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5. Programming the robot to use

MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S.

22

5.

Select

Detect marker

. The Detect-marker function tracks the position of the charging sta-

tion using the V-marker and automatically sets the X, Y and Orientation values in the
robot, enabling it to connect to the charging station.

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Содержание MiRCharge 24V

Страница 1: ...Operating guide en Date 10 2019 Revision v 2 0...

Страница 2: ...t 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 resp...

Страница 3: ...talling and powering up 11 3 3 Marking potentially hazardous floor area 13 4 Product presentation 17 4 1 How charging works 17 4 2 Guide to light indicator 18 4 3 Identification label 19 5 Programming...

Страница 4: ...lowing resources MiR100 MiR200 Quick start 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 langua...

Страница 5: ...ubleshooting guides to solve common issues with MiR products MiRCharge 24V product page https www mobile industrial robots com en products mir add ons mircharge 24v This page contains specifications p...

Страница 6: ...for any damages caused to MiRCharge 24V accessories or any other equipment due to programming errors or malfunctioning of MiRCharge 24V 2 1 Safety message types This document uses the following safety...

Страница 7: ...areas with explosive gas atmosphere according to hazardous area classification zones 0 1 and 2 Sparks from static electricity may cause fire or explosions Do not install MiRCharge 24V in any of the m...

Страница 8: ...hock if used by unqualified personel This appliance is not intended for use by persons including children with reduced physical sensory or mental capabilities or lack of experience and knowledge unles...

Страница 9: ...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...

Страница 10: ...MiRCharge 24V 3 1 In the box This section describes the content of the MiRCharge 24V box The box contains 1 MiRCharge 24V 2 Power cables for different wall outlets NEMA 5 15P plug for use in 110 120...

Страница 11: ...on free to avoid overheating Install MiRCharge 24V 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 supp...

Страница 12: ...ng guide en 10 2019 v 2 0 Copyright 2019 Mobile IndustrialRobots A S 12 3 2 Inside view of MiRCharge 24V 1 Six front panel screws 2 Air vent 3 Power inlet 4 Power button 5 Fan 6 Four M10 mounting hole...

Страница 13: ...Consider inserting wall plugs to ensure a secure mounting in which case the drilled holes must accommodate the size of the chosen plugs 5 Place the MiRCharge 24V against the wall again in the desired...

Страница 14: ...n personnel detection means and protective fields see the user guide of the relevant robot The muting starts when the robot reaches the entry position approximately one meter from the charging station...

Страница 15: ...s are muted the diagram illustrates how to calculate where the floor marking should be The area is calculated based on the robot s path going to the charging station and takes into account that the ro...

Страница 16: ...ight 2019 Mobile IndustrialRobots A S 16 The yellow black striped line indicates the area that should be marked with signal tape The space between the red dotted line and the marking must be held free...

Страница 17: ...RCharge 24V the robot moves to a position in front of the charging station to locate the VL marker 1 It then moves onto the charging plate 2 and the charging begins Figure 4 1 shows the features of Mi...

Страница 18: ...ng funtionality is required In this case please consult support mir robots com where we will assist you with the relevant documentation If the robot s battery is completely discharged you must connect...

Страница 19: ...e Constant green Error Rapid amber flashing 0 5 s on 0 5 s off Fault Constant red 4 3 Identification label The identification label of MiRCharge 24V is placed on the right hand side of the charging st...

Страница 20: ...create a mission that includes 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...

Страница 21: ...e meter from it 2 In the robot interface enter the map editor for 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 wou...

Страница 22: ...0 Copyright 2019 Mobile IndustrialRobots A S 22 5 Select Detect marker The Detect marker function tracks the position of the charging sta tion using the V marker and automatically sets the X Y and Ori...

Страница 23: ...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 V marker of the charging station 5...

Страница 24: ...s how an If 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 do...

Страница 25: ...ry menu select Charging 3 Within 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 paramet...

Страница 26: ...the battery reaches 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 R...

Страница 27: ...sually charging 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 th...

Страница 28: ...2019 v 2 0 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 N...

Страница 29: ...elect the gray bar that reads True to embed the next actions into the If action 5 Within the Move menu select Move three times 6 Select the gray bar that reads False to embed the next actions into the...

Страница 30: ...IndustrialRobots 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 C...

Страница 31: ...obot to use MiRCharge 24V Operating guide en 10 2019 v 2 0 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...

Страница 32: ...created on 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 char...

Страница 33: ...the Ignore value check 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...

Страница 34: ...the charging 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...

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