Link MIR100 User manual

Towing Pin
DESIGNED FOR MIR100/200
User
Manual
Version: 2.1
Date: 28/10/2019

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Index
1 Introduction.............................................................................................. 4
2 General .................................................................................................... 5
2.1 System General Vision ........................................................................... 5
2.2 Basic Specifications................................................................................ 6
3 Functioning Modes ................................................................................... 6
3.1 Manual mode......................................................................................... 6
3.2 Automatic mode .................................................................................... 7
3.3 Safety .................................................................................................... 8
3.4 Troubleshooting .................................................................................... 8
4 Maintenance............................................................................................. 9
4.1 Towing Pin Mounting ............................................................................. 9
4.2 Towing Pin Dismantling.......................................................................... 9
4.3 Preventive maintenance ......................................................................... 9
4.4 Wear parts list and Spare parts............................................................. 10

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1
Introduction
This user manual contains information essential to using a MiR with the Towing Pin device installed. In
this manual, the user can interpret the Towing Pin's operating schematics in automatic mode (when the
MiR is running a mission) or in manual mode (when there is a need to raise or lower the pin without
running a mission on the MiR). In this manual you will also find information regarding the basic
maintenance needs of the equipment.

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2
General
2.1
System General Vision
In the images below, you can check the dimensions (in mm) of the MiR with Towing Pin and the
specifications of the car to transport:

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2.2
Basic Specifications
Overall voltage
24 Vdc
Rated intensity
1 A
Overall dimensions (without indexer)
890mm x 580mm x 387mm
Towing Pin capacity – MiR100
200kg
Towing Pin capacity – MiR200
250kg
Maximum dimensions of the trolley to be transported
1200mm x 1200mm
3
Functioning Modes
This section aims to describe the Towing Pin's functioning modes according to the MiR's operating
status.
3.1
Manual mode
This functioning mode allows the operator to raise and lower the pin of the Towing Pin. To do
so, the operator will have to perform the steps:
Home routine:
The first operation the system performs is the home routine. It is a routine, which will allow the
control system to know the position of the pin. The operator must access the MiR Web interface,
in the PLC Refisters menu and verify if the register 15 is at 1, verifying that the home has been
done correctly.

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Raising pin:
To raise the pin, the user must place the register 14 to 1. During the ascent, the system will place
the register 7 to 0. The ascent procedure ends when register 8 takes the value at 1.
Lowering pin:
To lower the pin, the user must place the register 13 to 1. During lowering, the system will place
register 8 to 0. The lowering procedure ends when register 7 gets the value at 1
3.2
Automatic mode
In automatic mode, pin up and down management is done by the MiR during the execution of
the current mission. The user must ensure that the mission starts with the pin down.
The commands that manage the position of the pin are:
•
Pickup Shelf
– The MiR will position itself to catch the car/structure and start the automatic
climb of the pin.
•
Place Shelf
– The MiR will position itself to leave the car/structure and start the automatic
lowering of the pin. You can find information about setting up MiR and creating missions
using shelf docking in the MiR manual "Shelf Lift - Technical Documentation".

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3.3
Safety
The pin up and down control system continuously monitors the MiR safety systems (Emergency
Stop and Laser Scanners). During the movement of the pin, if one of these safety devices is
activated, the movement stops immediately. Motion will only be restored when the MiR safety
systems are reset.
3.4
Troubleshooting
There are some frequent user-induced errors that should be avoided:
• Both registers, 13 and 14, cannot be set to 1.
• Both registers, 7 and 8, cannot be set to 1.
• Records 7 and 8 should only be at 1 if the pin is either down or fully up (according to the
function of each). In case of doubt, it is suggested to activate one of the movements in manual
mode. The manipulation of the Towin Pin during the execution of a mission with these
changed values will cause an error in the MiR with the description: "Lift shelf aborted -
LiftShelfAction failed".
You should contact our support team when any other error not mentioned in this manual occurs.

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4
Maintenance
4.1
Towing Pin Assembling
To assemble the Towing Pin on the MiR, you should check if the top cover is already cut so you
can place the system on top of the MiR. You should be aware of the power supply and
emergency stop while conditioning the cables. After installing the system, you must connect the
plugs according to the connection diagram. Finally, place the 4 screws and tighten them.
4.2
Towing Pin Disassembling
Disassembling the MiR Towing Pin is a relatively easy process. To perform some of the
maintenance procedures, the Towing Pin must be disassembled from the MiR. To do so, you
must loosen the 4 fastening screws and pull the entire structure out. You will have access to the
entire Towing Pin system inside the MiR.
4.3
Preventive maintenance
Before performing any work on the Towing Pin, check if the MiR is turned off.
Component
Maintenance
Period

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Structure
General cleaning of the
structure.
Note: Do not use
compressed air.
Weekly
Lifting device
Tightening the screws if
there is any slack
1 – 2 months
Pin
Pin lubrication
3 Months or the operating
environment must be
checked on time and during
the warranty period ensuring
normal operation.
Spindle
Spindle lubrication
6 months
Transmission Belt
Check belt tension and wear
6 months
Index
Check index wear
6 months
4.4
Wear parts list and Spare parts
Component
Qty.
Product Ref.
Index
1 Unit
5002
Transmission Belt
1 Unit
T5-245
Lifting System
2x Column
1x Spindle
1x Drive nut
3x Bearings
2x Linear ball bearing
1 Full kit
LNK0068
Engine
1 Unit
M1233064S8
Engine Drive
1 Unit
OS1048
Control Unit
1 Unit
TR00008
MiR Communication Cable -
Control Unit
1 Unit
LNK0065
End of stroke sensor
2 Units
E2B-S08KS02MC-B1

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