MIR MiR Charge 48V User manual

Operating Guide (en)
Date: 06/2020
Revision: v.1.4

MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 © 2018-2020 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48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 11
3.1 How charging works 11
3.2 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 19
5. Usage 22
5.1 Setting charging station markers on the map 22
5.2 Creating the Charge at station mission 27
5.3 Creating the Recharge loop mission 31
5.4 Charging action parameters explained 37

1. About this document
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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48V. This guide also contains information on how to set up MiR250, MiR500 and
MiR1000 robots for automatic charging with MiR Charge48V.
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48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 2019-01-24 First edition 1.0
1.1 2019-07-31 Small updates to the document 1.0
1.2 2019-10-07 Small updates to the document 1.0
1.3 2019-11-13 Layout changes 1.0
1.4 2020-06-17 New chapter: Nameplate
Small updates to the document
1.0

2. Safety
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiR Charge48V.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR Charge48V 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48V, accessories, or any other equipment due to programming errors
or malfunctioning of MiR Charge48V.
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48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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48V while it is
powered.
WARNING
MiR Charge48V 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48V in any of the mentioned zones.
WARNING
Failure to ground MiR Charge48V may cause electric shock.
•Ensure to ground MiR Charge48V 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48V 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48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 8
WARNING
If MiR Charge48V 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48V 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48V is to charge the internal battery of
MiR250,MiR500, and MiR1000 robots. Using it to charge other robot types or
external batteries can damage MiR Charge48V.
•Only use MiR Charge48V to charge MiR250, MiR500, and MiR1000 robots.

2. Safety
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 9
CAUTION
Metal parts placed or dropped on the charging connectors during charging
may short circuit MiR Charge48V or the robot, possibly resulting in damage to
equipment or injury to nearby personnel.
The charging connectors have electric potential difference only when in
contact with the robot. Both robot (including battery) and charging station are
protected by fuses to prevent dangerous situations should the terminals be
short circuited during charging.
•Do not place or drop metal parts on to the charging connectors during
charging.
CAUTION
Connecting one of the supplied power cables to a wall outlet that does not fit
the cable plug can damage MiR Charge48V.
•Only connect the power cable to a wall outlet that fits one of the supplied
cable plugs.
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.

2. Safety
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 10
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48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 11
3. Product presentation
MiR Charge48V is a charging station that autonomously recharges docked MiR250, MiR500,
and MiR1000 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48V, 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.
3.1 identifies the features of MiR Charge48V.
Figure 3.1. Front view of MiR Charge48V.

3. Product presentation
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 12
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 dock to the charging
station
2 Charging plate
3 Charging connector, positive
terminal
4 CAN high: CAN bus
communication between robot
and charging station processor
5 CAN low: CAN bus
communication between robot
and charging station processor
6 Charging connector, negative
terminal
To connect to MiR Charge48V, the robot moves to the entry position in front of the charging
station to locate the VL-marker (1). It then moves onto the charging plate (2) and establishes
a communication to the charger through (4) and (5). When a communication has been
successfully done, the charging will begin from (3) and (4).
The connectors on both charging plates (3) and (6) and underneath the robot
are voltage-free until a connection between the robot plates and the charger
plates is made, and a CAN bus communication is established via plates (4) and
(5).
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. Product presentation
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 13
3.2 Nameplate
MiR Charge48V is delivered with two nameplates mounted to the charger. The nameplates
of MiR Charge48V identify the model and serial number and includes the CE mark, the
technical specifications, and the address of Mobile Industrial Robots.

3. Product presentation
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 14
Figure 3.2. Example of MiR Charge48V nameplates.
Item Description
CE Mobile Industrial Robots A/S declares that MiR
Charge48V 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48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 15
4. Getting started
This section describes how to get started with MiR Charge48V.
NOTICE
Read Safety on page6 before powering up MiR Charge48V.
4.1 In the box
This section describes the content of the MiR Charge48V box.

4. Getting started
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 16
The box contains:
1. MiR Charge48V
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.

4. Getting started
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 17
4.2 Installing and powering up
This section describes how to install and power up MiR Charge48V.
Before installing
Before installing, please complete the following:
•Place MiR Charge48V 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48V 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 shows the parts of MiR Charge48V relevant for the installation and powering up.

4. Getting started
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 18
Figure 4.1. Rear view of MiR Charge48V.
Pos. Description Pos. Description
1 Four M8 mounting holes for
fixation to wall (all four corners)
2 Mounting brackets
3 Air vents 4 Power inlet
5 Power button

4. Getting started
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 19
Mounting
Follow these steps to mount MiR Charge48V to a wall:
1. Place MiR Charge48V against the wall where it should be mounted.
2. Mark the position of the four M8 mounting holes on the wall.
3. Remove the charging station and drill four holes of a suitable size for M8 bolts at the
marked positions in the previous step. Consider inserting wall plugs to ensure a secure
mounting, in which case the drilled holes must accommodate the size of the chosen
plugs.
4. Place the MiR Charge48V against the wall again in the desired position. Ensure that the
drilled holes align with the M8 mounting holes.
5. Fasten the charging station securely to the wall by screwing M8 bolts through the bolting
holes and into the wall.
Powering up
NOTICE
Read Safety on page6 before powering up the charging station.
Follow these steps to power up the MiR Charge48V:
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48V.
4.3 Mark potentially hazardous floor areas
Before taking your MiR Charge48V into use, it is necessary to mark up the floor in the area
where the robot docks to MiR Charge48V.
Why marking is required
When docking to a charging station, the robot mutes its personnel detection means
temporarily. This includes turning off the protective field sets around the robot.
The muting starts when the robot reaches the entry position approximately one meter from
the charging station marker. To indicate this to people nearby, the robot slows down and
starts blinking yellow, using the eight signal lights on the corners of the robot.

4. Getting started
MiR Charge48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 20
To avoid potentially hazardous situations as a consequence of the muted personnel detection
means, you must mark the physical area around MiR Charge48V with tape or similar
marking material.
For more information on personnel detection means, see the user guide for
your robot.
Marking the operating hazard zone
The size of the operating hazard zone is 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.