Milvus Robotics SEIT 100 User manual

User Manual for SEIT 100
Autonomous Mobile Robot

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User Manual for SEIT 100
Table of Contents
1. Introduction ..........................................................................................................................................3
1.1. Warning Notices in This Document ..............................................................................................3
1.2. Symbols.........................................................................................................................................4
1.3. Definitions.....................................................................................................................................4
2. Safety ....................................................................................................................................................5
2.1. General Hazards............................................................................................................................5
2.2. Intended Use.................................................................................................................................6
2.3. Personnel Qualification.................................................................................................................6
2.4. Operating Modes ..........................................................................................................................8
2.5. Environment..................................................................................................................................9
2.6. Battery Safety..............................................................................................................................10
3. Product identification .........................................................................................................................11
3.1. Product Overview .......................................................................................................................11
3.2. Technical Data.............................................................................................................................18
4. Transport and Storage ........................................................................................................................19
4.1. Transport.....................................................................................................................................19
4.2. Storage........................................................................................................................................20
5. Getting Started Guide .........................................................................................................................21
5.1. Unpacking ...................................................................................................................................21
5.2. Initial Start-up .............................................................................................................................23
5.3. Operation....................................................................................................................................27
5.4. Shutting Down the Robot ...........................................................................................................49
6. Applications.........................................................................................................................................50
7. Payload Placement..............................................................................................................................51
8. Cleaning...............................................................................................................................................53
9. Troubleshooting..................................................................................................................................54
9.1. In Case of a Fault.........................................................................................................................54
9.2. Troubleshooting..........................................................................................................................55
10. Spare and Wear Parts .....................................................................................................................57
10.1. Ordering Information..............................................................................................................57
11. Decommissioning and Disposal ......................................................................................................58

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1. Introduction
This manual contains important notes and information about the various operating phases of the SEIT
100:
•Transport, initial startup
•Safe operation, removal of any faults, troubleshooting
•Spare parts and applications
In addition to this manual, special contractual agreements and technical documents apply to special
versions of SEIT 100 and its additional equipment.
oTo ensure trouble-free and safe operation as well as the settlement of possible warranty claims,
always read manual first and observe all the information contained herein.
oKeep the installation and operating instructions close to SEIT 100.
oPass the manual on to any subsequent operator or occupant. Milvus Robotics does not accept
any liability for faults or defects due to non-observance of this manual.
If you have any questions after reading the manual, please contact Milvus Robotics.
1.1. Warning Notices in This Document
The warning notices refer to risks which may arise while using SEIT 100. They are available in four
danger level identified by the signal word:
Table 1.1: Signal words and their meaning
Signal Word
Meaning
DANGER
Identifies a danger with high risk that can lead to death or serious injury if it is
not avoided.
WARNING
Identifies a danger with medium risk that can lead to death or serious injury if
it is not avoided.
CAUTION
Identifies a danger with low risk that can lead to minor or medium injury if it is
not avoided.
NOTICE
Identifies a danger that can lead to property damages.

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1.2. Symbols
This symbol marks useful and important information.
➢This symbol marks the steps to be carried out.
1.3. Definitions
This document uses the following terms to describe SEIT 100.
AMR (Autonomous Mobile Robot) –This term describes SEIT 100 with an attached attachments,
creating a complete mobile robot.
SEIT 100 –This is the model name.
Attachments –Any passive or dynamic device attached to and possibly powered by SEIT 100.
This could be as simple as a cart for carrying objects such as factory parts or as complicated as a
robotic arm that picks up and manipulates factory parts.
MR-AutoC –100 –Docking station.
RC150 –Roller conveyor for SEIT 100.

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2. Safety
This AMR has been built to comply with the state of the art. Nevertheless, users may encounter hazards
during its use.
WARNING
Disregarding the notices in this manual may lead to serious injury.
Carefully read the manual and follow its content.
2.1. General Hazards
The following list informs you about the various types of danger or damage that may occur
while working with SEIT 100.
Safety Devices
Perform any maintenance and repair work on SEIT 100 only in de-energized state and ensure
that it cannot be started accidentally.
Do not remove protective covers or housing.
Regularly check safety devices.
Electricity
Reach into SEIT 100 only if it is de-energized.
Rotating Parts
Never wear loose clothing.
Never wear jewelry, such as necklaces or bracelets.
If you have long hair, always wear a hair net.
Parts Lying Around or Falling Off
Remove equipment or material which is not required from the workspace.
Wear safety shoes.
Specify and monitor careful placement of the goods on SEIT 100.

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Risk of Injury Due to Faults During Operation
Regularly check the SEIT 100 for visible damage.
Immediately determine the cause of the fault by a qualified personnel.
Immediately remove any escaping gear oil.
Do not step on SEIT 100 during operation.
Do not ride on the AMR.
Do not exceed the maximum weight limit. Be aware that the maximum payload decreases as the
floor’s incline increases.
Do not exceed the maximum recommended settings as speed of the AMR becomes more
significant when the payload’s center of gravity is increasingly offset from the AMR’s center of
gravity.
Do not allow the AMR to drive through an opening that has an automatic gate or door unless
the door and AMR are configured correctly.
Do not continue to run the AMR if hair, yarn, strings, or any other items have become wound
around its axles, casters, or wheels.
Do not expose the AMR to rain or moisture.
Do not operate the AMR in potentially explosives environment.
2.2. Intended Use
The SEIT 100 may only be used for industrial applications and in an industrial environment to convey
SEIT 100-ready goods such as small packages, cartons, boxes, or different pallet sizes up to 100 kg.
SEIT 100 is dimensioned only for a certain field of use (see Technical Data, page 18) and may not be
operated outside of these specific limits.
Any other use is considered inappropriate. Deviating operating conditions require additional
clarifications, a special release of SEIT 100 and new contractual agreements.
Any modifications that affect the safety are not permitted.
2.3. Personnel Qualification
Unqualified personnel does not recognize risks and, as a result, is subjected to greater dangers.
Authorize only qualified personnel with the activities described in these operating instructions.
The operating company must ensure that the personnel follows locally applicable regulations
and rules during their work with regard to safety and dangers.

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WARNING
Personal Risk of Injury
It is the end user’s responsibility to perform a task-based risk assessment and to implement
appropriate safety measures at the point of use of AMR.
It is the end user’s responsibility to make sure that the AMR design and implementation
complies with all local standards and legal requirements.
The following target groups are addressed in these operating instructions:
Operators
Operators have been instructed in the operation and cleaning of SEIT 100 and follow the safety
guidelines.
Service Personnel
The service personnel features a technical training and performs the maintenance and repair tasks.
Electricians
Persons working on electrical equipment must have undergone technical training and training provided
by the manufacturer.

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2.4. Operating Modes
Normal Mode; the AMR is set up at the customer into a complete system and operated as part of the
system.
Special Mode; special operation refers to all operating modes which are required to guarantee and
maintain regular operation.
Special operating mode
Explanation
Comment
Transport/Storage
Loading and unloading, transport and storage
-
Assembly/Initial start-
up
Installation at the end customer and performing the
test run
-
Cleaning
External cleaning without removing protective
devices
When de-energized
Troubleshooting
Troubleshooting in the event of a fault
-
Fault elimination
Eliminating Fault
When de-energized
Shutdown
Removing from the complete system
When de-energized
Disposal
Removing from the complete system and
disassembly
When de-energized

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2.5. Environment
Make sure that the operating environment remains safe for SEIT 100.
WARNING
Personal Injury or Damage Risk
An AMR can be unsafe if operated under environmental conditions other than those specified in
this manual.
Environmental Hazards –these are areas where it is unsafe for SEIT 100 to operate. For
example, steep ramps (greater than 5.0 degrees).
Provide physical barriers that SEIT 100 can detect accurately with its scanning laser so that it
does not attempt to drive near the hazard. Be aware that in addition to being easily detectable,
a barrier must be strong enough to resist a fully-loaded AMR traveling at speed.
Public Access
The AMR is designed to operate indoor industrial environments. You must deploy it only in applications
where you anticipate and mitigate potential risks to personnel and equipment.
Milvus does not intend SEIT 100 for use in uncontrolled areas without risk analysis. For example, in areas
open to public access. Use of SEIT 100 in such areas requires deployment of additional safety measures.
For support, please contact Milvus Robotics.
Side Clearances
SEIT 100 is designed to operate in environments that contain doors, passageways, or other constrained
areas that are wide enough for it to traverse. However, you must maintain adequate free space on both
sides of the AMR so that it cannot trap a person against a wall or other fixed object.
An AMR must often maneuver close to machinery, conveyors, or other fixed objects. In such cases,
operating standards usually allow an exception to side clearance requirements.
SEIT 100 generally travels in a forward direction. It only reverses when leaving its docking station. To
change direction, SEIT 100 rotates on its center of rotation.

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2.6. Battery Safety
CAUTION
Battery Damage Risk
SEIT 100 is shipped when the Li-ion batteries’ state of charge is 50%. This state of charge
supplies 24 VDC nominal voltage. SEIT 100 must be charged in 45 days after the delivery.
Failing to do so might cause the battery to discharge below a usable state, requiring its
replacement.
Effective April 1, 2016, IATA regulations (UN 3480, PI 965) require that air-shipped lithium ion batteries
must be transported at a state of charge not exceeding 30%. Fully charge the battery immediately upon
receipt to avoid total discharge. (The battery might arrive fully charged if it is not shipped by air.)
Precautions
Never expose battery to water.
In case of fire, use a type D extinguisher: foam, dry chemical, or CO2 .

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3. Product identification
3.1. Product Overview
3.1.1. SEIT 100
Figure 3.1: Top view of SEIT 100
1
Brake Release Buttons
5
User Buttons
2
Start/Stop Button
6
AUX I/O Connector
3
On/Off Switch
7
AUX Power Connector
4
USB Port
8
AUX Charge Connector
User Buttons –interactive programmable instruments for users to take a certain action.
Aux I/O Connector –to provide communication between robot and top modules. (detail: page 16)
Aux Power Connector –providing required power for top modules to operate. (detail: page 17)
Aux Charge Connector –to charge SEIT 100 manually.
Brake Release Buttons –to release motor brake.
USB Port –direct communication interface with PC unit.










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Figure 3.2: Top view of SEIT 100
1
Lifting Holes
2
Emergency Stop Buttons
Lifting Holes –M8 lifting holes for fixation of top module, e.g. RC150 conveyor, and to lift SEIT 100. (See
“Applications”for dimensions of the holes, Page. 50)
Battery Access Lids –to access battery of SEIT 100.




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Figure 3.3: Side view of SEIT 100
1
Navigation and Safety Lasers (category 3 PL d in accordance with ISO 13849-1)


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Figure 3.4: Isometric view of SEIT 100
1
Led Indicators
2
Charging Pads
3
Depth Camera
Led Indicators –letting the surround know which operation is executed by SEIT 100.
Charging Pads –to charge SEIT 100 via charging station.
Depth Cameras –detect objects in front of the robot.





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3.1.2. SEIT 100 Manual Remote Controller
Figure 3.5: Manual remote controller
Activate / Deactivate
Manuel (Pendant) control
Led indicator
USB receiver
2 x AA batteries
Standart control
mode is X
Speed decrease
Speed increase
Move / Rotate with analogs

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3.1.3. AUX I/O
Figure 3.6: Contact Arrangement (When viewed from connector side)
1
IN1 (Safety)
7
TX (RS232)
2
IN2
8
GND (RS232 GND)
3
IN3
9
24V+
4
IN4
10
24V-
5
IN5 (AUX Emergency, Safety)
11
O1
6
RX (RS232)
12
O2
AUX connector supports low current/power devices, and it has 5 inputs and 2 outputs.
Figure 3.7: Inputs and 24 V + pin are used to receive signal from the attachments, and outputs and 24 V -
pin are used to send signal to the attachments.
NJC 2012 PM male connector is needed to connect to the robot’s AUX signal connector.

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3.1.4. AUX Power
Figure 3.8: Contact Arrangement (When viewed from connector side)
1
24V+ (Max 15A)
When an emergency or a protective stop
situation occurs, the power is shut down. It
is controlled by a Safety PLC and a contactor.
2
GND
CAUTION
Damage Risk
Power pin supply voltage is unregulated, and it varies between 21.0 V and 29.5 V.
NJC 202 PM male connector is needed to connect to the robot’s AUX power connector.

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3.2. Technical Data
SEIT 100
Payload
100kg
Load Type
Application specific –on top loading,
cart towing, conveyor –chain, roller,
lift deck
Brake
Electric, fail safe
Approx. Weight
80 kg (Unloaded)
Gradeability
8% - fully loaded
Dimensions
814 mm x 630 mm x 300 mm (LxWxH)
Loading Plate Dimensions
595 mm x 510 mm (LxW)
Operating temperature
0 °C to +40 °C
Battery
24 V, 40 Ah Li-ion Battery
Run Time
8-10 Hours
Charge Time
2-3 Hours
Safety Features
2 Safety LIDARS
3D depth cameras
Emergency stop buttons
Indicator light bars
E-stop buttons
Buzzer

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4. Transport and Storage
4.1. Transport
SEIT 100 arrives in a wooden box secured by draw letches to a pallet. Use only the pallet, and a rated
lifting device to move the shipment.
WARNING
Risk of injury during transport
Fix SEIT 100 securely and slip-proof for the transport.
Ensure that the lifting device (crane, forklift, etc.) is rated for the weight of SEIT 100.
Ensure that no persons are located under the suspended load while lifting and moving SEIT 100.
Additional information about the transport is located on an information sheet that accompanies
SEIT 100.
Data about weight and requirements for loading capacity and lifting tackle are located on the
information sheet.
Remove any person from the danger zone.
Wear safety shoes.
Check the correct fastening for the transport.
The load lifting points are marked on the packet.
4.1.1. Identification of Load Lifting Points

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4.1.2. After the Delivery
➢Inspect SEIT 100 for transport damages.
➢Immediately notify the carrier and manufacturer in case of damages to avoid losing any claims for
compensation.
4.2. Storage
WARNING
Risk of injury due to improper storage
Do not stack SEIT 100. Do not place any other objects on SEIT 100.
Check SEIT 100 stability.
If SEIT 100 is not immediately placed in operation, store it at a location protected against
humidity and dust or cover SEIT 100 with something that protects it from such conditions.