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Copyright and disclaimer

All rights reserved. No parts of this manual may be reproduced in any form without the express written
permission of Mobile Industrial Robots ApS (MiR). MiR makes no warranties, express or implied, in respect
of this document or its contents. In addition, the contents of the document is 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 © 2016 - 2019 by Mobile Industrial Robots

For more material,
go to our website

Contact the manufacturer:

Mobile Industrial Robots

Emil Neckelmanns Vej 15F
DK-5220 Odense SØ

www.mir-robots.com
Phone: +45 20 377 577
Email: [email protected]

CVR: 35251235

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Содержание MiR Hook 100 TM

Страница 1: ...Operating Guide 02 2019 v1 9 en...

Страница 2: ...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 fr...

Страница 3: ...pace required to park cart in reverse 6 6 Accuracy 7 6 1 Accuracy 7 7 Safety 9 7 1 Safety 9 7 1 1 MiRHook 100 9 7 1 2 MiRHook 200 9 8 Creating QR markers 11 8 1 Creating QR markers 11 9 Set up MiRHook...

Страница 4: ......

Страница 5: ...016 Document created 1 1 04 02 2016 General small corrections Reworked section 7 Usage 1 2 10 04 2016 Major update throughout document 1 3 02 05 2016 Added space requirements for pick up and reverse p...

Страница 6: ...website where you will also find training videos product pictures and technical specifications Manuals and more www mobile industrial robots com products Your MiR distributor is your first point of co...

Страница 7: ...gripper and an emergency stop for the complete system i e the MiR100 robot and the hook The gripper can be exchanged for different cart types Figure 1 3D drawing of MiRHook 100 Figure 2 3D drawing of...

Страница 8: ...and a MiRHook 100 but MiRHook 200 is mounted on a MiR200 robot in the same way 1 2 Remove the hook cover and lift the hook onto the robot fitting the frame holes above the four mooring holes on the r...

Страница 9: ...7 1 Network cable from robot to hook PC 2 Application hardware cable 3 Emergency stop cable 4 USB cable for top camera 5 Antenna connector 5 Place the cover on top of the hook frame The cover is held...

Страница 10: ...t The carts must be fitted with two rigid and two caster swivel wheels The two rigid wheels can either sit on the front or the back of the cart Whether the robot will work better with rigid wheels on...

Страница 11: ...e specification then it is possible to modify the gripper The gripper length can be altered by unscrewing the upper gripper and changing the length between the arms This requires some machine work The...

Страница 12: ...directly behind the cart 5 2 Basic principle of driving with a cart Once a cart is attached to MiR100 MiR200 the robot does not reverse when going from position A to position B see Safety on page 9 As...

Страница 13: ...best in the individual case 5 4 Space required to park a cart To park a cart the robot needs at least 50 cm of space to either side of the cart In addition it cannot park the carts safely closer than...

Страница 14: ...n 1 5 m either coming from the right or left side The robot checks if the placement space is free and then moves with the cart so that the fixed wheels on the cart are 0 2 m from the center line in th...

Страница 15: ...osition and with an angle difference less than 10 relative to the specified position Similarly a cart is picked up at a given position if the cart is placed with the above accuracy Each cart is identi...

Страница 16: ...Accuracy MiRHook User Guide Robot Interface 2 0 02 2019 v 1 9 8...

Страница 17: ...nd one on the hook detecting objects up to 200 cm above floor 7 1 1 MiRHook 100 When driving with a cart the maximum speed of the robot is 5 4 km h MiRHook 100 can move carts with a total payload incl...

Страница 18: ...Safety MiRHook User Guide Robot Interface 2 0 02 2019 v 1 9 10...

Страница 19: ...mmended size of a QR marker is between 70 and 100 mm But the system is open to all other sizes The limit is whether the camera can see the QR marker or not QR markers can be created using any QR code...

Страница 20: ...Creating QR markers MiRHook User Guide Robot Interface 2 0 02 2019 v 1 9 12...

Страница 21: ...ser interface 2 Perform a short manual test and a homing zero point calibration of the hook in the Manual control section 3 Create minimum one cart type and one cart in the Carts section 4 Calibrate t...

Страница 22: ...erformed as the first action to center the arm 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 Manu...

Страница 23: ...will move up or down depending on the chosen value see Figure 8 The value represents the height from the bottom of the Hook to the ground mm 1 First insert a height which enables the Hook to go undern...

Страница 24: ...he next step is to set up a cart in the Robot interface 1 Go to Hook Carts and select Create Cart 2 Select the cart type you created before 3 For calibration select Create Edit and select Create calib...

Страница 25: ...to fetch any cart visible to the MiRHook camera If the hook does not find the cart the calibration must be redone going through the above steps again After a successful Pick up cart action now create...

Страница 26: ...de Robot Interface 2 0 02 2019 v 1 9 18 If possible always use missions when locking unlocking carts Do not drive the robot in manual mode with the brake activated as this may damage the motor Use Cha...

Страница 27: ...map To do this navigate to either a dashboard with a map or the loaded map and select Create new position Under Position type select Cart position If you want to set the position where the robot with...

Страница 28: ...Map MiRHook User Guide Robot Interface 2 0 02 2019 v 1 9 20...

Страница 29: ...A is used for picking up and placing carts and must be defined as a cart position Position B is a normal Robot position which the robot with hook can move to but not to pick up or unload a cart 1 Pick...

Страница 30: ...Example MiRHook User Guide Robot Interface 2 0 02 2019 v 1 9 22...

Страница 31: ...s com account and select Downloads Select product go to the newest version and download the latest software file 2 In the Robot interface go to Hook Software versions 4 Select Upload software and sele...

Страница 32: ...Updating MiRHook software MiRHook User Guide Robot Interface 2 0 02 2019 v 1 9 24...

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