Table of Contents
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Instruction manual for PALOMAT® AMR - MiR
Table of Contents
1
Identification: .............................................................................................................................. 3
1.1
General .................................................................................................................................. 3
1.2
Product Label and Type Designation. ................................................................................... 3
1.3
Product version/Electric version ........................................................................................... 3
1.4
Declaration of Conformity .................................................................................................... 4
1.5
Applied standards .................................................................................................................. 5
2
Product Description: .................................................................................................................... 6
2.1
Product Supply and Consumption Data ................................................................................ 6
2.2
Keeping ................................................................................................................................. 7
2.3
Safety Information. ................................................................................................................ 8
2.4
Intended use ........................................................................................................................... 8
2.5
Limits of use .......................................................................................................................... 9
2.6
Foreseeable misuse .............................................................................................................. 10
2.7
Residual risks ...................................................................................................................... 10
3
Definitions:................................................................................................................................. 11
4
Preparation of product prior to use: ........................................................................................... 12
4.1
Transport ............................................................................................................................. 12
4.2
Unwrapping ......................................................................................................................... 12
4.3
Dismantling from transport pallet ....................................................................................... 13
4.4
Setting Up. ........................................................................................................................... 14
4.5
Special requirements for the assembly site ......................................................................... 14
4.6
Mounting in floor ................................................................................................................ 15
4.7
Assembly of 15-pallet safety frame..................................................................................... 16
4.8
Adjustment of the maximum indicator ................................................................................ 17
4.9
Safety Measures prior to use ............................................................................................... 17
4.10
Disposal of Wrapping ...................................................................................................... 17
4.11
Protection in periods without normal use ........................................................................ 17
4.12
Rewrapping ...................................................................................................................... 17
4.13
Placing of guide ............................................................................................................... 17
5
Operation .................................................................................................................................... 18
5.1
Stacking Function Description without MiR. ..................................................................... 19
5.2
De-stacking Function Description without MiR. ................................................................ 19
5.3
Function description for removal of pallet stack without MiR ........................................... 20
5.4
Activation of Front Sensor .................................................................................................. 20
5.5
Activation of Emergency Stop ............................................................................................ 20
6
Parring PALOMAT® with MiR ................................................................................................ 21
6.1
location of WISE module .................................................................................................... 21
6.2
Teach MiR to the PALOMAT® ......................................................................................... 22
6.3
Interacting with the WISE I/O ............................................................................................. 22
6.4
Setting Time to outputs ....................................................................................................... 23
6.5
The use of MiR and PALOMAT® ...................................................................................... 24
7
Maintenance and Cleaning ......................................................................................................... 25
7.1
Safety Measures .................................................................................................................. 25
7.2
Maintenance and Cleaning .................................................................................................. 25
7.3
Service Form ....................................................................................................................... 25
8
Troubleshooting ......................................................................................................................... 26
8.1
Troubleshooting Procedure ................................................................................................. 27
Version 2.0 | UK
Page 1 of 33
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Table of Contents
Troubleshooting
Summary of Contents for PALOMAT AMR - MiR
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Page 1: Table Of Contents
Teach MiR to the PALOMAT® ..................22 Interacting with the WISE I/O ..................... 22 Setting Time to outputs ....................... 23 The use of MiR and PALOMAT® ..................24 Maintenance and Cleaning ......................25 Safety Measures ........................25 Maintenance and Cleaning ....................25 Service Form ........................ - Page 2 Instruction manual for PALOMAT® AMR – MiR Error Codes.......................... 28 Troubleshooting actuators ....................28 Trouble shooting step by step on PLC ................29 List of Spare Parts and Consumables ..................30 Spare Parts Drawing See Fig. 9.1 ..................30 Wiring Diagram ........................31 10 Taking product out of service ....................
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Page 3: Identification
The instruction manual should be kept in a place known to the staff for easy access by the operators and maintenance personnel. 1.2 Product Label and Type Designation. This manual applies to all PALOMATs of type PALOMAT® AMR 152800-02. 1.3 Product version/Electric version See documentation front page and the type label on the side of the machine. -
Page 4: Declaration Of Conformity
________________________________ Applied standards: Refer to the next page The PALOMAT® is tested by the manufacturer and it is hereby declared that security and other equipment were satisfactory in the test. Note This declaration solely covers the above type PALOMAT® AMR 152800-02, and no form of connected equipment or functions. -
Page 5: Applied Standards
1.5 Applied standards The list below covers the standards that fully or partially used during the development and construction of this PALOMAT® according to the Machinery Directive, EMC and Low Voltage Directive. Harmonised standards: Safety of machinery – General principles for design – Risk assessment... -
Page 6: Product Description
Instruction manual for PALOMAT® AMR – MiR 2 Product Description: 2.1 Product Supply and Consumption Data Dimensions PALOMAT® Type: Length Height Width Weight MiR Lifter EU Pallet Lift 2740mm 1340mm 480 kg 1530mm 152800-02 107.8” 52.7” 1058 lbs 60.2” EU Pallet Lift... -
Page 7: Keeping
24V DC 2.2 Keeping If the PALOMAT® is not to be set up immediately upon receipt, buyer shall be responsible for checking, within a fortnight, that all parts have been included, informing the distributor about any deficiencies/shortages. After this, the PALOMAT® is to be wrapped again as upon receipt, and to be left in dry, frost free surroundings. -
Page 8: Safety Information
For details about the environmental conditions in which the PALOMAT® should operate, see section 4.5. The PALOMAT® AMR MiR is intended to be commissioned according to Section 4 Preparation of product prior to use and prepared to the environment according to the guidelines. This is a prerequisite for safe usage of PALOMAT®... -
Page 9: Limits Of Use
• MiR500 with top module: EU pallet lift. For EUR pallets 1200x800x144mm • MiR1000 with top module: EU pallet lift. For EUR pallets 1200x800x144mm Using the PALOMAT® and the MiR robot described, they can perform the following actions in collaboration: •... -
Page 10: Foreseeable Misuse
Risk of injury. • Do not stay inside the PALOMAT® during operation Risk of injury. • Do not use the PALOMAT® with damaged or dismantled parts or shielding Risk of injury. • Do not manually pick up or deliver pallets by person Risk of injury. -
Page 11: Definitions
Instruction manual for PALOMAT® AMR – MiR 3 Definitions: Definitions of terms used in this documentation. List of Parts A list describing the parts of the machine. Operating Staff Persons knowing the machine, and the risks connected with it. Not necessarily having any expert relevant knowledge of the mechanical and electrical items of the machine. -
Page 12: Preparation Of Product Prior To Use
Transport Pallet 4.2 Unwrapping The PALOMAT® is placed on a transport pallet and is wrapped in foil. These things must be removed prior to use. Plastic foil Page 12 of 33... -
Page 13: Dismantling From Transport Pallet
Instruction manual for PALOMAT® AMR – MiR 4.3 Dismantling from transport pallet Remove the four bolts by which the PALOMAT® is fastened to the transport pallet. (Fig.4.1). Transport bolts Fig. 4.1 Then insert one or two pallets in the magazine using a forklift (Fig. 4.2) and elevate the PALOMAT®... -
Page 14: Setting Up
20 Humidity: The components are not suitable for cleaning with water. Lighting: There must be a minimum of 150 LUX in the spot where the PALOMAT® is placed, so it is possible to operate in a safe manner. Floor: The floor must be level and the surface must be fully intact. -
Page 15: Mounting In Floor
Instruction manual for PALOMAT® AMR – MiR 4.6 Mounting in floor The floor shall be made in min. 8 cm thick concrete which is level and firm for the PALOMAT® to be bolted securely in it, using expansion bolts or adhesive anchors. -
Page 16: Assembly Of 15-Pallet Safety Frame
Instruction manual for PALOMAT® AMR – MiR 4.7 Assembly of 15-pallet safety frame 1. Place back shield (1) on the PALOMAT® and tighten it with bolts 2. Place sides (3), track facing rear shield (1), and attach to rear shield 3. -
Page 17: Adjustment Of The Maximum Indicator
4.11 Protection in periods without normal use If the PALOMAT® is to be left unused for some considerable time, it is to be cleaned of dirt and liquid (water and oil). And then lubricated with a thin layer of oil for protection against unnecessary rust and corrosion. -
Page 18: Operation
Instruction manual for PALOMAT® AMR – MiR 5 Operation The PALOMAT® may be operated manually or automatically. Using the manual side of the panel will only be necessary for removal of entire pallet stack, or after alarm stop. NOTE! Manual operation shall be subject to being run by instructed operators since the grips may be pulled back while the pallets are elevated in the stack. -
Page 19: Stacking Function Description Without Mir
6. Repeat item 5 until the max. number of pallets or weight has been reached 7. When the max. number of pallets has been reached, depress “ARROW DOWN” button for five secs. After which the PALOMAT® will put the stack on the floor. “STACKING” button flashing 8. -
Page 20: Function Description For Removal Of Pallet Stack Without Mir
5.3 Function description for removal of pallet stack without MiR For emptying the PALOMAT® of all pallets, press ”Arrow Down” button for five seconds after which the PALOMAT® will put the stack on the floor. The stack may now be freely removed from the PALOMAT®. -
Page 21: Parring Palomat® With Mir
Instruction manual for PALOMAT® AMR – MiR 6 Parring PALOMAT® with MiR The PALOMAT® must be connected to the local network. The PALOMAT® is equipped with a WISE-4060 module (Wi-Fi) or (Option: WISE-4050 module (Lan)). For setting up and installing the WISE module to your network and the MiR, find the guidelines through your MiR login at www.mir-robots.com, or Contact your local MiR distributor to receive the WISE module... -
Page 22: Teach Mir To The Palomat
Instruction manual for PALOMAT® AMR – MiR 6.2 Teach MiR to the PALOMAT® Software version: The following screenshots are based on MiR software version: 2.8.3 When the pallet rack is to be created in the MiR program, it must be created as the "pallet rack" as shown in Fig. -
Page 23: Setting Time To Outputs
• Output 0 - Choose destacking [Time: 1 sec.] • Signal 1 - Choose stacking [Time: 1 sec.] • Signal 2 - Emptying the PALOMAT® (full stack) [Time: 6 sec.] • Signal 3 - Not used Page 23 of 33... -
Page 24: The Use Of Mir And Palomat
3. Pick up a stack of up to 15 pallets. If the PALOMAT® have given the output “PALOMAT® full (stacking)” 15 pallets will be placed. Otherwise if you want to empty the PALOMAT® whether there are fewer pallets than 15 pcs. Do following steps: 1. -
Page 25: Maintenance And Cleaning
As the PALOMAT® is equipped with various sensors and lines, cleaning may only be performed by using a weak basic detergent. Further, the PALOMAT® may not be flushed but merely wiped using a wrung cloth. This may be performed by the operating staff. -
Page 26: Troubleshooting
Explanation/Solution At stacking or destacking, End pos. on actuator not reached. Or actuator is not running synchronously. / Set PALOMAT in ”MAN”, and release pallet. the PALOMAT® will stop Pull back grips, and keep ”RESET/ERROR” depressed for six secs. until the cycle has been completed. -
Page 27: Troubleshooting Procedure
Instruction manual for PALOMAT® AMR – MiR 8.1 Troubleshooting Procedure 1. Empty PALOMAT® of pallets 2. Set PALOMAT® for manual mode 3. Move PALOMAT® up/down and out/in using arrow keys, watching photocells 4. In the form below, check mark whether photocells are illuminated. Pos. No. Designation Light curtain in front ”Emitting green light when light curtain is... -
Page 28: Error Codes
Instruction manual for PALOMAT® AMR – MiR 8.2 Error Codes. In case of error, the Reset/Error button will flash several times for alarm code Alarm Designation Explanation / Solution code Emergency Emergency stop has been activated. Release emergency stop and stop or Light acknowledge for the error using the Reset/Error button. -
Page 29: Trouble Shooting Step By Step On Plc
4. Stacking cylinder goes from the bottom (8B1 (I0.2) – stacker +) is activated. If the PALOMAT® does not go any further, the reason can be the sensor (8B2 (I0.3) stacking cylinder in the middle), which has not activated on the way up 5. -
Page 30: List Of Spare Parts And Consumables
11. PALOMAT® starts from point 5 to 10, until the PALOMAT® is empty. 9 List of Spare Parts and Consumables For any replacement of spare parts in the PALOMAT®, parts identical with those of the list are to be used. Please contact your dealer if so required. -
Page 31: Wiring Diagram
10 Taking product out of service When the PALOMAT® is to be scrapped, taking it apart will be appropriate, doing so in its most recent place – thus avoiding any need to mount transport fittings again to enable secure moving, at no risk to people. -
Page 32: Own Notes
Instruction manual for PALOMAT® AMR – MiR 10.1 Own Notes: Page 32 of 33 Version 2.0 | UK... -
Page 33: Appendix
Instruction manual for PALOMAT® AMR – MiR 11 Appendix: 11.1 Linak management TR-EM-239 Parallel Drive Page 33 of 33 Version 2.0 | UK...