MIR 500 User manual

Operating Guide
01/2019 v1.0
en

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 © 2018-2019 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: [phone]
Email: [e-mail]
CVR: 35251235

Table of contents
1 About this manual ............................................................................................................ 1
1.1 Overview..................................................................................................................... 1
1.2 Document history ....................................................................................................... 1
1.3 Where to find more information ................................................................................ 1
2 Safety................................................................................................................................ 2
2.1 Introduction................................................................................................................ 2
2.2 Safety concept ............................................................................................................ 2
2.3 General safety instructions......................................................................................... 3
2.3 1 Warning notes ................................................................................................. 3
2.3 2 Caution notes................................................................................................... 3
3 Getting started.................................................................................................................. 4
3.1 In the box.................................................................................................................... 4
3.2 Installing MiRCharge 500............................................................................................ 5
3.2 1 Marking potentially hazardous floor area ....................................................... 6
4 Product presentation........................................................................................................ 8
4.1 About MiRCharge 500................................................................................................. 8
4.1 1 How charging works ........................................................................................ 8
4.2 Identification label...................................................................................................... 9
5 Usage .............................................................................................................................. 10
5.1 Introduction.............................................................................................................. 10
5.2 Creating a charging station marker on the map....................................................... 10
5.3 Creating charging missions ....................................................................................... 13
5.3 1 Create a simple charging mission .................................................................. 13
5.3 2 Insert a charging action into a larger mission................................................ 16
5.3 3 Charging action parameters explained.......................................................... 20

•
•
•
•
•
•
MiRCharge 500 Operating Guide 01/2019 v.1.0 1
• • • • • •
1 About this manual
1.1 Overview
This Operating Guide contains all essential information about how to start up and operate a
MiRCharge 500 charging station. It also includes necessary information about safe handling of the
charging station and examples of how to wet up robots for automatic charging in a MiRCharge 500.
The Operating Guide is intended for Mobile Industrial Robots’ distributors as well as end users
responsible for the daily operation of MiRCharge 500.
1.2 Document history
This table shows latest and previous versions of this document and their interrelation with product
software releases.
1.3 Where to find more information
At mobile-industrial-robots.com, the following extra resources on MiRCharge 500 are available.
• MiRCharge 500 product page
https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mircharge/
This page contains specifications, pictures, brochures and manuals for MiRCharge 500.
To access the pages in the Distributor site, sign in with your distributor account at http://
www.mobile-industrial-robots.com/en/account.
• Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
The section contains the following resources:
• This MiRCharge 500 Operating guide
• Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
• CAD drawings
Click Show CAD-files to see the list of available CAD drawings.
• EC Declarations of Conformity
Click Show Certificates to see the list of EC Declarations of Conformity.
• Certificates.
Click Show Certificates to see the list of certificates for the robot.
• Distributor site > How to
http://www.mobile-industrial-robots.com/en/account/how-to/
This page contains how-to articles that describe how to perform specific tasks with the robot.
Doc version Release date Description HW rel
1.0 2019-01-24 First edition 1.0

•
•
•
•
•
•
MiRCharge 500 Operating Guide, 01/2019 v.1.0 2
• • • • • •
2 Safety
2.1 Introduction
The information in this chapter must be read and understood before MiRCharge 500 is powered up
for the first time. It is important to read the following safety information in order to operate
MiRCharge 500 safely.
This manual contains notices you have to observe to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the
manual by a safety alert symbol. The notices shown below are graded by signal words to indicate
degree of danger.
2.2 Safety concept
Mobile Industrial Robots ApS disclaims any and all liability if MiRCharge 500 or its accessories are damaged,
changed or modified in any way. Mobile Industrial Robots ApS cannot be held responsible for any damages
caused to MiRCharge 500, accessories or any other equipment due to malfunctioning of MiRCharge 500.
Indicates an immanently hazardous situation that will result in death or severe personal injury if proper
precautions are not taken.
Indicates a potentially hazardous situation that could result in death or severe personal injury if proper
precautions are not taken.
Indicates a situation that could result in minor personal injury or damage to the equipment if proper
precautions are not taken.
Indicates a situation that could result in property damage if proper precautions are not taken.

•
•
•
•
•
•
Safety
MiRCharge 500 Operating Guide, 01/2019 v.1.0 3
2.3 General safety instructions
This section contains general safety notes. Some safety notes are further specified in other sections
of the manual and further safety notes are present throughout the manual.
All service and repair work must be carried out by qualified service personnel.
2.3.1 Warning notes
2.3.2 Caution notes
• Do not remove the front cover of MiRCharge 500
Danger of electric shock from contact with live parts.
• Do not use MiRCharge 500 in an environment with explosive gases.
Danger of fire or explosions caused by sparks from static electricity.
• Immediately, disconnect power from MiRCharge 500 if the charger does not work correctly or has been
damaged
Leaving the power on may cause damage to the device.
• Do not place MiRCharge 500 near heat sources, and follow the installation instructions given in this manual
Failure to follow the instructions may cause damage to or malfunction of the device.
• Do not cover or block the vents on the sides of MiRCharge 500
Blocking may cause overheating of the device.
• Only use MiRCharge 500 for its intended purpose
Wrong use can damage the device.
MiRCharge 500 is a charging station with the specific purpose to charge the internal battery of MiR500 robots.
Do not connect MiRCharge 500 to other equipment than MiR500 robots and do not attempt to charge
external batteries.
• Do not place or drop metal parts on the charging connectors during charging
Risk of short circuiting and damage to charging station and/or robot.
The charging connectors carry voltage only when in contact with the connectors underneath the robot. Both
robot (including its battery) and charging station are protected by fuses to avoid dangerous situations in case
the terminals underneath the robot are short circuited during charging.
• Only connect MiRCharge 500 to a wall outlet that fits one of the supplied cable plugs
Use of a different plug or alterations to one of the supplied plugs may damage the device.
• Ensure that MiRCharge 500 is properly grounded by using one of the supplied three-prong plugs
Failure to ground the device may cause electric shock.
If the supplied cables do not fit the local wall outlet, please consult a local electrician.

•
•
•
•
•
•
MiRCharge 500 Operating Guide, 01/2019 v.1.0 4
• • • • • •
3 Getting started
3.1 In the box
This section describes the content of the MiRCharge 500 box.
Figure 3.1. The MiRCharge 500 box and content
1.MiRCharge 500
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.

•
•
•
•
•
•
Getting started
MiRCharge 500 Operating Guide, 01/2019 v.1.0 5
3.2 Installing MiRCharge 500
MiRCharge 500 is easy to install and commision in any facility where MiR500 robots operate.
Make sure to read and follow the safety notes applying to the installation of MiRCharge
500. See Safety on page 2.
Figure 3.2. MiRCharge 500 components
1. M8 mounting holes for fixation to wall.
2. Mounting bracket (one on each side)
3. Air vent (one on each side)
4. Power inlet
5. Power button
For a safe installation, ensure that the following preparations are made before
mounting and powering up MiRCharge 500:
• To avoid overheating, place MiRCharge 500 in location where non of the air vents
are blocked.
• Make sure to connect the power cable to a suitable wall outlet that supports the
necessary power. For national electrical codes, please consult a local, licensed
electrician.
• Ensure that MiRCharge 500 is installed on an electric circuit which is protected by
a circuit breaker with current rating 16 A (EU) / 15 A (US).
Mounting The charging station is to be placed against a wall with access to a power outlet.
The two distance brackets (2) are prepared with M8 holes (1) that are used to fix MiRCharge 500 to
a wall.

•
•
•
•
•
•
Getting started
MiRCharge 500 Operating Guide, 01/2019 v.1.0 6
Wall fixing is not required; the robot will not push the charging station when docking.
But if there is a slight risk that the charging station could be pushed, for example to one
side or the other, it is recommended to fix it to the wall to ensure that the physical
position of the charging station corresponds to the marker position on the map.
Powering up Insert the power cord into the charging station first (4), then into the wall power outlet. Press the
Power button (5) to turn MiRCharge 500 on.
3.2.1 Marking potentially hazardous floor area
When docking to MiRCharge 500, the robot mutes its personnel detection means temporarily. This
includes turning off the protective fields around the scanners.
The muting starts when the robot reaches the entry position approximately 1 meter from Charging
station marker. To indicate this to people nearby, MiR500 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, the physical area around MiRCharge 500 should be marked with signal tape or similar.
For more information on personnel detection means and protective fields, see MiR500
User Guide.
The size of the marked area is calculated based on the robot’s path going to the charging station and
takes into account that the robot may have to make a turn of up to 90° when docking to the charging
station.
Figure 3.3 illustrates how to calculate where the floor marking should be:
• 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 objects to
ensure a smooth entry to the charging station.