MIR MiR100 Technical Documentation Manual
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MIR MiR100 Technical Documentation Manual

Ur interface
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See also: Operating Manual , User Manual
MiR100 UR Interface
Technical Documentation
Version 1.2
Software release 1.7
Release date: 26.09.2016

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Summary of Contents for MIR MiR100

  • Page 1 MiR100 UR Interface Technical Documentation Version 1.2 Software release 1.7 Release date: 26.09.2016...
  • Page 2 MiR100 UR Interface Technical Documentation Copyright Mobile Industrial Robots 2016 Page 2 of 17...

  • Page 3: Table Of Contents

    Table of contents Introduction ..............................4 Connecting MiR100 and UR Robot ........................4 Preconditions ............................4 Connecting MiR100 to the UR robot ......................4 Safety connections ........................... 5 Connecting the Ethernet cable ......................... 6 Handling the application ..........................7 Starting the robot ............................. 7 Creating a new program ...........................

  • Page 4: Introduction

    The MiR UR Interface offers a simple way of interaction between a MiR100 and one robot arm from Universal Robots mounted on the MiR. It is possible to run specific UR programs at certain points in a mission while the MiR100 is standing still.

  • Page 5: Safety Connections

    1. Connect the positive input of the relay to the Q4 output of the safety PLC of the MiR. 2. Connect the negative input of the relay to any free port on connectors 18, 19 or 20 on the MiR (see Figure 1 Connecting the MiR100).

  • Page 6: Connecting The Ethernet Cable

    At the base of the UR robot’s gray controller cabinet, you’ll find an Ethernet port. Connect a standard RJ-45 Ethernet cable here. Connect the other end of the cable to the application interface on top of the MiR100. Figure 4 Connecting Ethernet cable to UR robot (1) and MiR100 (2)

  • Page 7: Handling The Application

    MiR100 UR Interface Technical Documentation 3 Handling the application 3.1 Starting the robot Step Instruction Illustration Make sure the UR control box is connected to power (see previous chapter). Start the UR, by pushing the green on/off button on the UR touchscreen.
  • Page 8 MiR100 UR Interface Technical Documentation Step Instruction Illustration Click "START". You will hear a few clicking sounds letting you know when the brakes are releasing. The UR is now initialized. Click the "OK" button to continue. Copyright Mobile Industrial Robots 2016...

  • Page 9: Creating A New Program

    Robot” to go to a menu where you create a program. Choose either ‘Pick and Place’ or ‘Empty Program’. When used with a MiR100 robot, make sure to uncheck ‘Program Loops Forever’ before you save the UR program. Copyright Mobile Industrial Robots 2016...

  • Page 10: Loading Robot Program

    Make sure that the given UR program (URP file) is collision free and does not reach limitation in joint configuration which can tilt the MiR100. It is the user’s responsibility to ensure this. Copyright Mobile Industrial Robots 2016 Page 10 of 17...
  • Page 11 MiR100 UR Interface Technical Documentation Step Instruction Illustration 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, click the small play icon at the bottom of the screen.
  • Page 12 MiR100 UR Interface Technical Documentation Step Instruction Illustration The program returns to the “Run screen” where you can click on the play icon again to test the loaded program. The program will now execute – moving the joints of the UR at regular speed.

  • Page 13: Network Settings

    MiR100 UR Interface Technical Documentation 3.4 Network settings The IP address of the UR robot must be entered in the UR network settings. This is done via the touchscreen of the UR under "Setup robot" > "Setup network". The static IP address should be in the range of 192.168.12.XX, where XX is a number from 50-99.

  • Page 14: Using A Universal Robot With Mir

    4 Using a Universal Robot with MiR 4.1 Enabling Universal Robot features To be able to use the UR robot while running a MiR100 mission, a “UR” feature must be enabled in the MiR100 Web interface. This feature is disabled as factory default.

  • Page 15: Connecting To Universal Robot

    MiR100 UR Interface Technical Documentation 4.2 Connecting to Universal Robot To be able to run a UR program through the MiR you must connect the UR to the MiR by setting up the UR’s IP address in the Web interface.

  • Page 16: Create Mission With Universal Robot Actions

    4.3 Create mission with Universal Robot actions To run a UR program through the MiR, 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 17: Frequently Asked Questions

    MiR100 UR Interface Technical Documentation 5 Frequently Asked Questions Question: The program on the UR robot seems to continue over and over, and the MiR100 doesn’t move. What can I do? Answer: You have to make sure that the UR program is not set to “Loop Program Forever”.

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