MIR MiRCharge 48V User manual

Operating Guide (en)
Date: 03/2021
Revision: v.1.5

MiR Charge48V Operating Guide (en) 03/2021 - v.1.5 ©Copyright 2018-2021: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
All rights reserved. No parts of this document 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 document. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2018-2021 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) 03/2021 - v.1.5 ©Copyright 2018-2021: 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 4
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 Nameplate 11
4. Warranty 13
5. Getting started 14
5.1 In the box 14
5.2 Installing and powering up 16
5.3 Mark potentially hazardous floor areas 18
6. Usage 21
6.1 Setting charging station markers on the map 21
6.2 Creating the Charge at station mission 26
6.3 Creating the Recharge loop mission 29
6.4 Testing a mission 34
6.5 Charging action parameters explained 35
7. Specifications 37

1. About this document
MiR Charge48V Operating Guide (en) 03/2021 - v.1.5 ©Copyright 2018-2021: 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 setup and operating instructions.
1.1 Where to find more information
At the MiR website, you can find the following resources under the Manuals tab on each
product page:
•Quick starts describe how you start operating MiR robots quickly. It comes 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 and
how to set up and use top modules and accessories, such as charging stations, hooks, shelf
lifts, and pallet lifts. User guides are available in multiple languages.
•Operating guides describe how to set up and use MiR accessories or supported functions
that are mainly hardware-based, such as charging stations and shelf functions.
•Getting started guides describe how to set up MiR accessories 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.
•Best practice guides specify how much space MiR robots need to execute common
maneuvers.
•REST API references for MiR robots, MiR hooks, and MiRFleet. HTTP requests can be
used to control robots, hooks, and MiRFleet.
•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.
1.2 Version history
This table shows current and previous versions of this document.

1. About this document
MiR Charge48V Operating Guide (en) 03/2021 - v.1.5 ©Copyright 2018-2021: Mobile Industrial Robots A/S. 5
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
1.5 2021-03-09 Specifications added
New chapter: Warranty
2.0

2. Safety
MiR Charge48V Operating Guide (en) 03/2021 - v.1.5 ©Copyright 2018-2021: 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) 03/2021 - v.1.5 ©Copyright 2018-2021: Mobile Industrial Robots A/S. 7
2.2 General safety precautions
This section contains general safety precautions.
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) 03/2021 - v.1.5 ©Copyright 2018-2021: 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.
WARNING
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
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 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.

2. Safety
MiR Charge48V Operating Guide (en) 03/2021 - v.1.5 ©Copyright 2018-2021: Mobile Industrial Robots A/S. 9
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.
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
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48V Operating Guide (en) 03/2021 - v.1.5 ©Copyright 2018-2021: Mobile Industrial Robots A/S. 10
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.
Figure 3.1 identifies the features of MiR Charge48V.
Figure 3.1. Front view of MiR Charge48V.