MIR MiR100 User manual

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
1
How to check the battery
MiR100, MiR200, MiR500 and MiR1000
Date: 09/2020
Document version: 1.0
Valid for: MiR100, MiR200, MiR500 and MiR1000.

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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How to check the battery on MiR100, MiR200,
MiR500 and MiR1000
These instructions describe how to test the battery of MiR100, MiR200, MiR500 and
MiR1000 robots and which steps to take if the test results show that the battery should be
replaced.
Which robots should be tested?
Depending on when they were manufactured, robots have either 15-digit or 9-digit product
serial numbers.
To see where the labels with serial numbers are located, follow this link.
Robots with 15-digit serial numbers (S/N):
•All MiR100 from S/N 180100002000600
•All MiR200 from S/N 18020011100200
•All MiR500 and MiR1000
For MiR100 and MiR200 robots with 15-digit serial numbers lower than the ones mentioned
above—see Robots that must have their batteries replaced on page 6.
Robots with 9-digit serial numbers (S/N):
•All MiR100 with 1 battery up to S/N 201703081
•All MiR100 with 2 batteries up to S/N 201803021
•All MiR100 BOR with up to S/N 202103127
•All MiR100 CN with up to S/N 202203056
•All MiR200 with 1 battery up to S/N 201903019
•All MiR200 with 2 batteries up to S/N 202003024
•MiR500 up to S/N 202503019
•MiR1000 up to S/N 202603001

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Checking the battery
For each robot, follow these steps to check the battery and find out if it needs to be replaced:
Step 1: Discharge your robot. Stop the robot, turn off any top interface, and leave the
robot idle until it shuts down. The robot is now off as a result of the automatic shut-down
procedure.
This process can take several hours depending on the battery state of charge.
Make sure to complete the test within 24 hours, and do not leave the robot
fully discharged.
Step 2: Turn the robot on again by pushing the On/Off button.
NOTICE
If you can't turn the robot on again, do not attempt to charge it. Contact MiR
Technical Support.

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Step 3: Log on to the robot interface and go to Monitoring > Hardware health > Power
system > Battery Management System (BMS). Read the voltage values of the cells listed
and note down the lowest and highest values. Be aware that the robot is very low on power,
and that you will have a limited amount of time to perform this action before it shuts down
again.
Figure 1.1. Read the voltage value of the lowest and highest cells listed. Different types of batteries have a
different number of cells.
Step 4 is for MiR100 and MiR200 with two batteries only. For all other robots,
continue to Step 5.
Step 4: Shut down the robot after reading the cell values on the first battery. Then
connect the communication cable to the other battery so that this is now connected to the
BMS CAN bus. Now turn on the robot again and repeat step 3.
Due to lack of space, it can be difficult to connect the CAN bus cable to the
second battery. If you experience that, you may swap the batteries instead.
To do so:
1. Turn off the robot.
2. Remove the battery connectors and BMS connector.
3. Take off the back cover of the robot and remove the metal plate holding the batteries in
place.

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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4. Take out both batteries and put in the battery that did not have the BMS cable connected
in the first place and connect the BMS cable. Now perform step 3 again.
Step 5: Calculate the difference between the maximum and minimum values of the cells.
a. If the calculated difference is equal to or higher than 400 mV, go to Monitoring > Error
logs to generate an error log.
Select Generate log (1) and then download the file (2).
b. If the calculated difference is smaller than 400 mV, the battery is OK and you can charge
the robot again and continue using it as usual.
NOTICE
Do not attempt to charge the battery if the difference between the two values
is higher than or equal to 400 mV.

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Example:
In the screenshot below, the lowest cell voltage is 3630 mV in Cell 2, and the highest cell
voltage is 3806 mV in Cell 5.
The difference between the two values is: 3806 mV- 3630 mV = 176 mV. In this example, the
battery is fine.
Figure 1.2. In the shown example, the difference between the lowest and highest values is <400 mV, which
indicates that the battery is OK.
Robots that must have their batteries
replaced
Older MiR100 and MiR200, not listed at the beginning of this document, may need to have
their batteries preventatively replaced.
Whether this is necessary depends on the type of replacement battery. If the battery has
been replaced with a battery with CAN bus communication connection, it must be replaced,
if not there is no need for replacement.
Robots included are:
•MIR100 with S/N up to 180100002000599
•MIR200 with S/N up to 180200011100199
You can distinguish a battery with CAN bus connection from a battery without by the extra
connector next to the blue battery connector. You can also check the battery serial number.
Numbers that include the letters “CB” are for batteries with CAN bus communication
connection.

How-to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Figure 1.3. You can tell if the battery has CAN bus communication connection by the extra (black) connector
and the letters “CB“ in the serial number.
To get a replacement battery, please contact your local MiR representative.
Document history
Version
Date
Description
1.0 2020-09-28 First edition.

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 © 2020 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
the MiR website
Phone: [phone]
Email: [e-mail]
CVR: 35251235
How to guide (en) 09/2020- v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S. 7