MIR Charge 24V Operating Manual
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MIR Charge 24V Operating Manual

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Operating Guide (en)
Date: 06/2020
Revision: v.3.1

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Summary of Contents for MIR MiR Charge 24V

  • Page 1 Operating Guide (en) Date: 06/2020 Revision: v.3.1...
  • Page 2 Copyright © 2017-2020 by Mobile Industrial Robots A/S. Contact the manufacturer: Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ www.mobile-industrial-robots.com Phone: +45 20 377 577 Email: support@mir-robots.com CVR: 35251235 MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 3: Table Of Contents

    5.1 Setting charging station markers on the map 5.2 Creating the Charge at station mission 5.3 Creating the Recharge loop mission 5.4 Charging action parameters explained MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 4: About This Document

    1. About this document 1. About this document This operating guide explains how to install and take precautions for safe use of your MiR Charge 24V. This guide also contains information on how to set up MiR100 and MiR200 robots for automatic charging with MiR Charge 24V.

  • Page 5: Version History

    Release date Description 2019-07-31 First edition 2019-10-07 Small updates to the document 2019-11-13 Corrections and layout changes 2020-06-17 New chapter: Nameplate Small updates to the document MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: 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 Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 7: General Safety Precautions

    If MiR Charge 24V is used by children, they risk injury and electrical shock. • Children should be supervised to ensure that they do not play with the appliance. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 8 CAUTION The only intended use of MiR Charge 24V is to charge the internal battery of MiR100andMiR200 robots. Using it to charge other robot types or external batteries can damage MiR Charge 24V.
  • Page 9 • Personnel operating near the robot must be informed on how to engage the robot's Emergency stop function in emergency situations. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 10: Product Presentation

    MiR Fleet Getting Started Guide. 3.1 How charging works To connect to MiR Charge 24V, the robot moves to a position in front of the charging station to locate the VL-marker (1). It then moves forward to push the charging pins (2), and the charging begins.

  • Page 11: Guide To Light Indicator

    3.2 Guide to light indicator An LED light indicator is fixed on the top of MiR Charge 24V. The light indicator provides information regarding the charging status of the docked robot. Around the light indicator a sticker is placed to describe the main light operations.
  • Page 12 Fast green flashing (0.4 s on, 0.1 s off) state Charge complete Constant green Error Rapid amber flashing (0.5 s on, 0.5 s off) Fault Constant red MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 13: Nameplate

    3. Product presentation 3.3 Nameplate MiR Charge 24V is delivered with a nameplate mounted to the charger. The nameplate of MiR Charge 24V identifies the model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots.
  • Page 14 Serial number The 8-digit serial number is a unique identifier of the robot. The last four digits form part of the original name of the robot. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 15: Getting Started

    Read Safety on page 6 before powering up MiR Charge 24V. 4.1 In the box This section describes the content of the MiR Charge 24V box. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 16 NEMA 5-15P plug - for use in 110/120 V installations; (only delivers 50% of the max. rated charging power) • CEE 7/7 plug - for use in 230/240 V installations MiR document folder containing EC Declaration of Conformity. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 17: Installing And Powering Up

    We therefore recommend fixing it. Figure 4.1 and Figure 4.2 show the parts of MiR Charge 24V relevant for the installation and powering up. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 18 Figure 4.1. Front view of MiR Charge 24V Figure 4.2. Inside view of MiR Charge 24V Pos. Description Pos. Description Six front panel screws Air vent MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 19 Consider inserting wall plugs to ensure a secure mounting, in which case the drilled holes must accommodate the size of the chosen plugs. Place the MiR Charge 24V against the wall again in the desired position. Ensure that the drilled holes align with the M10 mounting holes.

  • Page 20: Mark Potentially Hazardous Floor Areas And Clear The Required Space

    4.3 Mark potentially hazardous floor areas and clear the required space Before taking your MiR Charge 24V into use, it is necessary to mark the area where MiR100/MiR200 docks to MiR Charge 24V as an operating hazard zone. Why marking is required When a robot approaches a charging station, it slows down, reducing the size of its protective field sets.
  • Page 21 Figure 4.3. The striped black and yellow line identifies the hazard zone around a charging station that should be marked with signal tape or similar marking. The dashed black line indicates the required minimum free space for the robot to dock successfully. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 22 If you have multiple charging stations lined up next to each other, it is important to place the chargers with at least 100 mm between them to ensure a safe and succesful docking. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 23: Usage

    5. Usage 5. Usage The most effective way to use MiR Charge 24V is to set up a mission for the robot to dock to the charger and recharge its battery when it is low on power. If you are using MiR Fleet, charging is handled autonomously, and you should not create charging missions.
  • Page 24 Once the robot is localized, it is possible to insert a charging station marker correctly on the map using the following steps: Manually drive the robot so its front is facing the MiR Charge 24V and is within one meter from it.
  • Page 25 5. Usage In the Create marker window, enter a name for the marker and select Type > MiRCharge100/200. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 26 The Detect-marker function tracks the position of the charging station using the V-marker and automatically sets the X, Y and Orientation values in the robot, enabling it to dock to the charging station. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 27 Try to move the robot closer to the charging station, and ensure that the front safety laser scanner is positioned in front of the V-marker of the charging station. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 28: Creating The Charge At Station Mission

    Setting charging station markers on the map on page 23. The goal of the mission is to make the robot dock to MiR Charge 24V and recharge its battery up to 40%. To create a new mission, go to Setup > Missions...
  • Page 29 For the Dock to action, under Marker, select Charger. This is the marker you created on the map in front of the charging station. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 30 In our example, there is no minimum time. When the battery reaches 40%, the charging is completed. To read more about the different Charging action combinations, see Charging action parameters explained on page 38. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 31 To test that the robot executes the mission correctly, you can try running the mission. NOTICE Always test missions without payload to minimize potential hazards. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 32: Creating The Recharge Loop Mission

    Position The goal of the mission is to make the robot drive between the three robot positions until it reaches a battery percentage below 20%, where it then docks to MiR Charge 24V and charges its battery up to 50%.
  • Page 33 Setup > Missions and select Create mission. Name the mission Recharge loop, and select a mission group and site. Select Create mission when you are done. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 34 When you have set the parameters, select Validate and close. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 35 • Compare: Select Battery Percentage. • Operator: Select >= (greater than or equal to). • Value: Type 20. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 36 For the three Move actions, under Position, select one of the robot positions for each of the actions. For the Dock to action, under Marker, select Charger. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 37 The mission is now added to the mission queue. Select Continue to start the mission. Watch the robot execute the mission, and verify that it performs as expected. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 38: Charging Action Parameters Explained

    MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 39 90% the next morning depending on where it is in the topping up cycle. MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

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