MIR MiR Charge 48V User manual

Operating guide (en)
Date: 11/2019
Revision: v.1.3

MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: 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,
express 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 © 2018-2019 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: 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. Getting started 10
3.1 In the box 10
3.2 Installing and powering up 12
3.3 Mark potentially hazardous floor area 13
4. Product presentation 17
4.1 How charging works 17
4.2 Identification label 19
5. Usage 20
5.1 Creating a charging station marker on the map 20
5.2 Creating charging missions 23
5.3 Insert a charging action into a larger mission 27
5.4 Charging action parameters explained 33

1. About this document
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 4
1. About this document
This document contains the following information:
•How to install MiRCharge48V and take precautions for safe use
•Product presentation
•How to set up MiR500 and MiR1000 robots for automatic charging in MiRCharge48V
1.1 Where to find more information
At www.mir-robots.com, several additional resources are available. To access more
information, sign in to the Distributor site with your distributor account at
http://www.mobile-industrial-robots.com/en/account/. The following relevant resources are
available:
•Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
This page contains the following resources:
-Quick starts for robots
The short guide that lets you start operating the robot quickly. This document is in the
box with the robot in the printed format. Available in multiple languages.
-User guides for robots
The user guide of the robot. Available in multiple languages.
-Operating guides for add-ons
The operating guide that describes how to set up and use add-ons such as charging sta-
tions, hooks and pallet lifts.
-MiR Robot Reference guide
The reference guide that describes the elements of the robot interface. Available in
multiple languages.
-REST API references
The REST API reference for the robot and pallet lifts and hooks.

1. About this document
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 5
•Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
This page contains the following resources:
-CAD drawings
Select Show CAD-files to see the list of available CAD drawings.
-Certificates
Select Show Certificates to see the list of certificates for the robot.
-Software
Select your product to see the list of available software versions and Product release
notes.
•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 MiR
products.
•Distributor site > Troubleshooting
https://www.mobile-industrial-robots.com/en/account/troubleshooting/
This page contains troubleshooting guides to solve common issues with MiR products.
•MiRCharge48V product page
https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mircharge-48v/
This page contains specifications, pictures, and brochures for MiRCharge48V.
1.2 Version history
This table shows latest and previous versions of this document and their interrelations with
product software 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

2. Safety
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiRCharge48V.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiRCharge48V or its
accessories are damaged, changed or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiRCharge48V,
accessories or any other equipment due to programming errors or
malfunctioning of MiRCharge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.
•Take proper precautions to avoid damage or injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or mod-
erate injury. Alerts against unsafe practices.
•Take proper precautions to avoid damage or injury.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.

2. Safety
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 7
2.2 General safety precautions
This section contains general safety precautions.
WARNING
MiRCharge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 MiRCharge48V in any of the mentioned zones.
WARNING
Contact with live parts can cause electric shock.
•Do not remove the front cover of MiRCharge48V while it is powered.
WARNING
Failure to ground MiRCharge48V may cause electric shock.
•Ensure to ground MiRCharge48V properly using one of the supplied three-
prong plugs.
•If none of the supplied plugs fit the local wall outlet, please consult a
licensed electrician.
WARNING
Risk of injury and electrical shock if used by children.
•Children should be supervised to ensure that they do not play with the
appliance.

2. Safety
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 8
WARNING
Attempting to charge batteries outside the robot can lead to electrical shock
or burns.
•Never charge the batteries outside the robot.
WARNING
Risk of injury and electrical shock if used by unqualified personnel.
•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.
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
CAUTION
The only intended use of MiRCharge48V is to charge the internal battery of
MiR500/MiR1000 robots. Using it to charge other robot types or external
batteries can damage MiRCharge48V.
•Only use MiRCharge48V to charge MiR500/MiR1000 robots.

2. Safety
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 9
CAUTION
Metal parts placed or dropped on the charging connectors during charging
may short circuit MiRCharge48V or MiR500/MiR1000.
The charging connectors carry voltage 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 char-
ging.
CAUTION
Connecting one of the supplied power cables to a wall outlet that does not fit
the cable plug can damage MiRCharge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
Operating the charger in a closed-in area with restricted ventilation can lead
to overheating of the battery and/or the charger.
•Do not operate the charger in a closed-in area or restrict ventilation in any
way.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 10
3. Getting started
This section describes how to get started with MiRCharge48V.
3.1 In the box
This section describes the content of the MiRCharge48V box.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 11
The box contains:
1. MiRCharge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.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 12
3.2 Installing and powering up
This section describes how to install and power up MiRCharge48V.
Before installing
Before installing, please consider the following:
•Place MiRCharge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 MiRCharge48V on an electric circuit that is protected by a circuit breaker with cur-
rent rating 16 A (EU) / 15 A (US).
•Make sure there's a suitable wall outlet that supports the necessary power. For national
electric codes, please consult a licensed electrician.
Wall fixing is not required, but if the charging station is moved even a few cen-
timeters, the robot will be unable to dock precisely. We therefore recommend
fixing it.
Figure 3.1 shows the parts of MiRCharge48V relevant for the installation and powering up.
3.1. Rear view of MiRCharge48V.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 13
Label Description Label Description
1 Four M8 mounting holes for fix-
ation to wall (all four corners)
2 Mounting brackets
3 Air vents 4 Power inlet
5 Power button
Mounting
Follow these steps to mount MiRCharge48V to a wall:
1. Place MiRCharge48V against the wall where it should be mounted.
2. Mark the position of the four M8 mounting holes (1) 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 MiRCharge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 MiRCharge48V
1. Insert the power cord into the power inlet, then into the wall power outlet.
2. Press the power button to turn it on.
3.3 Mark potentially hazardous floor area
Before taking your MiRCharge48V into use, it is necessary to mark up the floor in the area
where MiR500/MiR1000 docks to MiRCharge48V.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 14
Why marking is required
When docking to a charging station, the robot mutes its Personnel detection means
temporarily. This includes turning off the protective fields around the scanner.
The muting starts when the robot reaches the entry position approximately one meter from
the charging station marker. To indicate this to people nearby, MiR500/MiR1000 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, you must mark the physical area around MiRCharge48V with tape or similar.
Marking the safety area
The size of the marked area 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.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 15
Figure 3.2 illustrates where the floor marking should be for a single charging station.
3.2. The floor around MiRCharge48V must be marked to indicate where the personnel protection means are
muted. This can for example be done with signal tape.
•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.

3. Getting started
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 16
For more information on Personnel detection means and protective fields, see
MiR500/MiR1000 User guide.

4. Product presentation
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 17
4. Product presentation
MiRCharge48V is a charging station that autonomously recharges docked robots, enabling
autonomous operation 24/7. Multiple robots can share the same charging station; however,
for this we recommend integrating the robots in MiRFleet to avoid bottleneck situations. For
more information see the MiRFleet Getting started guide.
4.1 How charging works
To connect to MiRCharge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.

4. Product presentation
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 18
Figure 4.1 identifies the features of MiRCharge48V.
4.1. Front view of MiRCharge48V.
Label Description Label Description
1 VL marker: the V-shaped recess
combined with the front plate to
the right forms a so-called VL-
marker that the robot's front
safety scanner uses to detect the
charging station
2 Charging plate
3 Charging connector, positive ter-
minal
4 CAN high: CAN bus com-
munication between robot and
charging station processor
5 CAN low: CAN bus com-
munication between robot and
charging station processor
6 Charging connector, negative
terminal

4. Product presentation
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 19
When the robot is in position on top of the charging connectors (3) and (6), the robot must
first deliver a small current to the charging station before the station starts charging. This
ensures that charging only begins when the robot is correctly docked at the station.
The connectors on both charging plate (3) and (6) and underneath the robot
are voltage-free until connection between those is made and communication
through CAN bus (4) and (5) is established
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.
4.2 Identification label
The identification label of MiRCharge48V is placed on the right-hand side of the charging
station.
4.2. Example of MiRCharge48V CE marking and identification label.
CE Mobile Industrial Robots ApS declares that MiRCharge48V
meets the requirements of the applicable EC directives.
Serial number The 15-digit serial number is a unique identifier of the charging
station.
MiRCharge48V
1.0
Product name and hardware version.

5. Usage
MiRCharge48V Operating guide (en) 11/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 20
5. Usage
This chapter describes how to set up a robot for automatic charging in MiRCharge48V. To
do so, you must set up a marker on the map and create a mission that enables the robot to
move to the charging station to start charging.
If you are using MiRFleet, charging is handled automatically, and you should
not create a mission that includes charging actions.
5.1 Creating a charging station marker on the map
This section explains how to create a charging station marker on a map.
Before creating the marker, you must ensure that the robot is localized correctly on an
active map. If in doubt, you can check if the red lines representing the laser scanner line
match the black lines on the map as shown in Figure 5.1.
5.1. The red lines represent what the laser scanners see. The robot is correctly localized when they align with
the black lines that represent walls.
Once the robot is localized it is possible to insert a charging station marker correctly on the
map using the following steps.