MIR Hook 100 Скачать руководство пользователя страница 31 | Manualshive

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MIR Hook 100 Скачать руководство пользователя страница 31

5. Commissioning

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

31

Figure 5.8. The accuracy of MiR Hook 100.

Each cart is identified by its QR-marker. If several carts share the same QR-marker, the
carts must be identical, and the QR-marker must be placed /- 5 mm precision on all
carts.

5.4 Safety precautions when operating with carts

Each individual application of MiR Hook 100 requires its own 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
when parking a cart). For the same reason, it is not possible to drive more than one cart at a
time. In other words, it is not allowed to chain carts together.

Two sets of depth cameras are installed at the front of MiR100. These are used to detect
objects at a maximum height of 1800 mm and a maximum distance of 1950 mm. The
cameras do not detect object within 50 mm of the lenses.

When driving with a cart, the maximum speed of the robot is 1.5 m/s.

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Содержание Hook 100

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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