MIR MiRCharge 24V User manual

Operating guide (en)
Date: 10/2019
Revision: v.2.0

MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©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 © 20162017-2019 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

Table of contents
1. About this document 4
1.1. Where to find more information 4
1.2. Document 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 11
3.3. Marking potentially hazardous floor area 13
4. Product presentation 17
4.1. How charging works 17
4.2. Guide to light indicator 18
4.3. Identification label 19
5. Programming the robot to use MiRCharge 24V 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 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 4
1. About this document
This document contains the following information:
•How to install MiRCharge 24V and take precautions for safe use
•Product presentation
•How to set up MiR100 and MiR200 robots for automatic charging in MiRCharge 24V
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:
-MiR100/MiR200 Quick start
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.
-MiR100/MiR200 User guide
The user guide of the robot. Available in multiple languages.
-MiRCharge 24V Operating guide
The operating guide that describes how to set up MiRCharge 24V and configure for
automatic battery charging at the charging station.
-MiR Robot Reference guide
The reference that describes the elements of the robot interface. Available in multiple
languages.
-MiR100/MiR200 REST API reference.
The REST API reference for MiR100/MiR200the robot.
•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.

1. About this document
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 5
•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
This page contains troubleshooting guides to solve common issues with MiR products.
•MiRCharge 24V product page
https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mircharge-24v/
This page contains specifications, pictures, and brochures for MiRCharge 24V.
•Universal Robots:
http://www.universal-robots.com/support
1.2. Document history
This table shows latest and previous versions of this document and the current hardware
revision of the product.
Revision Release date Description HW
2.0 2019-07-31 First edition 3.0
2.0 2019-10-07 Small updates to the document 3.0

2. Safety
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiRCharge 24V.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiRCharge 24V or its
accessories are damaged, changed or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiRCharge 24V,
accessories or any other equipment due to programming errors or
malfunctioning of MiRCharge 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.
•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
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2.2. General safety precautions
Save these instructions. This manual contains important safety and operating instructions.
WARNING
Contact with live parts can cause electric shock.
•Do not remove the front cover of MiRCharge 24V while it is powered.
WARNING
MiRCharge 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 MiRCharge 24V in any of the mentioned zones.
WARNING
Failure to ground MiRCharge 24V may cause electric shock.
•Ensure to ground MiRCharge 24V 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 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 8
WARNING
Lithium battery packs may get hot, explode or ignite and cause serious injury if
they are abused electrically or mechanically.
•Study the precautions of the lithium battery in the robot User Guide.
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 personel.
•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
Covered or blocked vents on the sides of MiRCharge 24V can cause
overheating.
•Do not cover or block the vents.
CAUTION
The only intended use of MiRCharge 24V is to charge the internal battery of
MiR100/MiR200 robots. Using it to charge other robot types or external
batteries can damage MiRCharge 24V.
•Only use MiRCharge 24V to charge MiR100/MiR200 robots.

2. Safety
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 9
CAUTION
Metal parts placed or dropped on the charging connectors during charging
may short circuit MiRCharge 24V or MiR100/MiR200.
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 24V.
•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 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 10
3. Getting started
This section describes how to get started with MiRCharge 24V.
3.1. In the box
This section describes the content of the MiRCharge 24V box.
The box contains:
1. MiRCharge 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.

3. Getting started
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3.2. Installing and powering up
This section describes how to install and power up MiRCharge 24V.
Before installing
Before installing, please consider the following:
•Place MiRCharge 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 MiRCharge 24V 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 and Figure 3.2 show the parts of MiRCharge 24V relevant for the installation and
powering up.
3.1. Front view of MiRCharge 24V

3. Getting started
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 12
3.2. Inside view of MiRCharge 24V
1. Six front panel screws
2. Air vent
3. Power inlet
4. Power button
5. Fan
6. Four M10 mounting holes for fixation to wall (all four corners)

3. Getting started
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 13
Mounting
Follow these steps to mount MiRCharge 24V to a wall.
1. Place MiRCharge 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
Be sure to disconnect the power supply from the charging station before open-
ing the front panel. 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.
4. Remove the charging station and drill four holes in the wall of a suitable size for M10
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.
5. Place the MiRCharge 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 bolt-
ing 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 MiRCharge 24V
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. Marking potentially hazardous floor area
This section describes how to mark the floor around the MiRCharge 24V to secure safety to
personnel when robots are docking to and undocking from the charging station. The area

3. Getting started
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 14
inside the marking is considered a potentially hazardous zone that should be kept clear of
people and objects.
Why marking is required
When a robot approaches a charging station it mutes its personnel detection means
temporarily. This includes turning off the protective fields around the scanners.
For more information on personnel detection means and protective fields, see
the user guide of the relevant 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 indicator lights on the corners of the robot.
To avoid potentially hazardous situations as a consequence of the muted personnel detection
means, you should therefore mark the physical area around MiRCharge 24V with signal
tape.
Measuring the safety area
Use the dimensions given in the following illustration to mark the area:

3. Getting started
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 15
The floor around the station must be marked to indicate where the personnel protection
means are muted. the diagram illustrates how to calculate where the floor marking should
be.
The 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 90º when docking to the charging
station.
•The red dotted line shows the area where the robot mutes the personnel detection
means. This is the potentially hazardous zone.

3. Getting started
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 16
•The yellow/black striped line indicates the area that should be marked with signal tape.
The space between the red dotted line and the marking must be held free of objects to
secure the robot a smooth entry to the charging station.

4. Product presentation
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 17
4. Product presentation
MiRCharge 24V 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 MiRFleet Operating guide.
4.1. How charging works
To connect to MiRCharge 24V, 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.
Figure 4.1 shows the features of MiRCharge 24V.
4.1. Front view of MiRCharge 24V.
The features of MiRCharge 24V are:
1. V marker: the V-shaped recess forms a so-called V 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.

4. Product presentation
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 18
The standard MiR100 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 funtionality 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.
4.2. Guide to light indicator
An LED light indicator is fixed on the top of MiRCharge 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.

4. Product presentation
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 19
Status LED light operation
No robot docked OFF
Charging - battery at low power state Slow green flashing (1 s on, 0.2 s off)
Charging - battery at high power state Fast green flashing (0.4 s on, 0.1 s off)
Charge complete Constant green
Error Rapid amber flashing (0.5 s on, 0.5 s off)
Fault Constant red
4.3. Identification label
The identification label of MiRCharge 24V is placed on the right-hand side of the charging
station.
4.2. Example of MiRCharge 24V CE marking and identification label.
CE Mobile Industrial Robots ApS declares that MiRCharge 24V
meets the requirements of the applicable EC directives.
Serial
number
The 15-digit serial number is a unique identifier of the charging
station.
MiRCharge
24V 1.0
Product name and hardware version.

5. Programming the robot to use
MiRCharge 24V Operating guide (en) 10/2019 - v.2.0 ©Copyright 2019: Mobile Industrial Robots A/S. 20
5. Programming the robot to use MiRCharge 24V
This chapter describes how to set up a robot for automatic charging in MiRCharge 24V. 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 do not
have to 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 in 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 correctly insert a charging station marker to the
map using the following steps.