MIR MiR100 Precision Docking Operating Manual
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MIR MiR100 Precision Docking Operating Manual

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Operating guide (en)
Date: 2019/11
Revision: v.1.2

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Summary of Contents for MIR MiR100 Precision Docking

  • Page 1 Operating guide (en) Date: 2019/11 Revision: v.1.2...
  • Page 2 Copyright © 2019 by Mobile Industrial Robots A/S. Contact the manufacturer: Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ www.mir-robots.com Phone: +45 20 377 577 Email: support@mir-robots.com CVR: 35251235 MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 3: Table Of Contents

    6.1 Regular monthly checks and maintenance tasks 7. Troubleshooting 7.1 The robot does not dock or undock correctly 7.2 The precision docking marker is not available 7.3 Other issues MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 4: About This Document

    1. About this document 1. About this document This guide describes how to set up and use MiR Precision Docking. It includes information regarding safe usage, mounting of the MiR Precision Docking station, how to operate MiR Precision Docking, and how to create missions that use the precision docking features.

  • Page 5: Version History

    This table shows latest and previous versions of this document and their interrelations with product software releases. Revision Release Date Description 2019-18-08 First edition 2.7.0 2019-27-09 Added chapter Maintenance on 2.7.0 page 22. 2019-11-13 Small corrections 2.7.0 MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 6: Safety

    Alerts against unsafe practices. Carefully read the message that follows to prevent minor or moderate injury. NOTICE Indicates important information, including situations that can result in damage to equipment or property. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 7: General Safety Precautions

    Risk of injury if you insert fingers inside the precision mounting holes of MiR Precision Docking. • Do not insert your fingers in the precision mounting holes while the robot is MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 8: Product Presentation

    MiR100/MiR200 to dock with a precision of ±1 mm left and right, and ±1 mm in depth. This is illustrated in Figure 3.1. Figure 3.1. A MiR robot can dock with a precision of less than 1 mm in horizontal directions when using MiR Precision Docking.

  • Page 9: Internal Parts

    The robot part is shown in Figure 3.3. The internal unit is located at the front of the robot beneath the robot's cover. Figure 3.3. The robot part before it is installed in MiR100/MiR200. Label Description Label Description Precision holes Internal unit MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 10: Getting Started

    MiR Precision Docking consists of two parts: a robot part and a station. NOTICE The part mounted to the MiR robot is fitted in the MiR factory and should not be modified manually. Figure 4.1 is an illustration of the mountable station with precision pins. There are three mounting holes that enable you to fix it to walls or other structures.
  • Page 11 Figure 4.2 describes the distances between the three mounting holes. For the MiR robot to dock correctly, the surface the station is mounted to must be plane and perpendicular to the floor surface the robot drives on.
  • Page 12 Place the station back in the desired mounting position, and screw in three bolts through the mounting holes to fix the station to the wall. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 13: Usage

    5. Usage 5. Usage Before being able to use MiR Precision Docking, you must enable the feature on the robot with the mounted precision holes. In the map editor, it is then possible to create precision docking markers that can be used in missions. This section describes how to enable MiR Precision Docking and then use it in missions.
  • Page 14 Once the robot is localized, it is possible to insert a precision docking marker correctly on the map using the following steps: Manually drive the robot so its front is facing the MiR Precision Docking station and is within one meter from it.
  • Page 15 5. Usage In the Edit marker dialog box, enter a name for the marker and select Type > Precision marker. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 16 Try to move the robot closer to the station, and ensure that the front safety laser scanner is positioned in front of the VL-marker of the station. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 17 When docking the first time, closely supervise the robot, and stop it immediately if it becomes clear that the pins and holes will not align in the docking. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 18: Creating A Precision Docking Mission

    5.3 Creating a precision docking mission This section describes how to create a mission that makes a MiR robot autonomously dock to a MiR Precision Docking station. The procedure is identical to any other case where the robot must dock to a marker, the only difference is that a precision docking station is chosen.
  • Page 19 The next steps describe how to set the parameters of the chosen mission actions. To set the parameters of each action, open the action dialog box by selecting the gearwheel icon of the action in question. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 20 In this mission example, the robot is set to wait a specified time at the docking station. It is also possible to use other actions, such as user prompts or output from I/O modules to determine when the robot must undock. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 21 Do not step in front of the robot, and keep a safe distance from the docking station. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 22: Maintenance

    Check regularly for damage on both the precision docking station and the robot part. If any damage is visible, do not operate MiR Precision Docking until the damaged part is replaced. 6.1 Regular monthly checks and maintenance tasks MiR Precision Docking requires regular lubrication of certain parts to function optimally.
  • Page 23 Disconnect the three cables that connect to the internal precision docking robot part unit. Unscrew the single screw in the cover, and gently lift the cover off. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 24 Wipe away any overspray. Place the top cover back on the internal unit. Plug the cables back in, and place the cover back on the robot. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 25: Troubleshooting

    7.1 The robot does not dock or undock correctly If you are experiencing troubles with the robot docking to a MiR Precision Docking station, it is most likely due to the precision holes and pins not aligning correctly. It is important to keep in mind that with a precision of ±1 mm, it may take some time to configure the docking...

  • Page 26: Other Issues

    How to generate an error log for Technical Support and contact Technical support. The how-to guide is found on our Distributor site. MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S.

This manual is also suitable for:

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