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MIR Hook 100, Operating Manual

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MIR Hook 100 Operating Manual Download Page 33

5. Commissioning

MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

33

QR markers can be created using any QR code generator. As long as the size is the same as
stated in the QR code, there are no requirements for how to create the codes. An easy and
free method is to search the internet for QR code generators and use one of the many
results.

Be sure to print a QR marker in 1:1 scale. If it does not match the size, it will not work.

It is recommended to use less than 17 characters in the QR code. For example,
"75mm-Cart_A" is 11 characters long. If more characters are added, the QR
code will change format, and it will become more difficult to detect.

Summary of Contents for Hook 100

Page 1: ...Operating guide en Date 02 2020 Revision v 2 1...

Page 2: ...r its contents In addition the contents of the document are subject to change without prior notice Every precaution has been taken in the preparation of this manual Nevertheless MiR assumes no respons...

Page 3: ...autions 9 2 3 Intended use 10 2 4 Users 10 3 Product presentation 12 3 1 Main features of MiR Hook 100 12 3 2 MiR Hook 100 external parts 14 4 Installation 15 4 1 In the box 15 4 2 Unpacking MiR Hook...

Page 4: ...4 5 5 QR markers 32 6 Usage 34 6 1 Calibrate cart 34 6 2 Creating a cart 36 6 3 Setting cart positions on the map 38 6 4 Creating a cart mission 40 7 Maintenance 45 7 1 Regular weekly checks and main...

Page 5: ...box with the robots Quick starts are available in multiple languages User guides provide all the information you need to operate and maintain MiR robots User guides are available in multiple language...

Page 6: ...http www mobile industrial robots com en account how to This page contains how to guides that describe how to perform specific tasks with MiR products Distributor site Troubleshooting https www mobile...

Page 7: ...ating the MiR Hook 100 software Chapter 1 Notice added about requirements for light in the operation environment 1 7 2016 11 10 Description of driving space requirements changed 1 8 2017 01 06 Updated...

Page 8: ...to MiR Hook 100 accessories or any other equipment due to programming errors or malfunctioning of MiR Hook 100 2 1 Safety message types This document uses the following safety message types WARNING In...

Page 9: ...can cause electric shock Do not touch any internal components of MiR Hook 100 while it is powered WARNING Entering an operating hazard zone intended for placing and picking up carts while the robot i...

Page 10: ...ity of the commissioner to commission MiR Hook 100 safely MiR Hook 100 is designed for MiR100 MiR Hook 100 is only intended to tow carts fulfilling the technical requirements found in Cart specificati...

Page 11: ...onnel when the robot is accelerating braking and maneuvering Operators Operators have thorough knowledge of MiR Hook 100 and of the safety precautions presented in the user guide of MiR100 and operati...

Page 12: ...ined locations office product delivery production hall etc that are used for logistical planning While operating the safety laser scanners ensure that the robot avoids dynamic obstacles people furnitu...

Page 13: ...blet or smartphone gives easy access to operation and monitoring of the robot with a hook and can be programmed without any prior experience Different user group levels and tailored dashboards can be...

Page 14: ...rts This section presents the parts of MiR Hook 100 that are visible on the outside Figure 3 1 MiR Hook 100 external parts Pos Description Pos Description 1 3D camera Reads QR codes on carts 2 Gripper...

Page 15: ...4 Installation This section describes how to get started with MiR Hook 100 To be able to use MiR Hook 100 with MiR100 your robot must be running software version 2 6 0 or higher NOTICE Read Safety on...

Page 16: ...ing the printed documents 4 Printed documents MiR Hook 100 Mounting guide CE declaration of incorporation 4 2 Unpacking MiR Hook 100 This section describes how to unpack MiR Hook 100 Keep the original...

Page 17: ...ht 2016 2020 Mobile IndustrialRobots A S 17 4 Remove the two screws in the front of the hook 5 Remove the two screws on the back of the hook 6 Remove the hook from the pallet 4 3 Mounting MiR Hook 100...

Page 18: ...R Hook 100Operating guide en 02 2020 v 2 1 Copyright 2016 2020 Mobile IndustrialRobots A S 18 1 Remove the hook cover and lift the hook onto the robot fitting the frame holes above the four mooring ho...

Page 19: ...A S 19 2 Mount the frame with the four bolts Tighten the bolts with a torque of 47 Nm 34 5 ft lb 3 Connect cables and mount the antenna Pos Description Pos Description 1 Network cable from robot to ho...

Page 20: ...6 2020 Mobile IndustrialRobots A S 20 4 Place the cover on top of the hook frame The cover is held in place with magnets 5 The hook is now mounted on the robot 4 4 Enable MiR Hook 100 feature To acces...

Page 21: ...Installation MiR Hook 100Operating guide en 02 2020 v 2 1 Copyright 2016 2020 Mobile IndustrialRobots A S 21 1 Sign in to the robot interface and go to System Settings Features 2 Under Hook select Tru...

Page 22: ...the hook gripper Deactivate brake allows horizontal movement of the hook arm Always deactivate the brake when driving a robot with a cart is coupled to it Activate brake prohibits horizontal movement...

Page 23: ...2020 Mobile IndustrialRobots A S 23 1 In the Robot interface go to Hook Manual control 2 Under Hook actions select Home and wait until the hook stops moving 3 Select Deactivate brake 4 Manually push t...

Page 24: ...e carts with the following dimensions Width between 400 mm and 1500 mm Height maximum 2000 mm Length between 500 mm and 2400 mm In addition the carts must have a gripper area gripper bar at the front...

Page 25: ...g radius of the robot and the cart is larger but the driving is more stable Reverse parking is easier Two swivels on the back and two rigid wheels on the front With this configuration the turning radi...

Page 26: ...onsible for ensuring that MiR100 with a hook mounted has enough space to pick up a cart When preparing to pick up a cart the robot moves in front of the given cart position so the center of the robot...

Page 27: ...c obstacle avoidance capabilities are somewhat restricted compared to when a cart is not attached The system operator needs to keep this in mind when choosing where to run MiR Hook 100 Turn a corner T...

Page 28: ...st in the individual case Park a cart To park a cart the robot needs at least 500 mm of space to either side of the cart In addition it cannot safely park the cart closer than 250 mm to any obstacles...

Page 29: ...of the position equal to the total length of the robot and cart plus 500 mm the same required square area when turning a corner The area must be marked as an operating hazard zone This is shown in Fig...

Page 30: ...he center line in the placement position see Figure 5 7 The robot now moves itself with the cart so it is parallel to the direction of the cart position and is ready to reverse into the position When...

Page 31: ...safety evaluation The robot cannot detect objects between the robot and the cart and it cannot detect objects behind the cart the robot does not reverse as part of the route however it can reverse wh...

Page 32: ...y the individual carts The QR code contains the dimension of the marker and a unique name The format is SizeUnit Name Size the length of one of the sides of the quadratic QR code Unit the measuring un...

Page 33: ...ements for how to create the codes An easy and free method is to search the internet for QR code generators and use one of the many results Be sure to print a QR marker in 1 1 scale If it does not mat...

Page 34: ...the robot knows where to go to pick up or place carts Creating a cart mission on page 40 Creating a simple mission to pick up and place carts After these steps are carried out the robot is able to pic...

Page 35: ...cart 4 Change the height back to the entry height and make sure the cart is still positioned over MiR Hook 100 5 Now attach the QR marker to the cart so that the camera on MiR Hook 100 can see it whe...

Page 36: ...picking up placing and towing the cart to ensure that the cart is correctly transported To make the robot interface display hook options you must enable the feature as described in Enable MiR Hook 10...

Page 37: ...e or create a new cart type by selecting Create type When creating a new cart type you must defined the following parameters Name Is used to identify the cart type Width Height and Length These are th...

Page 38: ...f the cart the Entry height will be entered X Y and Z These are used to define the exact position of MiR Hook 100 relative to the cart If MiR Hook 100 is positioned at the Entry height determined in C...

Page 39: ...ialRobots A S 39 1 To create a new position go to Setup Maps Select Edit for the active map 2 Within the editor select Positions in the Object type drop down menu and select Draw new position in the e...

Page 40: ...le mission Cart mission The mission demonstrates how you use cart actions in your mission After creating this example mission you can modify the mission to include more complex actions To make the exa...

Page 41: ...cart at Position A drive to Position B with the cart and drive back to position A to place the cart Follow these steps to create the example mission Cart mission 1 To create a new mission go to Setup...

Page 42: ...lowing steps describe which parameters each action should be set to To modify the parameters select the gearwheel at the right end of the action line to open the action dialog box When you have set th...

Page 43: ...0 Mobile IndustrialRobots A S 43 5 For the Move to action set the parameters as follows Position Select Position B Position type Select Main Retries Leave the number of retries at the default value of...

Page 44: ...the cart position There are the following options No The robot will drive to the position in any way it can This can be used if the position is in an open area and the robot can leave the position af...

Page 45: ...l Robots can not be held responsible for any damages caused to the robot accessories or any other equipment due to use of unapproved spare parts 7 1 Regular weekly checks and maintenance tasks Once a...

Page 46: ...nthly and replace as needed Visual inspection of the mech anical parts grip per and vertical console Check for cracks or bending and check the springs Check monthly and replace as needed Visual inspec...

Page 47: ...kit has been implemented Read more in our How to guides on the Distributor site Check monthly and clean the brake pad with brake cleaner when needed Hook Check the gripper function and perform a homin...

Page 48: ...es or to introduce new features Each software release is issued with a release note explaining the content of the update and its target audience NOTICE When updating MiR100 with an attached MiR Hook 1...

Page 49: ...Hook Fleet 2 version x x x 4 Connect your computer to the WiFi of the robot you want to update and sign in to the robot interface 5 Navigate to Hook Software versions and select Upload software 6 Loc...

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