MIR MiR100 Operating Manual
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MIR MiR100 Operating Manual

Ur interface
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MiR100/MiR200 UR Interface
Operating Guide
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11/2018 v2.0

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Summary of Contents for MIR MiR100

  • Page 1 MiR100/MiR200 UR Interface Operating Guide 11/2018 v2.0...
  • Page 2 All rights reserved. No parts of this manual may be reproduced in any form without the express written permission of Mobile Industrial Robots ApS (MiR). MiR makes no warranties, express or implied, in respect of this document or its contents. In addition, the contents of the document is subject to change without prior notice.

  • Page 3: Table Of Contents

    3.2 2 Safety ....................... 7 3.2 3 Communication ..................... 10 4 Communication interface ....................13 4.1 Introduction......................13 4.2 MiR master ....................... 13 4.2 1 When to use....................13 4.2 2 Mission flow....................13 4.2 3 Configuration ....................14 4.2 4 Mission example .................... 17 5 Setup of the applications....................

  • Page 5: About This Manual

    This operating guide describes how to integrate a MiR100/MiR200 with a Universal Robots arm mounted on top. The MiR UR Interface offers a simple way of interaction between a MiR100/MiR200 and one robot arm from Universal Robots mounted on a MiR100/MiR200. It is possible to control the UR from the MiR100/MiR200.

  • Page 6: Mechanical

    Considering the many different configurations available to mount a UR Robot arm on top of a MiR100/MiR200, it is the user’s responsibility to find a suitable bracket for the solution. We suggest using a manufacturing platform dedicated to machine design such as VENTION (https://www.vention.io/designs/7586).

  • Page 7: Docking

    Mechanical 2.2 Docking To improve the precision of the MiR100/MiR200 positioning, use a VL-marker at the stations where the UR Robot arm performs an action. Figure 2.2. Use a VL-marker to position MiR100/MiR200 correctly. 2.3 Cable management To pass through the power, safety and communication cables, a hole must be drilled in MiR100/MiR200’s top cover.

  • Page 8: Electrical

    3.1.1 MiR MiR100/MiR200 must be equipped with two batteries when powering a UR Robot arm. When ordering MiR100/MiR200, you can choose the option with two batteries or contact your MiR representative to order a second battery (MiR100/MiR200 - Part number: 450029).

  • Page 9: Wiring Diagram

    Figure 3.1. Complete wiring diagram. 3.2.1 Power MiR100/MiR200 outputs a maximum of 24V DC - 20A continuously. The UR Robot arm and other accessories can be connected directly to MiR100/MiR200’s power system. Do not run a program that requires more power than the batteries can supply.
  • Page 10 Electrical The terminal rail of MiR100/MiR200 has extra ports where the UR Robot arm can be connected, see picture below. The Power connection diagram can be found at the end of this section. 1. Connect the UR +V Power cable to any of the free ports in the terminal labeled 1.

  • Page 11: Safety

    Perform a risk assessment for the complete robot system, before powering on the robots. Depending on the application and risk assessment, the UR Robot arm shall be brought to a • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 12 MiR: 1. Connect the relay’s positive input to MiR100/MiR200’s Q4 safety PLC output. 2. Connect the relay’s negative input to any free port on MiR100/MiR200’s connectors 18, 19 or 20 (see picture on page 6). 1. Remove the two jumpers connected to the Safeguard Stop Safety signals on the SCB.
  • Page 13 MiR: 1. Connect the relay’s positive input to MiR100/MiR200’s Q4 safety PLC output. 2. Connect the relay’s negative input to any free port on MiR100/MiR200’s connectors 18, 19 or 20 (see picture on page 6). 1. Remove the two jumpers connected to the Emergency Stop Safety signals on the SCB.

  • Page 14: Communication

    Electrical Figure 3.3. Wiring diagram - Safety. 3.2.3 Communication Connect an Ethernet cable between MiR100/MiR200 and UR robots. The corresponding robots’ RJ-45 port location are shown below. UR e-Series and UR CB-Series • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 •...
  • Page 15 Electrical MiR100/MiR200 Figure 3.4. Wiring diagram - Communication. Setting the IP MiR100/MiR200’s internal IP Address is: 192.168.12.20 of the UR • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 16 The UR static IP address should be in the range of 192.168.12.XXX, where XXX is a number from 100- 255. The Subnet must be set to 255.255.255.0. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 17: Communication Interface

    • • • • • • 4.1 Introduction The different Ethernet-based communication options available to connect the two robots are summarized on the table below. Refer to the MiR master on page 13 section to select the appropriate protocol. TCP/IP...

  • Page 18: Configuration

    Enable Remote Control. c. In the upper right corner there is an icon that looks like the controller. Select this and then select Remote Control. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 19 Now you have set the UR Robot arm to only take input from external devices. Look at the upper right corner. It should change from: To this: • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 20 Click Save changes. Step 3 In the MiR Robot interface go to: System > Settings > UR interface. Enter the IP of the UR Robot arm. See the network settings for the UR Robot arm under Electrical on page 4.

  • Page 21: Mission Example

    Communication interface 4.2.4 Mission example This is an example of a mission with a UR Robot arm in the MiR Robot interface. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 22: Setup Of The Applications

    5.1 MiR 5.1.1 Create mission with Universal Robots actions To run a UR program through MiR100/MiR200, you must set up a mission that contains the action Run UR program. Remember to verify that the correct UR program has been successfully loaded.

  • Page 23: Preparing The Universal Robot Arm Before Use

    Make sure the UR control box is connected to power (see Electrical on page 4). Start the UR by pushing the on/off button on the UR touchscreen. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 24 When the UR touchscreen starts up, select the red button in the lower left corner. Select the ON button to change screen state to Robot Active. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 25 Select START. You will hear a few clicking sounds letting you know when the brakes are releasing. The UR Robot arm is now initialized. Select the Exit button to continue. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 26: Creating A New Program

    5.2.2 Creating a new program Step Action From the main menu select Program to go to a menu where you create a program. Here you have an empty program. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 27 Please follow the UR manual for creating programs. The following is an example of how to make a program. When used with a MiR robot, make sure to deselect Program Loops Forever before you save the UR program.
  • Page 28 Save the program. Select Save > Save Program As. Name your program and remember this for later. You will need to input this program name to MiR100/MiR200 to be able to execute this UR program from the MiR mission. •...

  • Page 29: Loading Robot Program

    Setup of the applications 5.2.3 Loading robot program Step Action From the main menu choose Load Program. Select the program you want to execute and select Open • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 30 The program has loaded, but it will not execute until the robot has been set to the initial position of the program. In order to do so, select the play icon at the bottom of the screen. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 31 Once the robot is in position it will show a big Play. WARNING! Stand clear of the robot when you press Play. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 32 Make sure, that the UR program does not loop. Make sure, that the first and last joint configurations are the same. Otherwise the screen will go into Set Robot in position. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 33: Network Settings

    The IP address of the UR Robot arm is displayed in the UR network settings. This is done via the touchscreen of the UR by pressing the three horizontal stripes in the upper right corner. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 34: Make The Ur Robot Arm Take External Input

    When you are done with the editing and the UR Robot arm is ready to operate, you must enable the UR to take an external input to start programs. Go to Setting. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 35 In the upper right corner there is an icon that looks like the controller. Select this and press Remote Control. Now you have set the UR to only look for input from external devices. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 36 Setup of the applications Step Action Look at the corner in the upper right corner. It should change from: To this: Restart the UR for this to work. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 37: Shutting Down The Robot

    (Please be aware that holding the power button down for a few seconds will force an improper shutdown.) You’ll be prompted on the screen to confirm shutdown of the system. Select the Shutdown Robot button, and the robot will power down. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 38: Ur Cb Series - Handling The Application

    Make sure the UR control box is connected to power (see Electrical on page 4). Start the UR Robot arm by selecting the on/off button on the UR touchscreen. When the UR touchscreen starts up, select Go to initialization screen. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 39 Select START. A few clicking sounds will sound when the brakes are releasing. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 40: Creating A New Program

    The UR Robot arm is now initialized. Select the OK button to continue. 5.3.2 Creating a new program Step Action From the main menu select Program Robot to go to a menu where you create a program. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 41 Setup of the applications Step Action Choose either Pick and Place or Empty Program. When used with a MiR100/MiR200, make sure to deselect Program Loops Forever before you save the UR program.. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 •...

  • Page 42: Loading Robot Program

    Setup of the applications 5.3.3 Loading robot program Step Action From the main menu select Program Robot. Select Load Program. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 43 The program has loaded, but it will not execute until the UR Robot arm has been set to the initial position of the program. In order to do so, select the play icon at the bottom of the screen. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 44 Select the OK button in the lower right hand corner of the screen when the UR Robot arm is in the initial position. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 45 Make sure, that the UR program does not loop. Make sure, that the first and last joint configuration are the same. Otherwise the screen will go into Set Robot in position. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

  • Page 46: Network Settings

    To shut down the UR Robot arm, simply push the power button on the touchscreen once. (Please be aware that holding the power button down for a few seconds will force an improper shutdown.) • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...
  • Page 47 You will be prompted on the screen to confirm shutdown of the system. Select the Shutdown Robot button, and the UR Robot arm will power down. • • • MiR / UR Interface Operating Guide 11/2018 v.2.0 • • •...

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