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Mobile Industrial Robots MiR Series Troubleshooting Manual

Error codes and solutions
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Error codes and solutions
Troubleshooting guide (en)
Date: 07/2020
Revision: 1.1
Valid for: All MiR robots

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Summary of Contents for Mobile Industrial Robots MiR Series

  • Page 1 Error codes and solutions Troubleshooting guide (en) Date: 07/2020 Revision: 1.1 Valid for: All MiR robots...
  • Page 2 Distributor site to see if the issue you are experiencing is described there. Otherwise, contact Technical Support for assistance with your case. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 3 Disconnect the battery in the steps where it is not necessary for the robot to be active. • Only qualified personnel may perform the steps in this troubleshooting guide. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 4: Contacting Technical Support

    In your support request, describe the problem you are experiencing and your observations for each step in the guide you have completed. To document this, download the troubleshooting documentation sheet with the same title as this guide from the Distributor site. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 5 It is important that the error log is generated as described in the guide How to generate an error log found on the Distributor site. To assist Technical Support further, include any reported error codes, images, or videos of the issue. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 6 Cables are occasionally labeled incorrectly or are missing labels. To locate the correct cable, it is a good idea to refer to the images shown in the guide or the wiring diagrams found on the Distributor site. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 7 An issue has occurred in Reboot the robot. If this does not solve ethernet error. the robot computer. the issue, contact Technical Support. adapter found" Can resolve itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 8 If the wire is Missing management system is correctly connected and the issue Can resolve charging status faulty. persists, replace the wire or the MiR itself. message" board. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 9 MiR board Can resolve MCU" (see Figure 1.1 and Figure 1.2). If the itself. cable is correctly connected, try to replace the cable or the MiR board. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 10 If the issue persists, execute a Can resolve failed" software update. USB restore. See the guide How to USB itself. restore MiR100/MiR200, found on the Distributor site. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 11 If the issue persists, you can also Requires modify the threshold for stall detection interaction. in the robot interface under System > Settings > Motor controller> Advanced settings. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 12 Unable to connect to motor controller!" 712, Hardware See error 710, "MIR100/200 error. "MIR100/200 Motor Motor Controller: Initialization Can resolve Controller: Lost failed!" above. itself. connection to motor controller!" Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 13 MiRHook. Wait until the Can resolve software has completely finished itself. uploading. This may take a few minutes. 850, "Uploading Hardware See the error above. Firmware" error. Can resolve itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 14 910, "Camera Hardware See error 5101, "Unable (realsense error. to connect to camera." <R200/D435>): page 17. Can resolve Lost connection itself. to camera. No data for xx seconds." Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 15 Go back to the 3D camera (etc)" setttings, and swap the two serial numbers. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 16 Requires The serial that do not display any serial numbers. interaction. number is not configured for this camera!" Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 17 (OpenNI): Waiting for connection is camera." communicate to one of taking longer than expected!" on Can resolve the 3D cameras. page 14. itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 18 5211, "Hook Hardware See error 5210, "Hook controller: error. controller: Initialization Unable to failed!" above. Can resolve connect to itself. motor controller!" Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 19 Safety on page 3 Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 20 No Safety on page 3. Stall detected" encoder ticks have been Can resolve detected while a large itself. amount of motor power has been applied. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 21 See the solution description above. brake : Lost error. between the hook connection to computer and one of the Can resolve motor motor controllers was itself. controller!" lost. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 22 Distributor site to see if diagnostics which diagnostics any of them describe the situation you messages message is missing. are experiencing. If not, contact missing)" Technical Support. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 23 Consider adding a Try/Catch action to provide the robot with an alternative action if the attempted action failed. This will prevent the error from appearing in future cases. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 24 If you cannot find the issue, open the mission editor and save the mission again, or save a copy of the mission and run the copy instead. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 25 Refer to the how-to guide How to replace the Safety laser scanner front and rear USB cables for a description of how the cables should be installed and where they connect. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 26 The motor controller is 10701, "Left motor encoder signal motor encoder error. missing a connection to missing!" above. signal missing!" the right side motor Can resolve encoder. itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 27 If the controller in on, try to replace with the the Ethernet cable connecting the Raspberry Pi of controller to the robot computer. the precision docking " Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 28 An issue has occurred in Reboot the robot. If this does not ethernet adapter error. the robot computer. solve the issue, contact Technical found" Support. Can resolve itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 29 CAN bus itself. available." connection is across the wires from pin P2, S1, and S2 on the battery and J10-64, J10-72, and J10-69 on the power board connector. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 30 910, "Camera Hardware See error 5101, "Unable (realsense error. to connect to camera." D435): Lost page 39. Can resolve connection to itself. camera. No data for xx seconds.." Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 31 (etc)" numbers between the right and left side camera. Go back to the 3D camera setttings, and swap the two serial numbers. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 32 (MIR500/1000) error. detected a fault in the Troubleshoot MiR500/MiR1000 going Robot is in robot. in to Protective stop due to safety Can resolve Emergency stop: system error. itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 33 Replace the power board. Refer to monitor: error. detected in the power the how-to guide How to replace the HWRevision" board. power board on MiR500/MiR1000. Can resolve itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 34 (40- power board. If the fault persists, Can resolve 55 V). replace the power board. itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 35 Can resolve itself. 2112, "Voltage Hardware The 19 V power supply See the solution in 2111, "Voltage monitor: 19V" error. is faulty. monitor: 12V" above. Can resolve itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 36 Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 37 2204, "Can Bus Hardware The CAN bus connection See solution description above. Error: Left error. to the left side motor MotorController" controller is faulty. Can resolve itself. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 38 Error: Proximity error. sensor/Light Can resolve controller: Back itself. Right" 2210, "Can Bus Hardware See error above. Error: Proximity error. sensor/Light Can resolve controller: Right itself. side Back" Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 39 If you are still not able to connect to the camera, replace the camera. If you were able to connect to the camera, replace the robot computer. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 40 The reason for the with an alternative action if the failure is described in attempted action failed. This will the error code text. prevent the error from appearing in future cases. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 41 Try/Catch action to provide interaction. '<position_ obstacle. the robot with an alternative action if name>'" the attempted action failed. This will prevent the error from appearing in future cases. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 42 TO fix this refer to the article Guide to gear ratios on MiR robots found under Articles on the Distributor site. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 43 If the issue persists, you can also Hardware modify the threshold for stall error. detection in the robot interface under System > Settings > Error handling Requires > Advanced settings. interaction. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 44 Try swapping the encoder cables, motor encoder error. wrong way relative to CAB-23 and CAB-75 (see Figure 1.9), reversed!" the encoder. connected to the motor controller Requires carrier board. interaction. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 45 Requires interaction. Hardware error. Requires interaction. 10712, "Right Hardware See error 10702, "Left motor encoder error. motor encoder reversed!" reversed!" on the Requires previous page. interaction. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 46: Reference Images

    Reference images MiR100/MiR200 Figure 1.1. Power light on MiR board. The top left USB connector connects the board to the robot computer. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 47 Figure 1.2. Robot computer USB connections Label no. Description Label no. Description Connects to front laser scanner Connects to rear laser scanner Connects to MiR board Connects to 3D camera Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 48 Figure 1.3. Router and its inputs Label no. Description Label no. Description Connects to the robot computer Connects to safety PLC Connects to top application Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 49 Figure 1.4. Motor controller LED Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 50 Figure 1.5. MiR Hook 100/MiR Hook 200 internal components Label no. Description Label no. Description Fuse box DC/DC-USB Top application power interface Hook computer Encoder connections Activator motor controller Encoder connections Brake motor controller Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 51 MiR500/MiR1000 Figure 1.6. CAB-30 from the battery Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 52 Figure 1.7. Front and rear laser scanner respectively. The black cable are the power cables CAB-012 and CAB-013, and the blue cable are the connection cables CAB-010 and CAB-011. The rear scanner connects to the front through CAB-011, and the front connects to the safety PLC through CAB-010. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 53 CAB-013: Rear laser scanner power CAB-018: Router and computer power CAB-071: Speaker Audio for computer CAB-019: Ethernet connection to router CAB-017: Motor controller carrier board power CAB-041: Top application via STO relays power Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 54 CAB-067: On/Off swith power. CAB-014: CAN bus connection to motor CAB-066: Pendant controller carrier board Unused CAB-027 Figure 1.8. Power board sockets Figure 1.9. Motor controller carrier board sockets connections Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 55 CAB-023: Left motor encoder CAB-015: Motion controller module CAB-01: CAN bus connection to CAB-075: Right motor encoder proximity sensors CAB-074: Brake power CAB-077: Right Hall sensor CAB-025 RIGHT: Right feedback Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 56: Document History

    Document history Version Date Description 2019-11-11 First edition. 2020-07-23 Added description of error code types. Added error 13000. Added errors 10711 and 10701 to MiR100/MiR200 list. Decreased side margins. Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.