Charging for docking station installation requirements.

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