6. Commissioning
MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
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6. Commissioning
This section describes how to get started with MiR Shelf Lift.
6.1 Using MiR Shelf Lift
When MiR500/MiR1000 with a MiR Shelf Lift docks to a shelf, the lift can be elevated to pick
up the shelf and lowered to place the shelf at a shelf position.
MiR Shelf Lift uses I/O modules and includes four inputs and four outputs. The tables below
show the functionality of these. To use MiR Shelf Lift correctly, these internal I/O modules
must be used.
The outputs are used to control the position of the MiR Shelf Lift, and the inputs are used to
signal the current position and status of the MiR Shelf Lift.
To see the menu options for the I/O modules and the shelf lift, you must enable them first.
See
Enable MiR Shelf Lift feature on page 29
for more information.
Output
Function
0
Initiates calibration process after five seconds
1
Stops or puts the lift in motion
2
Lowers the lift
3
Raises the lift
Input
Function
0
Indicates that there is an error from the lift controller
1
Lift is moving
2
Lift is either lowered or stopped, but not raised
3
Lift is raised
6.2 Resetting Lift after turning on the robot
To avoid unexpected movement the first time you use the lift, you must reset MiR Shelf Lift
before operating it.