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Milvus Robotics SEIT 100 User Manual

Autonomous mobile robot
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User Manual for SEIT 100
Autonomous Mobile Robot

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Summary of Contents for Milvus Robotics SEIT 100

  • Page 1 User Manual for SEIT 100 Autonomous Mobile Robot...

  • Page 2: Table Of Contents

    User Manual for SEIT 100 Table of Contents Introduction ............................3 1.1. Warning Notices in This Document ....................3 1.2. Symbols ............................4 1.3. Definitions ............................. 4 Safety ..............................5 2.1. General Hazards ..........................5 2.2. Intended Use ..........................6 2.3.

  • Page 3: Introduction

    If you have any questions after reading the manual, please contact Milvus Robotics. 1.1. Warning Notices in This Document The warning notices refer to risks which may arise while using SEIT 100. They are available in four danger level identified by the signal word: Table 1.1: Signal words and their meaning...

  • Page 4: Symbols

    SEIT 100 – This is the model name.  Attachments – Any passive or dynamic device attached to and possibly powered by SEIT 100. This could be as simple as a cart for carrying objects such as factory parts or as complicated as a robotic arm that picks up and manipulates factory parts.

  • Page 5: Safety

    The following list informs you about the various types of danger or damage that may occur while working with SEIT 100. Safety Devices Perform any maintenance and repair work on SEIT 100 only in de-energized state and ensure  that it cannot be started accidentally.

  • Page 6: Intended Use

    SEIT 100-ready goods such as small packages, cartons, boxes, or different pallet sizes up to 100 kg. SEIT 100 is dimensioned only for a certain field of use (see Technical Data, page 18) and may not be operated outside of these specific limits.
  • Page 7 The following target groups are addressed in these operating instructions: Operators Operators have been instructed in the operation and cleaning of SEIT 100 and follow the safety guidelines. Service Personnel The service personnel features a technical training and performs the maintenance and repair tasks.

  • Page 8: Operating Modes

    User Manual for SEIT 100 2.4. Operating Modes Normal Mode; the AMR is set up at the customer into a complete system and operated as part of the system. Special Mode; special operation refers to all operating modes which are required to guarantee and maintain regular operation.

  • Page 9: Environment

    Milvus does not intend SEIT 100 for use in uncontrolled areas without risk analysis. For example, in areas open to public access. Use of SEIT 100 in such areas requires deployment of additional safety measures.

  • Page 10: Battery Safety

    2.6. Battery Safety CAUTION Battery Damage Risk SEIT 100 is shipped when the Li-ion batteries’ state of charge is 50%. This state of charge  supplies 24 VDC nominal voltage. SEIT 100 must be charged in 45 days after the delivery.

  • Page 11: Product Identification

    Aux I/O Connector – to provide communication between robot and top modules. (detail: page 16) Aux Power Connector – providing required power for top modules to operate. (detail: page 17) Aux Charge Connector – to charge SEIT 100 manually. Brake Release Buttons – to release motor brake.
  • Page 12 Lifting Holes Emergency Stop Buttons Lifting Holes – M8 lifting holes for fixation of top module, e.g. RC150 conveyor, and to lift SEIT 100. (See “Applications” for dimensions of the holes, Page. 50) Battery Access Lids – to access battery of SEIT 100.
  • Page 13 User Manual for SEIT 100 Figure 3.3: Side view of SEIT 100 Navigation and Safety Lasers (category 3 PL d in accordance with ISO 13849-1) 13 | P a g e Version 2.2 (01/2021) EN...
  • Page 14 Led Indicators Charging Pads Depth Camera Led Indicators – letting the surround know which operation is executed by SEIT 100. Charging Pads – to charge SEIT 100 via charging station. Depth Cameras – detect objects in front of the robot.
  • Page 15 User Manual for SEIT 100 3.1.2. SEIT 100 Manual Remote Controller Led indicator Speed decrease Speed increase Activate / Deactivate Manuel (Pendant) control Standart control mode is X Move / Rotate with analogs 2 x AA batteries USB receiver Figure 3.5: Manual remote controller...
  • Page 16 User Manual for SEIT 100 3.1.3. AUX I/O Figure 3.6: Contact Arrangement (When viewed from connector side) IN1 (Safety) TX (RS232) GND (RS232 GND) 24V+ 24V- IN5 (AUX Emergency, Safety) RX (RS232) AUX connector supports low current/power devices, and it has 5 inputs and 2 outputs.
  • Page 17 User Manual for SEIT 100 3.1.4. AUX Power Figure 3.8: Contact Arrangement (When viewed from connector side) When an emergency or a protective stop 24V+ (Max 15A) situation occurs, the power is shut down. It is controlled by a Safety PLC and a contactor.

  • Page 18: Technical Data

    User Manual for SEIT 100 3.2. Technical Data SEIT 100 Payload 100kg Application specific – on top loading, Load Type cart towing, conveyor – chain, roller, lift deck Brake Electric, fail safe Approx. Weight 80 kg (Unloaded) Gradeability 8% - fully loaded...

  • Page 19: Transport And Storage

    User Manual for SEIT 100 4. Transport and Storage 4.1. Transport SEIT 100 arrives in a wooden box secured by draw letches to a pallet. Use only the pallet, and a rated lifting device to move the shipment. WARNING Risk of injury during transport Fix SEIT 100 securely and slip-proof for the transport.

  • Page 20: Storage

    Check SEIT 100 stability.   If SEIT 100 is not immediately placed in operation, store it at a location protected against humidity and dust or cover SEIT 100 with something that protects it from such conditions. 20 | P a g e...

  • Page 21: Getting Started Guide

    5.1.1. Box Content • Dimensions; 990 x 710 x 830 mm (LxWxH) • Weight; 100 kg Figure 5.1: Box, containing SEIT 100 and its equipments 21 | P a g e Version 2.2 (01/2021) EN...
  • Page 22 User Manual for SEIT 100 5.1.2. Unpacking Figure 5.2: Open view of the box MR AutoC – 100 Free standing installation apparatus SEIT 100 22 | P a g e Version 2.2 (01/2021) EN...

  • Page 23: Initial Start-Up

    5.2. Initial Start-up 5.2.1. Start Up ➢ Switch the position of “main power switch” (1) as ON as in the Figure 5.3. Figure 5.3: Location of main power switch on SEIT 100 23 | P a g e Version 2.2 (01/2021) EN...
  • Page 24 SEIT 100 is up and running. ➢ One may check whether SEIT 100 is ready or not through software interface part on this manual. Also, for further procedures on SEIT 100 such as mapping, localization, etc., check out the software interface part.
  • Page 25 Carefully install all connections, such as cables, and check for correct fit. WARNING Risk of injury due to incorrect handling  Check electrical connections and protective devices.  Remove the materials from SEIT 100.  Remove unauthorized persons from the danger zone.  Wear safety shoes and work clothing. 25 | P a g e Version 2.2 (01/2021) EN...
  • Page 26 (See page 11) located on the front panel, ➢ Make sure that at least one emergency stop button is activated. ➢ Now, SEIT 100 can be driven by pressing the button and pushing the robot at the same time. 26 | P a g e Version 2.2 (01/2021) EN...

  • Page 27: Operation

    5.3.1.2. Side Clearance SEIT 100 is intended to operate in an environment that has a generally flat and level floor. There should be no doors or other restricted areas that are too narrow for the AMR to pass through.
  • Page 28 User Manual for SEIT 100 5.3.1.3. Obstacles If SEIT 100 enters high-traffic areas, take appropriate precautions to alert people in those areas that a SEIT 100 might enter. Take care to avoid: • Glass doors and walls, • Pits without railings or low bumpers, •...
  • Page 29 WARNING Risk of property damage SEIT 100 is intended for smooth, hard, and level floors. Although it is capable of driving over  steps and gaps, frequent or high-speed driving over such obstacles shortens the lifespan of drive train components.
  • Page 30 Run-time (with no payload) is approximately 10 hours. This varies significantly depending on use and accessory power consumption. 5.3.3. Charging 5.3.3.1. MR-AutoC – 100 MR-AutoC - 100 provides both a manual and an automated method of recharging SEIT 100. Figure 5.5: MR-AutoC – 100 and SEIT 100 SEIT 100 MR-AutoC – 100...
  • Page 31 User Manual for SEIT 100 Figure 5.6 shows the exterior features and parts of MR-AutoC – 100. This figure includes the floor plate for free-standing installation. Figure 5.6: MR-AutoC – 100 Led indicator ±24 VDC charger pin AUX charge connector...
  • Page 32 Figure 5.7 shows that the detail view of charger pins. These pins have 3 different parts. Each one is designed to charge SEIT 100 effectively without harming the surrounding. Pin isolator separates charging contact (1) from pin (3) so that there is no electric charge at the pin.
  • Page 33 User Manual for SEIT 100 MR AutoC – 100 comes with a floor plate to fix it to the ground and leveling plates to level MR AutoC – 100. • Fixing the floor plate; ➢ The floor plate is placed where the docking station would take place, ➢...
  • Page 34 User Manual for SEIT 100 • Fixing the leveling plates; The leveling plates is fixed with supplied fasteners as in the Figure 5.9. Figure 5.9: Fixing the leveling plates Countersunk Socket Head Screws Leveling Plates MR AutoC – 100 34 | P a g e Version 2.2 (01/2021) EN...
  • Page 35 User Manual for SEIT 100 • Fixing MR AutoC – 100 to the floor plate; MR AutoC – 100 is fixed to the floor plate with supplied fasteners as in the Figure 5.10. Figure 5.10: Fixing MR AutoC – 100 to the floor plate...
  • Page 36 ➢ By rotating socket set screws (2) in CW and CCW direction, height of the MR AutoC – 100 is adjusted. ➢ When the middle of SEIT 100’s “charging pads” (See page 14) and MR AutoC – 100’s “±24 VDC charger pins”...
  • Page 37 “Led indicator” (See page 31) of MR AutoC – 100 starts to show sliding effect in white color, which means it is booting. ➢ When led indicator turns solid white, it is ready to charge SEIT 100. By turning “On/off switch”...
  • Page 38 User Manual for SEIT 100 5.3.3.2. Charging Procedure of SEIT 100 • General Overview of Components Figure 5.13: Connection cable between the robot and MR AutoC – 100 Figure 5.14: Connection cable between MR AutoC – 100 and the grid...
  • Page 39 “(See page 11). (See Figure 5.13 for supplied connection cable). To charge via charging pads, one must “drive the SEIT 100 manually” and draw it up to MR AutoC – 100 as in the Figure 5.12. (See page 26 to check manual drive).
  • Page 40 Slide Booting MR AutoC – 100 is initializing White Solid Idle Ready to charge White Fade Starting to Charge The dock is starting to charge SEIT 100 Orange Slide Charging Charging Green Solid Fully Charged Battery is full Fade Failure...
  • Page 41 SEIT 100 uses an on-board laser for navigation and safety. Moreover, 2 “depth cameras” (See: page 14) are placed at the front and back of SEIT 100 to detect obstacles that are below and above the scanning plane of the safety laser.
  • Page 42 User Manual for SEIT 100 5.3.4.2. Depth cameras The depth cameras detect obstacle below and above the scanning plane of the safety laser, such as an empty pallet. • o H: 87±3 / V: 58±1 / D: 95±3 Isometric figure shows that the approximate location of the depth camera’s scanning field.
  • Page 43 User Manual for SEIT 100 5.3.4.3. Safety Scanning Laser Operational Consideration Figure 5.16 shows that SEIT 100’s approximate locations of the sensor fields. As this figure shows, there are blind spots to the left and right of SEIT 100. Figure 5.16: Navigation and safety laser’s scanning field...
  • Page 44 The AMR is operating at low speed during such maneuver, but an AMR with its payload has a considerable mass and might tip a person over. If SEIT 100 operate in the same workplace as people, provide information and training for people so that they: •...
  • Page 45 User Manual for SEIT 100 Protective and warning fields can be switched and muted according to speed and task that SEIT 100 executes. For example; Figure 5.19, Figure 5.20, Figure 5.21, and Figure 5.22 represent field sets related with the speed sets of SEIT 100.
  • Page 46 User Manual for SEIT 100 Figure 5.19: Navigation and safety laser’s field set at high speed Figure 5.20: Navigation and safety laser’s field set at medium speed 46 | P a g e Version 2.2 (01/2021) EN...
  • Page 47 User Manual for SEIT 100 Figure 5.21: Navigation and safety laser’s field set at low speed Figure 5.22: Navigation and safety laser’s field set at stopping 47 | P a g e Version 2.2 (01/2021) EN...
  • Page 48 User Manual for SEIT 100 WARNING Risk of injury and property damage  It is the end user’s responsibility to perform a task-based risk assessment so that appropriate protective and warning field sets can be applied. Otherwise, unwanted accidents may occur.

  • Page 49: Shutting Down The Robot

    User Manual for SEIT 100 5.4. Shutting Down the Robot To shut down SEIT 100, follow the steps; ➢ Ensure that the robot is not moving or executing an action. ➢ Press the start-stop button (2). ➢ The robot starts to shutdown process.

  • Page 50: Applications

    Milvus Robotics. Mounting an Attachment SEIT 100 has 4 M8 lifting holes that are used to mount an attachment onto SEIT 100. See Figure 6.1. Also, additional holes can be added for a specific type of attachment such as lifting attachment.

  • Page 51: Payload Placement

    User Manual for SEIT 100 7. Payload Placement The graphics in this section show the calculated safe CG dimension and placement for payload structures (that must also comply with the specified wight limit). The payload structure’s CG, in each instance, must be within the defined area.
  • Page 52 User Manual for SEIT 100 Figure 7.2: Front view of recommended payload CG 52 | P a g e Version 2.2 (01/2021) EN...

  • Page 53: Cleaning

    User Manual for SEIT 100 8. Cleaning WARNING Risk of injury due to incorrect handling Only perform cleaning work on SEIT 100 after you have switched off the power.  Do not remove protective devices.  Wear safety shoes and close-fitting work clothing.

  • Page 54: Troubleshooting

     Faults on an electrical equipment may be removed only by a trained electrician!  Requirement: The danger spots on SEIT 100 are covered by protective plates and other protective devices. ➢ Immediately de-energize SEIT 100 and ensure that it cannot be started accidentally.

  • Page 55: Troubleshooting

    User Manual for SEIT 100 9.2. Troubleshooting Fault Possible cause Remedy Manual remote controller does “Activate / deactivate manual Press “Activate/ deactivate not work pendant control button” is not manual pendant control pressed. button” An emergency stop button is Release all the emergency stop...
  • Page 56 User Manual for SEIT 100 The battery needs recharging Charge the battery Battery level is below a usable Replace the battery state SEIT 100 cannot be charged There is an error in docking Restart the dock station. Battery level is below a usable...

  • Page 57: Spare And Wear Parts

    User Manual for SEIT 100 10. Spare and Wear Parts All spare and wear parts are available from Milvus Robotics. Maintenance and repair work may be performed only by qualified personnel. Milvus Robotics offers training sessions about required maintenance and repair tasks upon request.

  • Page 58: Decommissioning And Disposal

    The packaging must be recycled to provide environmental relief.  Environmental protection regulations For all work on and with SEIT 100, the legal regulations concerning waste avoidance and proper disposal and recycling must be followed. NOTICE Substances with a water hazards class, such as greases and oils, hydraulics oils, coolants or cleaning...

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