MIR Charge 48V Operating Manual
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MIR Charge 48V Operating Manual

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Operating Guide (en)
Date: 06/2020
Revision: v.1.4

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Summary of Contents for MIR Charge 48V

  • Page 1 Operating Guide (en) Date: 06/2020 Revision: v.1.4...
  • Page 2 Copyright © 2018-2020 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 48V. This guide also contains information on how to set up MiR250, MiR500 and MiR1000 robots for automatic charging with MiR Charge 48V.

  • Page 5: Version History

    First edition 2019-07-31 Small updates to the document 2019-10-07 Small updates to the document 2019-11-13 Layout changes 2020-06-17 New chapter: Nameplate Small updates to the document MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 7: General Safety Precautions

    If MiR Charge 48V 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 8 CAUTION The only intended use of MiR Charge 48V is to charge the internal battery of MiR250,MiR500, and MiR1000 robots. Using it to charge other robot types or external batteries can damage MiR Charge 48V.
  • Page 9 Personnel operating near the robot must be informed on how to use an ABC fire extinguisher to put out an electrical fire, should the robot malfunction and catch on fire. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 10 Risk of trapping or injury to personnel if robots malfunction or if personnel enter operating hazard zones. • Personnel operating near the robot must be informed on how to engage the robot's Emergency stop function in emergency situations. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 11: Product Presentation

    MiR Fleet Getting Started Guide. 3.1 How charging works To connect to MiR Charge 48V, the robot moves to a position in front of the charging station to locate the VL-marker (1). It then moves onto the charging plate (2), and the charging begins.
  • Page 12 To connect to MiR Charge 48V, the robot moves to the entry position in front of the charging station to locate the VL-marker (1). It then moves onto the charging plate (2) and establishes a communication to the charger through (4) and (5). When a communication has been successfully done, the charging will begin from (3) and (4).

  • Page 13: Nameplate

    3.2 Nameplate MiR Charge 48V is delivered with two nameplates mounted to the charger. The nameplates of MiR Charge 48V identify the model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 15: Getting Started

    This section describes how to get started with MiR Charge 48V. NOTICE Read Safety on page 6 before powering up MiR Charge 48V. 4.1 In the box This section describes the content of the MiR Charge 48V box. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 17: Installing And Powering Up

    Keep the air vents on both sides of the charging station free to avoid overheating. • Install MiR Charge 48V on an electric circuit that is protected by a circuit breaker with current rating 16 A (EU) / 15 A (US).
  • Page 18 Figure 4.1. Rear view of MiR Charge 48V. Pos. Description Pos. Description Four M8 mounting holes for Mounting brackets fixation to wall (all four corners) Air vents Power inlet Power button MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 19: Mark Potentially Hazardous Floor Areas

    Press the power button to turn on MiR Charge 48V. 4.3 Mark potentially hazardous floor areas Before taking your MiR Charge 48V into use, it is necessary to mark up the floor in the area where the robot docks to MiR Charge 48V.
  • Page 20 4. Getting started To avoid potentially hazardous situations as a consequence of the muted personnel detection means, you must mark the physical area around MiR Charge 48V with tape or similar marking material. For more information on personnel detection means, see the user guide for your robot.
  • Page 21 4. Getting started Figure 4.2 illustrates where the floor markings should be for a single charging station. Figure 4.2. The floor around MiR Charge 48V must be marked to indicate an operating hazard zone, illustrated by the striped yellow and black line.

  • Page 22: Usage

    5. Usage 5. Usage The most effective way to use MiR Charge 48V 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 23 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 48V and is within one meter from it.
  • Page 24 5. Usage In the Create marker window, enter a name for the marker and select Type > MiRCharge 500/1000. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 25 The Detect-marker function tracks the position of the charging station using the VL-marker and automatically sets the X, Y and Orientation values in the robot, enabling it to dock to the charging station. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 26 Try to move the robot closer to the charging station, and ensure that the front safety laser scanner is positioned in front of the VL-marker of the charging station. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 27: Creating The Charge At Station Mission

    Setting charging station markers on the map on page 22. The goal of the mission is to make the robot dock to MiR Charge 48V and recharge its battery up to 40%. To create a new mission, go to Setup > Missions...
  • Page 28 Validate and close. 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 29 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 37. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 30 Testing the mission 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 31: 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 48V and charges its battery up to 50%. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 32 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 33 When you have set the parameters, select Validate and close. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 34 For the action dialog, set the parameters as follows: • Compare: Select Battery Percentage. • Operator: Select >= (greater than or equal to). • Value: Type 20. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 35 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 36 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 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 37: Charging Action Parameters Explained

    MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 38 This may mean that even if the robot has been in the charging station overnight, you might find it with a battery level just above 90% the next morning depending on where it is in the topping up cycle. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

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