Milvus Robotics SEIT 500 User Manual Download Page 58

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P a g e

Version 2.3 (05/2021) EN

User Manual for SEIT 500

Troubleshooting

9.1.

In Case of a Fault

DANGER

Danger - electrocution



Only perform maintenance and repair work after you have switched off power.



Faults on an electrical equipment may be removed only by a trained electrician!

Requirement: The danger spots on SEIT 500 are covered by protective plates and other protective
devices.

➢

Immediately de-energize SEIT 500 and ensure that it cannot be started accidentally.

➢

Remove material and blocking objects.

➢

Before switching it on again, ensure that no persons are at risk.

Summary of Contents for SEIT 500

Page 1: ...User Manual for SEIT 500 Autonomous Mobile Robot ...

Page 2: ... 2 6 Battery Safety 10 3 Product identification 11 3 1 Product Overview 11 3 2 Technical Data 18 4 Transport and Storage 19 4 1 Transport 19 4 2 Storage 20 5 Getting Started Guide 21 5 1 Unpacking 21 5 2 Initial Start up 26 5 3 Operation 31 5 4 Shutting Down the Robot 53 6 Applications 54 7 Payload Placement 55 8 Cleaning 57 9 Troubleshooting 58 9 1 In Case of a Fault 58 9 2 Troubleshooting 59 10 ...

Page 3: ...EIT 500 o Pass the manual on to any subsequent operator or occupant Milvus Robotics does not accept any liability for faults or defects due to non observance of this manual 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 500 They are available in four danger le...

Page 4: ...tonomous Mobile Robot This term describes SEIT 500 with an attached attachments creating a complete mobile robot SEIT 500 This is the model name Attachments Any passive or dynamic device attached to and possibly powered by SEIT 500 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 MR AutoC 500...

Page 5: ...le working with SEIT 500 Safety Devices Perform any maintenance and repair work on SEIT 500 only in de energized state and ensure that it cannot be started accidentally Do not remove protective covers or housing Regularly check safety devices Electricity Reach into SEIT 500 only if it is de energized Rotating Parts Never wear loose clothing Never wear jewelry such as necklaces or bracelets If you ...

Page 6: ...ers or wheels Do not expose the AMR to rain or moisture Do not operate the AMR in potentially explosives environment 2 2 Intended Use The SEIT 500 may only be used for industrial applications and in an industrial environment to convey SEIT 500 ready goods such as small packages cartons boxes or different pallet sizes up to 500 kg SEIT 500 is dimensioned only for a certain field of use see Technica...

Page 7: ... implementation complies with all local standards and legal requirements The following target groups are addressed in these operating instructions Operators Operators have been instructed in the operation and cleaning of SEIT 500 and follow the safety guidelines Service Personnel The service personnel feature a technical training and performs the maintenance and repair tasks Electricians Persons w...

Page 8: ...l operating mode Explanation Comment Transport Storage Loading and unloading transport and storage Assembly Initial start up Installation at the end customer and performing the test run Cleaning External cleaning without removing protective devices When de energized Troubleshooting Troubleshooting in the event of a fault Fault elimination Eliminating Fault When de energized Shutdown Removing from ...

Page 9: ...y in applications where you anticipate and mitigate potential risks to personnel and equipment Milvus does not intend SEIT 500 for use in uncontrolled areas without risk analysis For example in areas open to general public access Use of SEIT 500 in such areas requires deployment of additional safety measures For support please contact Milvus Robotics Side Clearances SEIT 500 is designed to operate...

Page 10: ...so might cause the battery to discharge below a usable state requiring its replacement Effective April 1 2016 IATA regulations UN 3480 PI 965 require that air shipped lithium ion batteries must be transported at a state of charge not exceeding 30 Fully charge the battery immediately upon receipt to avoid total discharge The battery might arrive fully charged if it is not shipped by air Precautions...

Page 11: ...wer Connector 7 Start Stop Button 4 Brake Release Buttons 8 On Off Switch User Buttons interactive programmable instruments for users to take a certain action Aux I O Connector to provide communication between robot and top modules pin layout page 16 Aux Power Connector providing required power for top modules to operate pin layout page 17 Brake Release Buttons to release motor brake USB Ports dir...

Page 12: ...e 3 2 Top view of SEIT 500 1 Lifting Holes 2 Battery Access Lids Lifting Holes M10 lifting holes for fixation of top module e g RC800 conveyor and to lift SEIT 500 See Applications for dimensions of the holes Page 54 Battery Access Lids to access battery of SEIT 500 ...

Page 13: ...13 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Figure 3 3 Side view of SEIT 500 1 Navigation and Safety Lasers category 3 PL d in accordance with ISO 13849 1 ...

Page 14: ... 3 4 Isometric view of SEIT 500 1 Led Indicators 2 Depth Cameras 3 Charging Pads Led Indicators letting the surround know which operation is executed by SEIT 500 Charging Pads to charge SEIT 500 via charging station Depth Cameras detect objects in front of the robot ...

Page 15: ...EIT 500 3 1 2 SEIT 500 Manual Remote Controller Figure 3 5 Manual remote controller Activate Deactivate Manuel Pendant control Led indicator USB receiver 2 x AA batteries Standart control mode is X Speed decrease Speed increase Move Rotate with analogs ...

Page 16: ...RS232 GND 3 IN3 9 24V 4 IN4 10 24V 5 IN5 AUX Emergency 11 O1 6 RX RS232 12 O2 AUX connector supports low current power devices and it has 5 inputs and 2 outputs Figure 3 7 Inputs and 24 V pin are used to receive signal from the attachments and outputs and 24 V pin are used to send signal to the attachments NJC 2012 PM connector is needed to connect to the robot s AUX signal connector ...

Page 17: ...e 1 24V Max 15A Continuous When an emergency or a protective stop situation occurs the power is shut down It is controlled by a Safety PLC and a contactor 2 GND CAUTION Damage Risk Power pin supply voltage is unregulated and it varies between 21 0 V and 29 5 V NJC 202 PM connector is needed to connect to the robot s AUX power connector ...

Page 18: ...k Brake Electric fail safe Approx Weight 180 kg Unloaded Gradeability 8 fully loaded Dimensions 1577 mm x 920 mm x 340 mm LxWxH Loading Plate Dimensions 1160 mm x 782 mm LxW Operating temperature 0 C to 40 C Battery 24 V 80 Ah Li ion Battery Run Time 8 10 Hours Charge Time 2 3 Hours Safety Features 2 Safety LIDARS Emergency stop buttons Indicator light bars E stop buttons 3D depth cameras ...

Page 19: ...crane forklift etc is rated for the weight of SEIT 500 Ensure that no persons are located under the suspended load while lifting and moving SEIT 500 Additional information about the transport are located on an information sheet that accompanies SEIT 500 Data about weight and requirements for loading capacity and lifting tackle are located on the information sheet Remove any person from the danger ...

Page 20: ... damages to avoid losing any claims for compensation 4 2 Storage WARNING Risk of injury due to improper storage Do not stack SEIT 500 Do not place any other objects on SEIT 500 Check SEIT 500 stability If SEIT 500 is not immediately placed in operation store it at a location protected against humidity and dust or cover SEIT 500 with something that protects it from such conditions ...

Page 21: ...isk of injury Follow all unpacking safety instructions and use appropriate tools and equipment Failure to do so could result in personal injury and equipment damage 5 1 1 Box Content Dimensions 2200 x 1070 x 654 mm LxWxH Weight 250 kg without attachment Figure 5 1 Box containing SEIT 500 and its equipments ...

Page 22: ...Version 2 3 05 2021 EN User Manual for SEIT 500 5 1 2 Unpacking Steps Figure 5 2 Exploded view of the box 1 MR AutoC 500 5 SEIT 500 2 Stop Board 6 Protective Wall 3 Pallet 7 Protective Foam 4 Ratchet Strap 8 Ramp ...

Page 23: ...23 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Remove the ramp and place it as in the Figure 5 3 Figure 5 3 Ramp placement ...

Page 24: ...24 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Remove the protective wall protective foam and charging station box Figure 5 4 Unboxed view ...

Page 25: ...25 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Remove the stop board and ratchet strap Figure 5 5 Unstrapped view ...

Page 26: ...ual for SEIT 500 5 2 Initial Start up 5 2 1 Before Start up Open battery access lids See page 12 Figure 5 6 Battery access lid opening Remove battery protectors Connect the connectors by color and shape Figure 5 7 Battery and battery connectors ...

Page 27: ...27 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Close battery access lid Figure 5 8 Closed battery access lid ...

Page 28: ...em to boot for about 30 seconds While the system is booting led indicators See page 14 blink You may hear contactors are switched on and when led indicators See page 14 become solid SEIT 500 is up and running One may check whether SEIT 500 is ready or not through software interface part on this manual Also for further procedures on SEIT 500 such as mapping localization etc check out the software i...

Page 29: ...nly by authorized electricians Observe the safety information 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 500 Remove unauthorized persons from the danger zone Wear safety shoes and work clothing ...

Page 30: ...mote controller turns off and SEIT 500 is ready to be driven NOTICE Risk of Property Damage Make sure that manual remote controller is secured when it is not in use This prevents unauthorized persons from operating SEIT 500 5 2 4 Driving SEIT 500 Manually by Using brake release button Turn on On Off switch See page 11 located on the front panel Make sure that at least one emergency stop button is ...

Page 31: ... transported can o Reduce SEIT 500 s ability to traverse an incline o Change its operating center of gravity CG Inclines Ramps with a properly designed and stable payload SEIT 500 can operate on ramps at full payload capacity 5 3 1 2 Side Clearance SEIT 500 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...

Page 32: ...boscope and fluorescent lights or other strong light sources directly on the scanning area since they can influence the device under certain circumstance WARNING Persons or parts of the body to be protected may not be recognized or not recognized in time in case of non observance Keep the area to be monitored free of smoke fog vapor and other air impurities No condensation must be allowed to form ...

Page 33: ...racy Steps and Gaps Typical floor characteristics that are considered to be steps include any height difference caused by floor stab settling expansion gaps or cracks Other environmental objects might create a temporary bump such as a wood pallet fragment dropped fasteners or a temporary floor covering WARNING Risk of property damage SEIT 500 is intended for smooth hard and level floors Although i...

Page 34: ... the battery recharges Recharge time is 2 hours for 80 3 hours for 100 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 500 MR AutoC 500 provides both a manual and an automated method of recharging SEIT 500 Figure 5 10 MR AutoC 500 and SEIT 500 1 SEIT 500 2 MR AutoC 500 ...

Page 35: ...s of MR AutoC 500 This figure includes the floor plate for free standing installation Figure 5 11 MR AutoC 500 1 Led indicator 6 24 VDC charger pin 2 AUX charge connector not applicable 7 On off switch 3 Anderson charge connector 8 Air inlet outlet 4 Air inlet outlet 9 110 220V AC socket 5 24 VDC charger pin ...

Page 36: ...it is well designed to protect the surrounding from electric shock do not touch both pins and do not short circuit them with a conductive material In case of unwanted scenarios docking station has protections such as short circuit protection over voltage protection and over temperature protection Charger pins are spring supported products so they have a stroke length The stroke length of the pins ...

Page 37: ...ling plates to level MR AutoC 500 Fixing the floor plate The floor plate is placed where the docking station would take place The floor is marked through fixing holes The marked points are drilled With proper fasteners the floor plate is fixed to the ground Figure 5 13 Floor plate to fix MR AutoC 500 to the ground 1 Fixing holes ...

Page 38: ...N User Manual for SEIT 500 Fixing the leveling plates The leveling plates is fixed with supplied fasteners as in the Figure 5 14 Figure 5 14 Fixing the leveling plates 1 Countersunk Socket Head Screws 2 Leveling Plates 3 MR AutoC 500 ...

Page 39: ...er Manual for SEIT 500 Fixing MR AutoC 500 to the floor plate MR AutoC 500 is fixed to the floor plate with supplied fasteners as in the Figure 5 15 Figure 5 15 Fixing MR AutoC 500 to the floor plate 1 Floor Plate 2 Socket Head Cap Screws ...

Page 40: ... done accordingly Figure 5 16 Leveling the docking station 1 Socket Head Cap Screws 3 Floor Plate 2 Socket Set Screws Slightly loosen the socket head cap screws 1 By rotating socket set screws 2 in CW and CCW direction height of the MR AutoC 500 is adjusted When the middle of SEIT 500 s charging pads See page 14 and MR AutoC 500 s 24 VDC charger pins See page 36 are at the same level secure the le...

Page 41: ...e docking station Plug supplied cable s one end into 110 220V AC socket See page35 and plug the other end into the 110 220V AC grid Turn On off switch See page 34 in CW direction to initialize MR AutoC 500 Led indicator See page 34 of MR AutoC 500 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 500 By turning On...

Page 42: ...021 EN User Manual for SEIT 500 5 3 3 2 Charging Procedure of SEIT 500 General Overview of Components Figure 5 18 Connection cable between the robot and MR AutoC 500 Figure 5 19 Connection cable between MR AutoC 500 and the grid ...

Page 43: ...g On off switch See page 35 in CCW direction one may turn off the docking station DANGER Risk of injury ELECTRICAL SHOCK HAZARD DO NOT TOUCH BOTH PINS WHILE ENERGIZED Charging Manually Either SEIT 500 s battery is charged manually via charging pads or directly via anderson battery connector To charge via anderson battery connector one must follow the following procedure Plug the connection cable s...

Page 44: ... both sides of MR AutoC 500 is open Table 5 2 Indicator light s colors on the dock station and their meanings Color Effect State Description White Slide Booting MR AutoC 500 is initializing White Solid Idle Ready to charge White Fade Starting to Charge The dock is starting to charge SEIT 500 Orange Slide Charging Charging Green Solid Fully Charged Battery is full Red Fade Failure Restart the dock ...

Page 45: ...ser 5 3 4 1 Safety Scanning Laser SEIT 500 safety scanning laser is SICK S300 It is a precise scanning and navigation sensor with the following characteristics Parallel to the floor at a height of 165 mm 230 field of view Protection level is category 3 PL d in accordance with ISO 13849 1 WARNING Risk of injury and property damage The laser cannot reliably detect glass mirrors and other highly refl...

Page 46: ...meras The depth cameras detect obstacle below and above the scanning plane of the safety laser such as an empty pallet FOV o H 87 3 V 58 1 D 95 3 Isometric figure shows that the approximate location of the depth camera s scanning field Figure 5 20 Depth camera s scanning field ...

Page 47: ...Operational Consideration Figure 5 21 shows that SEIT 500 s approximate locations of the sensor fields As this figure shows there are blind spots to the left and right of SEIT 500 Figure 5 21 Navigation and safety laser s scanning field 1 Protective field 3 Warning field 2 2 Warning field 1 ...

Page 48: ...during turning maneuver 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 500 operate in the same workplace as people provide information and training for people so that they Have complete understanding of the potential directions of movement that an AMR might take such as rotating in place Know not to sta...

Page 49: ...has a specific protective and warning fields and these fields has different dimensions for each speed set Figure 5 23 Demonstration of field sets distance Table 5 4 Distances according to speeds and field Distance Field High Speed mm Medium Speed mm Low Speed mm Stopping mm Distance 1 Protective Field 1020 400 270 130 Warning Field 1 1500 1460 610 400 Warning Field 2 2500 1500 1000 600 Distance 2 ...

Page 50: ...50 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Figure 5 24 Navigation and safety laser s field set at high speed Figure 5 25 Navigation and safety laser s field set at medium speed ...

Page 51: ...51 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Figure 5 26 Navigation and safety laser s field set at low speed Figure 5 27 Navigation and safety laser s field set at stopping ...

Page 52: ... a task based risk assessment so that appropriate protective and warning field sets can be applied Otherwise unwanted accidents may occur WARNING Risk of injury To prevent the risk of a person approaching too close to moving AMR follow the operational guidelines in this section To reduce the possibility of an accident adhere to the recommendations ...

Page 53: ...ving or executing an action Press the start stop button 2 The robot starts to shutdown process When the robot finishes the shutdown process led indicators See page 14 becomes inactive the start stop button blinks green One may turn off on off switch 1 located on the front panel by rotating it in CCW direction and the start stop button light goes off OFF ON ...

Page 54: ...0 for specific applications For more information contact Milvus Robotics Mounting an Attachment SEIT 500 has 4 M10 lifting holes that are used to mount an attachment onto SEIT 500 See Figure 6 1 Also additional holes can be added for a specific type of attachment such as lifting attachment Figure 6 1 Mounting holes ...

Page 55: ...s that must also comply with the specified wight limit The payload structure s CG in each instance must be within the defined area WARNING Risk of injury and property damage If the load on the robot is not positioned or fastened correctly the load may fall or the robot may overturn and cause injury to personnel and damage to equipment Figure 7 1 Side view of recommended payload CG ...

Page 56: ...56 P a g e Version 2 3 05 2021 EN User Manual for SEIT 500 Figure 7 2 Front view of recommended payload CG ...

Page 57: ... manufacturer s instructions The best type of product is a mild detergent solution with warm water Safety Laser Scanner The safety laser scanner is largely maintenance free The optics cover on the safety laser scanner should however be cleaned regularly and also if contaminated NOTICE Risk of property damage Do not use aggressive cleaning agents Do not use abrasive cleaning agents NOTE Static char...

Page 58: ... switched off power Faults on an electrical equipment may be removed only by a trained electrician Requirement The danger spots on SEIT 500 are covered by protective plates and other protective devices Immediately de energize SEIT 500 and ensure that it cannot be started accidentally Remove material and blocking objects Before switching it on again ensure that no persons are at risk ...

Page 59: ... Start SEIT 500 Buttons switches and ports on SEIT 500 do not work Damaged or broken Replace the related part No supply voltage Check SEIT500 is on SEIT 500 is constantly in emergency state An obstacle blocking the way of SEIT 500 Remove the obstacle An emergency stop button is pressed Release all the emergency stop buttons Navigation and safety laser s orientation is corrupted Contact Milvus Robo...

Page 60: ...EIT 500 The battery needs recharging Charge the battery Battery level is below a usable state Replace the battery SEIT 500 cannot be charged There is an error in docking station Restart the dock Battery level is below a usable state Replace the battery ...

Page 61: ...only by a qualified personnel Milvus Robotics offers training sessions about required maintenance and repair tasks upon request 10 1 Ordering Information Ordering spare and wear parts requires the exact identification of SEIT 500 The following information is required for an order AMR number Designation Comment For information about the spare parts portfolio please contact Milvus Robotics ...

Page 62: ... on and with SEIT 500 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 agents with solvents may not be allowed to come into contact with ground or reach the sewer system Store transport catch and dispose these substances in suitable container...

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