MIR MiR Charge 24V User manual

Operating Guide (en)
Date: 06/2020
Revision: v.3.1

MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 2
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 A/S (MiR). MiR makes no warranties,
expressed or implied, in respect of this document 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 responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2017-2020 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 4
1.1 Where to find more information 4
1.2 Version history 5
2. Safety 6
2.1 Safety message types 6
2.2 General safety precautions 7
3. Product presentation 10
3.1 How charging works 10
3.2 Guide to light indicator 11
3.3 Nameplate 13
4. Getting started 15
4.1 In the box 15
4.2 Installing and powering up 17
4.3 Mark potentially hazardous floor areas and clear the required space 20
5. Usage 23
5.1 Setting charging station markers on the map 23
5.2 Creating the Charge at station mission 28
5.3 Creating the Recharge loop mission 32
5.4 Charging action parameters explained 38

1. About this document
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 4
1. About this document
This operating guide explains how to install and take precautions for safe use of your MiR
Charge 24V. This guide also contains information on how to set up MiR100 and MiR200
robots for automatic charging with MiR Charge 24V.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
At www.mobile-industrial-robots.com, you can find the following resources under the
Manuals tab on each product page:
•Quick starts describe how you start operating MiR robots quickly. This document is in
print in the box with the robots. Quick starts are available in multiple languages.
•User guides provide all the information you need to operate and maintain MiR robots.
User guides are available in multiple languages.
•Risk Analysis Guides include guidelines on how to create a risk assessment of your robot
solution.
•Commissioning guides describe how to commission your robot safely and prepare it to
operate in the workplace.
•Operating guides describe how to set up and use top modules and accessories, such as
charging stations, hooks, shelf lifts, and pallet lifts.
•Getting started guides describe how to set up products that are mainly software-based,
such as MiR Fleet.
•Reference guides contain descriptions of all the elements of the robot interface and MiR
Fleet interface. Reference guides are available in multiple languages.
•REST API references for MiR robots, MiR hooks, and MiR Fleet.
•The MiR network and WiFi guide specifies the performance requirements of your
network and how you must configure it for MiR robots and MiR Fleet to operate
successfully.

1. About this document
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 5
1.2 Version history
This table shows current and previous versions of this document and their interrelations with
hardware releases.
Revision Release date Description HW
1.0 2019-07-31 First edition 3.0
2.0 2019-10-07 Small updates to the document 3.0
3.0 2019-11-13 Corrections and layout changes 3.0
3.1 2020-06-17 New chapter: Nameplate
Small updates to the document
3.0

2. Safety
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiR Charge 24V.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR Charge 24V or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR Charge
24V, accessories, or any other equipment due to programming errors or
malfunctioning of MiR Charge 24V.
2.1 Safety message types
This document uses the following safety message types.
WARNING
Indicates a potentially hazardous situation that could result in death or serious
injury. Carefully read the message that follows to prevent death or serious
injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or
moderate injury. Alerts against unsafe practices. Carefully read the message
that follows to prevent minor or moderate injury.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.

2. Safety
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 7
2.2 General safety precautions
This section contains general safety precautions.
WARNING
Contact with live electrical parts can cause electric shock.
•Do not touch any internal components of MiR Charge 24V while it is
powered.
WARNING
MiR Charge 24V is not approved for installation in 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 MiR Charge 24V in any of the mentioned zones.
WARNING
Failure to ground MiR Charge 24V may cause electric shock.
•Ensure to ground MiR Charge 24V properly using one of the supplied three-
prong plugs.
•If none of the supplied plugs fit the local wall outlet, consult a licensed
electrician.
WARNING
If MiR Charge 24V is used by children, they risk injury and electrical shock.
•Children should be supervised to ensure that they do not play with the
appliance.

2. Safety
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 8
WARNING
If MiR Charge 24V is used by unqualified personnel, they risk injury and
electrical shock.
•This appliance is not intended for use by persons (including children) with
reduced physical, sensory, or mental capabilities or lack of experience and
knowledge unless they have been given supervision or instruction
concerning use of the appliance by a person responsible for their safety.
CAUTION
Operating the charger in a closed-in area with restricted ventilation as well as
covered or blocked vents on the sides of MiR Charge 24V can lead to
overheating of the battery and/or the charger.
•Do not operate the charger in a closed-in area, restrict ventilation or cover
or block the vents in any way.
CAUTION
The only intended use of MiR Charge 24V is to charge the internal battery of
MiR100andMiR200 robots. Using it to charge other robot types or external
batteries can damage MiR Charge 24V.
•Only use MiR Charge 24V to charge MiR100 and MiR200 robots.
CAUTION
Connecting one of the supplied power cables to a wall outlet that does not fit
the cable plug can damage MiR Charge 24V.
•Only connect the power cable to a wall outlet that fits one of the supplied
cable plugs.

2. Safety
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 9
CAUTION
Charging a frozen battery can damage the battery.
•Never charge a frozen battery.
CAUTION
Robot malfunctions can cause an electrical fire, causing damage and injury to
equipment and personnel.
•Personnel operating near the robot must be informed on how to use an ABC
fire extinguisher to put out an electrical fire, should the robot malfunction
and catch on fire.
CAUTION
Risk of trapping or injury to personnel if robots malfunction or if personnel
enter operating hazard zones.
•Personnel operating near the robot must be informed on how to engage the
robot's Emergency stop function in emergency situations.

3. Product presentation
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 10
3. Product presentation
MiR Charge 24V is a charging station that autonomously recharges docked MiR100/MiR200
robots.
It is possible for multiple robots to share the same charging station. However, to avoid
bottleneck situations, we recommend integrating the robots in MiR Fleet. For more
information see the MiR Fleet Getting Started Guide.
3.1 How charging works
To connect to MiR Charge 24V, the robot moves to a position in front of the charging station
to locate the VL-marker (1). It then moves forward to push the charging pins (2), and the
charging begins.
3.1 identifies the features of MiR Charge 24V.
Figure 3.1. Front view of MiR Charge 24V.

3. Product presentation
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 11
Label Description Label Description
1 VL-marker: the V-shaped recess
combined with the front plate to
the right forms a VL-marker that
the robot's front safety scanner
uses to detect the charging
station
2 Charging pins
Before the charger may deliver power to the robot's battery, the robot must press in both
charging pins and thereafter send a small electrical current to the charger. This ensures that
the robot is correctly docked before the charger begins charging with up to 25 A.
The standard MiR100 and MiR200 comes with embedded charging hardware
in the front charging plate and is ready to use with the charging station. In
previous models of the MiR100, the front charging plate is not included and
needs to be retrofitted if the automatic charging functionality is required. In
this case, please consult [e-mail] where we will assist you
with the relevant documentation.
If the robot's battery is completely discharged, you must connect an external
cable charger. For information on how to do this, see the user guide or quick
start of the robot.
3.2 Guide to light indicator
An LED light indicator is fixed on the top of MiR Charge 24V. The light indicator provides
information regarding the charging status of the docked robot. Around the light indicator a
sticker is placed to describe the main light operations.

3. Product presentation
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 12
Label Status LED light operation
1 No robot docked OFF
2 Charging - battery at low power
state
Slow green flashing (1 s on, 0.2 s off)
3 Charging - battery at high power
state
Fast green flashing (0.4 s on, 0.1 s off)
4 Charge complete Constant green
5 Error Rapid amber flashing (0.5 s on, 0.5 s
off)
6 Fault Constant red

3. Product presentation
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 13
3.3 Nameplate
MiR Charge 24V is delivered with a nameplate mounted to the charger. The nameplate of
MiR Charge 24V identifies the model and serial number and includes the CE mark, the
technical specifications, and the address of Mobile Industrial Robots.
Figure 3.2. Example of MiR Charge 24V nameplate.
Item Description
CE Mobile Industrial Robots A/S declares that MiR

3. Product presentation
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 14
Item Description
Charge 24V meets the requirements of the applicable
EC directives.
Serial number The 8-digit serial number is a unique identifier of the
robot. The last four digits form part of the original
name of the robot.

4. Getting started
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 15
4. Getting started
This section describes how to get started with MiR Charge 24V.
NOTICE
Read Safety on page6 before powering up MiR Charge 24V.
4.1 In the box
This section describes the content of the MiR Charge 24V box.

4. Getting started
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 16
The box contains:
1. MiR Charge 24V
2. Power cables for different wall outlets:
•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.

4. Getting started
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 17
4.2 Installing and powering up
This section describes how to install and power up MiR Charge 24V.
Before installing
Before installing, please complete the following:
•Place MiR Charge 24V against a wall on a clean, even and dry floor.
•Keep the air vents on both sides of the charging station free to avoid overheating.
•Install MiR Charge 24V on an electric circuit that is protected by a circuit breaker with
current rating 16 A (EU) / 15 A (US).
•Make sure there's a suitable wall outlet that supports the necessary power. For national
electric codes, consult a licensed electrician.
•Make sure that the charger is connected to ground to avoid getting electric shock. If you
are in doubt, consult a licensed electrician.
Wall fixing is not required, but if the charging station is moved even a few
centimeters, the robot will be unable to dock precisely. We therefore
recommend fixing it.
Figure 4.1 and Figure 4.2 show the parts of MiR Charge 24V relevant for the installation and
powering up.

4. Getting started
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 18
Figure 4.1. Front view of MiR Charge 24V
Figure 4.2. Inside view of MiR Charge 24V
Pos. Description Pos. Description
1 Six front panel screws 2 Air vent

4. Getting started
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 19
Pos. Description Pos. Description
3 Power inlet 4 Power button
5 Fan 6 Four M10 mounting holes for
fixation to wall (all four corners)
Mounting
Follow these steps to mount MiR Charge 24V to a wall:
1. Place MiR Charge 24V against the wall where it should be mounted.
2. Unscrew the six front panel screws. It is not necessary to remove the screws entirely.
WARNING
Do not connect the power supply at any time while the front panel is removed.
Electric shock causing death or severe injury may result if you fail to observe
this precaution.
3. Remove the front panel and mark the positions of the four mounting holes on the wall.
4. Remove the charging station and drill four holes in the wall of a suitable size for M10
bolts at the marked positions. 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 MiR Charge 24V against the wall again in the desired position. Ensure that the
drilled holes align with the M10 mounting holes.
6. Fasten the charging station securely to the wall by screwing M10 bolts through the
bolting holes and into the wall.
7. Once securely fixed, attach the front panel and tighten the six front panel screws.
Powering up
NOTICE
Read Safety on page6 before powering up the charging station.
Follow these steps to power up the MiR Charge 24V:

4. Getting started
MiR Charge 24V Operating Guide (en) 06/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 20
1. Insert the power cord into the power inlet, then into the wall power outlet.
2. Press the power button to turn on MiR Charge 24V.
4.3 Mark potentially hazardous floor areas and
clear the required space
Before taking your MiR Charge 24V into use, it is necessary to mark the area where
MiR100/MiR200 docks to MiR Charge 24V as an operating hazard zone.
Why marking is required
When a robot approaches a charging station, it slows down, reducing the size of its
protective field sets. The status light band emits a wavering white light to indicate that it is
docking when the robot reaches the entry position approximately one meter from the
charging station marker.
WARNING
Risk of being trapped or crushed between MiR100/MiR200 and MiR Charge
24V.
•Mark the floor one meter around the hazard and instruct personnel to stay
clear on the zone when the robot is entering it.
Marking the operating hazard zone
NOTICE
The required operating hazard zone and the required space for docking are
not the same.