MIR Charge 24V User Manual
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MIR Charge 24V User Manual

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MiR Charge 24V User Guide
Date: 08/2023
Version: 4.0 (en)

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Summary of Contents for MIR Charge 24V

  • Page 1 MiR Charge 24V User Guide Date: 08/2023 Version: 4.0 (en)

  • Page 2: Copyright And Disclaimer

    Original instructions (English) 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 User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 3: Table Of Contents

    6.1 Setting charging station markers on the map 6.2 Creating the Charge at station mission 6.3 Creating the Recharge loop mission 6.4 Testing a mission 6.5 Charging action parameters explained MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 4: About This Document

    1. About this document 1. About this document This user guide explains how to install and take precautions for safe use of 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 1. About this document REST API references for MiR robots, MiR hooks, and MiR Fleet. HTTP requests can be used to control robots, hooks, and MiR Fleet. MiR Network and Wi-Fi guide specifies the performance requirements of your network and how you must configure it for MiR robots and MiR Fleet to operate successfully.
  • Page 6 Marketing and brand portal is a collection of our graphical elements where you can download color schemes, rendered images of the robots, and icons. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 7: Version History

    Affects section: How charging works. Date: 2020-12-11 Charger HW: 4.0 New section: Warranty. Updated section: In the box. Updated section: Installing and powering up. General improvements throughout the manual. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 8 Date: 2019-11-13 Charger HW: 3.0 General improvements throughout the manual. Date: 2019-10-07 Charger HW: 3.0 Small updates throughout the manual. Date: 2019-07-31 Charger HW: 3.0 New manual structure. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 9: Product Presentation

    MiR Fleet user guides. You can find these guides on MiR Support Portal. You can mount modules on top of MiR Charge 24V, for example, other charging devices for top modules. 2.1 How charging works This section describes how the charging station functions.
  • Page 10 For information on how to do this, see the user guide or quick start of your robot. Before a MiR robot starts charging in the charging station, the following criteria need to be met: The battery percentage must be below 90%.

  • Page 11: Guide To Light Indicator

    2. Product presentation 2.2 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: Nameplate

    Constant red 2.3 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, technical specifications, and the address of Mobile Industrial Robots.

  • Page 13: Mir Charge 24V Specifications

    5 years or 20 000 hours, whichever comes first Cover material Aluminum Specifications may vary based on local conditions and application Disclaimer setup Dimensions Width 620 mm Height 350 mm MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 14 Consumption Nominal 7.3 A at 100 V AC, nominal 2.9 Amp at 240 V AC Compliance Designed to meet electrical EN 60335-1, EN 60335-2-29 standards MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 15 US: NFPA 70: 2017, UL 1564: 2015, NFPA 791: 2021 Japan PSE certified, Korea KC certified EN 61000-6-1, EN 61000-6-4 Designed to meet safety standards EN 60335-1, EN 60335-2-29 for industrial vehicles MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 16: Warranty

    MiR Charge 24V, accessories, or any other equipment due to programming errors or malfunctioning of MiR Charge 24V. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 17: Safety

    Indicates important information, including situations that can result in damage to equipment or property. Tells you where you can find more information about the topic. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 18: General Safety Precautions

    CAUTION Charging a frozen battery can damage the battery. Never charge a frozen battery. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 19 CAUTION Operating the charger in a closed-in area with restricted ventilation as well as covered or blocked vents on the sides of MiR Charge 24V can lead to overheating of the battery and/or the charger. Do not operate the charger in a closed-in area, restrict ventilation, or cover or block the vents in any way.
  • Page 20 Emergency stop function in emergency situations. Ensure that all personnel are instructed to stay clear of operating hazard zones when the robot is in the zone. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 21: Getting Started

    The box contains: MiR Charge 24V A MiR Charge 24V document folder containing the following printed documents: EC Declaration of Conformity MiR Charge 24V User Guide MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 22 Power cables for different wall outlets: NEMA 5-15P plug - for use in 110/120 V installations CEE 7/7 plug - for use in 230/240 V installations MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 23: Mounting And Powering Up

    This section describes how to mount and power up MiR Charge 24V. Before mounting MiR Charge 24V must be installed to an electric circuit in accordance with national electric codes using the cables provided by MiR. Verify that the available power supply corresponds to the specifications stated on the MiR Charge 24V nameplate.
  • Page 24 Pos. Description Pos. Description Six front panel screws Air vent Power inlet Power button Four M10 mounting holes for fixation to wall (all four corners) MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 25 Fasten the charging station securely to the wall by screwing M10 screws through the bolting holes and into the rigid structure. Once securely fixed, attach the front panel, and tighten the six front panel screws. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 26: Mark Potentially Hazardous Floor Areas And Clear The Required Space

    5.3 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 and MiR200 docks to MiR Charge 24V as an operating hazard zone.
  • Page 27 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 User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 28 Figure 5.4 The hazard zone around a charging station Required free space The robot requires a certain amount of free space around the charging station to ensure a smooth docking. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 29 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 successful docking. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 30: Usage

    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 31 In the Object-type drop-down menu, select Markers, and then select the icon Draw a new marker. In the Create marker window, enter a name for the marker, and select Type > MiR Charge 24V. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 32 Select Detect marker. 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 User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 33: Creating The Charge At Station Mission

    This section describes how you create the example mission Charge at station. The mission demonstrates how you use docking and charging actions in your mission. To make the example yourself, it is assumed that you completed the following: MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 34 "Setting charging station markers on the map" on page 30. The goal of the mission is to make the robot dock to MiR Charge 24V and recharge its battery up to 40%. To create the mission, follow the steps below: Go to Setup > Missions. Select Create Mission.
  • Page 35 When you have set the parameters, select Validate and close. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 36 6. Usage In 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 User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 37 In our example, there is no minimum time. When the battery reaches 40%, the charging is completed. To learn more about the different Charging action combinations, see "Charging action parameters explained" on page 43. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 38: Creating The Recharge Loop Mission

    Created a MiR Charge 48V marker named Charger as described in "Setting charging station markers on the map" on page 30. Created three robot positions named Position 1, Position 2, and Position 3. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 39 6. Usage 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 40 When you have set the parameters, select Validate and close. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 41 In the Loop action, select Endless. In the If action, set the parameters as follows: Compare: Select Battery Percentage. Operator: Select >= (greater than or equal to). Value: Type 20. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 42 Minimum Time: Select Ignore value. Minimum Percentage: Type 50. To learn more about the different Charging action combinations, see "Charging action parameters explained" on the next page. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

  • Page 43: Testing A Mission

    A charging action can be defined with a minimum time, a minimum percentage, or a combination of those two. This section explains the four options for setting the charging duration. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 44 MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 45 90%. It then connects again and tops up until the battery is back to 100%. This is known as Topping up. MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.
  • Page 46 6. Usage Doc. no.: 301013 MiR Charge 24V User Guide (en) 08/2023 - v.4.0 ©Copyright 2023: Mobile Industrial Robots A/S.

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