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5. Usage

MiRCharge 48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.

23

6.

Select

OK

to create the marker. A new marker icon (2) represented by a lightning symbol

is now visible on the map in front of the robot (1) and is ready to be used in missions.

If the robot is too far from the charging station, a message that the robot
failed to locate the marker is displayed. Try to move the robot closer to the
charging station, and ensure that the front safety laser scanner is posi-
tioned in front of the VL-marker of the charging station.

5.2 Creating charging missions

This section describes how to create missions that enable the robot to automatically dock at
a charging station and recharge its battery. Two examples are given to explain how the
actions

Docking

and

Charging

can be used. The first example presents the simplest method

of recharging including a relative move to leave the charger, and the second exmple

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Содержание MiR Charge 48V

Страница 1: ...Operating guide en Date 11 2019 Revision v 1 3 ...

Страница 2: ...ment or 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 responsibility for errors or omissions or any damages resulting from the use of the information contained Copyright 2018 2019 by Mobile Industrial Robots A S Contact the manufacturer Mobile Industrial ...

Страница 3: ... 6 2 2 General safety precautions 7 3 Getting started 10 3 1 In the box 10 3 2 Installing and powering up 12 3 3 Mark potentially hazardous floor area 13 4 Product presentation 17 4 1 How charging works 17 4 2 Identification label 19 5 Usage 20 5 1 Creating a charging station marker on the map 20 5 2 Creating charging missions 23 5 3 Insert a charging action into a larger mission 27 5 4 Charging a...

Страница 4: ...e following relevant resources are available Distributor site Manuals http www mobile industrial robots com en account manuals This page contains the following resources Quick starts for robots The short guide that lets you start operating the robot quickly This document is in the box with the robot in the printed format Available in multiple languages User guides for robots The user guide of the ...

Страница 5: ...age contains how to articles that describe how to perform specific tasks with MiR products Distributor site Troubleshooting https www mobile industrial robots com en account troubleshooting This page contains troubleshooting guides to solve common issues with MiR products MiRCharge 48V product page https www mobile industrial robots com en products mir add ons mircharge 48v This page contains spec...

Страница 6: ... for any damages caused to MiRCharge 48V accessories or any other equipment due to programming errors or malfunctioning of MiRCharge 48V 2 1 Safety message types This document uses the following safety message types WARNING Indicates a potentially hazardous situation that could result in death or serious injury Take proper precautions to avoid damage or injury CAUTION Indicates a potentially hazar...

Страница 7: ...r explosions Do not install MiRCharge 48V in any of the mentioned zones WARNING Contact with live parts can cause electric shock Do not remove the front cover of MiRCharge 48V while it is powered WARNING Failure to ground MiRCharge 48V may cause electric shock Ensure to ground MiRCharge 48V properly using one of the supplied three prong plugs If none of the supplied plugs fit the local wall outlet...

Страница 8: ...n with reduced physical sensory or mental capabilities or lack of experience and knowledge unless they have been given supervision or instruction concerning use of the appliance by a person responsible for their safety WARNING Using a charger different from the one supplied by the manufacturer can cause a fire Use only the original charger CAUTION The only intended use of MiRCharge 48V is to charg...

Страница 9: ...be short circuited during charging Do not place or drop metal parts on to the charging connectors during char ging CAUTION Connecting one of the supplied power cables to a wall outlet that does not fit the cable plug can damage MiRCharge 48V Only connect the power cable to a wall outlet that fits one of the supplied cable plugs CAUTION Charging a frozen battery can damage the battery Never charge ...

Страница 10: ... Operating guide en 11 2019 v 1 3 Copyright 2019 Mobile IndustrialRobots A S 10 3 Getting started This section describes how to get started with MiRCharge 48V 3 1 In the box This section describes the content of the MiRCharge 48V box ...

Страница 11: ...tains 1 MiRCharge 48V 2 Power cables for different wall outlets NEMA L6 15 plug for use in 230 240 V installations NEMA 5 15P plug for use in 110 120 V installations only delivers 50 of the max rated charging power CEE 7 7 plug for use in 230 240 V installations 3 MiR document folder containing EC Declaration of Conformity ...

Страница 12: ...ing station free to avoid overheating Install MiRCharge 48V on an electric circuit that is protected by a circuit breaker with cur rent rating 16 A EU 15 A US Make sure there s a suitable wall outlet that supports the necessary power For national electric codes please consult a licensed electrician Wall fixing is not required but if the charging station is moved even a few cen timeters the robot w...

Страница 13: ...inserting wall plugs to ensure a secure mounting in which case the drilled holes must accommodate the size of the chosen plugs 4 Place the MiRCharge 48V against the wall again in the desired position Ensure that the drilled holes align with the M8 mounting holes 5 Fasten the charging station securely to the wall by screwing M8 bolts through the bolting holes and into the wall Powering up NOTICE Re...

Страница 14: ...er from the charging station marker To indicate this to people nearby MiR500 MiR1000 slows down and starts blinking yellow using the eight indicator lights on the corners of the robot To avoid potentially hazardous situations as a consequence of the Muted personnel detection means you must mark the physical area around MiRCharge 48V with tape or similar Marking the safety area The size of the mark...

Страница 15: ...icate where the personnel protection means are muted This can for example be done with signal tape The red dotted line shows the area where the robot mutes the personnel detection means This is the potentially hazardous zone The yellow black striped line indicates the area that should be marked with signal tape The space between the red dotted zone line and the tape marking should be held free of ...

Страница 16: ...ting started MiRCharge 48V Operating guide en 11 2019 v 1 3 Copyright 2019 Mobile IndustrialRobots A S 16 For more information on Personnel detection means and protective fields see MiR500 MiR1000 User guide ...

Страница 17: ...omous operation 24 7 Multiple robots can share the same charging station however for this we recommend integrating the robots in MiRFleet to avoid bottleneck situations For more information see the MiRFleet Getting started guide 4 1 How charging works To connect to MiRCharge 48V the robot moves to a position in front of the charging station to locate the VL marker 1 It then moves onto the charging...

Страница 18: ...ion 1 VL marker the V shaped recess combined with the front plate to the right forms a so called VL marker that the robot s front safety scanner uses to detect the charging station 2 Charging plate 3 Charging connector positive ter minal 4 CAN high CAN bus com munication between robot and charging station processor 5 CAN low CAN bus com munication between robot and charging station processor 6 Cha...

Страница 19: ...ween those is made and communication through CAN bus 4 and 5 is established If the robot s battery is completely discharged you must connect an external cable charger For information on how to do this see the User guide or Quick start of the robot 4 2 Identification label The identification label of MiRCharge 48V is placed on the right hand side of the charging station 4 2 Example of MiRCharge 48V...

Страница 20: ... charging actions 5 1 Creating a charging station marker on the map This section explains how to create a charging station marker on a map Before creating the marker you must ensure that the robot is localized correctly on an active map If in doubt you can check if the red lines representing the laser scanner line match the black lines on the map as shown in Figure 5 1 5 1 The red lines represent ...

Страница 21: ...m it 2 In the robot interface enter the map editor of the map where you want to create a marker This is done by navigating to Setup Maps and selecting the Edit icon next to the map you would like to work on 3 In the Object type drop down menu select Markers 1 and then select the icon Draw a new marker 2 4 In the Create marker window enter a name for the marker and select Type MiRCharge 500 1000 ...

Страница 22: ... 2019 Mobile IndustrialRobots A S 22 5 Select Detect marker The Detect marker function tracks the position of the charging sta tion using the VL marker and automatically sets the X Y and Orientation values in the robot enabling it to connect to the charging station ...

Страница 23: ...he marker is displayed Try to move the robot closer to the charging station and ensure that the front safety laser scanner is posi tioned in front of the VL marker of the charging station 5 2 Creating charging missions This section describes how to create missions that enable the robot to automatically dock at a charging station and recharge its battery Two examples are given to explain how the ac...

Страница 24: ... action may be used to control when the robot should recharge relative to its remaining power level Create a simple charging mission 1 In the robot interface create a new mission This is done by navigating to Setup Mis sions and selecting Create mission Name the mission select the correct site and select Create mission ...

Страница 25: ...Charging 3 In the Move menu select Relative move The mission should look like this The next steps describe how to set the parameters of the chosen mission actions To set the parameters of each action open the action dialog by selecting the gearwheel icon of the action in question 3 In the Dock to action dialog select the marker position in front of the charging station that you created on the map ...

Страница 26: ...eaches 40 the charging is com pleted Select Validate and close To read more about the different Charging action combinations see Charging action parameters explained on page 33 5 In the Relative move action dialog define how far the robot should move away from the charging station after charging is completed This is done by defining an X value and a Y value that will move the robot backwards and t...

Страница 27: ...rging actions are part of larger missions where the battery level is regularly checked throughout the mission The missions can be created in a number of ways but must include an If action that regularly checks the battery level and sends the robot to a charging station when the battery level falls below a defined percentage In the following example the whole mission is embedded in a Loop action th...

Страница 28: ...3 Copyright 2019 Mobile IndustrialRobots A S 28 Follow these steps to insert a charging action into a larger mission 1 In the robot interface go to Setup Missions and select Create Mission Name the mission select the correct site and select Create mission ...

Страница 29: ...e gray bar that reads True to embed the next actions into the If action 5 In the Move menu select Move three times 6 Select the gray bar that reads False to embed the next actions into the If action 7 In the Move menu select Move 8 In the Battery menu select Charging The mission should look like this The next steps describe how to define the parameters of the If action and where the robot should m...

Страница 30: ...Robots A S 30 3 In the Loop action dialog select the check box Endless under Iterations Select Validate and close 4 In the If action dialog do the following Select Battery Percentage under Compare Select greater than or equal to under Operator Type 20 under Value Select Validate and close ...

Страница 31: ...e MiRCharge 48V Operating guide en 11 2019 v 1 3 Copyright 2019 Mobile IndustrialRobots A S 31 5 Under True in the If action select a position for each of the three Move actions Then select Validate and close ...

Страница 32: ... the map Then select Validate and close In the Charging action dialog define how the charging should be completed In our example there is no minimum time When the battery reaches 50 the charging is completed Select Validate and close To read more about the different Charging action combinations see Charging action parameters explained on the next page 7 The mission is complete Select Save to save ...

Страница 33: ...k box under Minimum Percentage The robot will then charge for the set minimum amount of time before moving on with the mission 2 Minimum Percentage If you want to ensure that the battery is charged to a certain percentage you can select the Ignore value check box under Minimum Time The robot will then charge the battery up to the set minimum percentage before moving on with the mission 3 Combinati...

Страница 34: ...g action is not included in a looped mission in which case the robot will continue after the set charging time or per centage is fulfilled Topping up cycle If the battery reaches 100 while the robot is waiting for a new mission the charger dis connects and lets the battery discharge until it has dropped to 90 It then connects again and tops up until the battery is back to 100 This may mean that ev...

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