MIR MiR100 User manual

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
MiR100/MiR200/MIR500/MiR1000
How to guide (en)
Date: 09/2020
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
This guide describes how to test the battery of MiR100, MiR200, MiR500 and MiR1000 robots and
which steps to take if the test results show an error on the battery.
Checking the battery
Step 1: Discharge your robot. This can be done by either driving the robot around until it shuts down
or by leaving it standing still until it shuts down. The robot is now off as a result of the automatic
shut-down procedure.
Note! Please complete the test within 24 hours, do not leave the robot fully discharged.
Step 2: Turn the robot on again by pushing the On/Off button.
Notice! If it is not possible to turn the robot on again, do not attempt to charge it, and please contact
MiR Technical Support.
Step 3: Log on to the robot interface and go to Monitoring > Hardware health > Power system >
Battery Management System (BMS). Read the values of all the cells listed. 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.
If the robot has two batteries (MiR100 and MiR200), you must 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.

How to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Tip!Due to lack of space, it can be difficult to swap the BMS cables on some of the robots. In that
case it you can 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.
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. You are now ready to perform step 3. again.
For further information on how to remove the battery, have a look at How to replace the lithium
battery in MiR100 and MiR200 on the Distributor page.
Step 4: 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. You will need for your hardware ticket—see Creating a hardware
ticket.
Select Generate log and then download the file.
NOTICE! DO NOT ATTEMPT TO CHARGE THE BATTERY.
b. If the calculated difference is smaller than 400 mV, the battery is up to date and you can
charge the robot again and continue using it as usual.
NOTICE! IT IS IMPORTANT THAT YOU DO NOT LEAVE THE ROBOT DISCHARGED.

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: Cell 5 – Cell 2 = 3806 mV – 3630 mV = 176 mV.
In this example, the battery is fine.

How to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Creating a hardware ticket
If the result of the calculations were equal to or higher than 400 mV, please create a
hardware ticket and attach the error log file that you generated in step 4.a.
Follow these steps to create a hardware ticket:
Step 1: Go to https://www.mobile-industrial-robots.com/ and sign in to the Distributor
site. Select Contact Support and then Support request.

How to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Step 2: Choose Hardware/Warranty request and fill out the information needed.
Remember to attach the error log file that you created in step 4.a.

How to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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Different battery types
MiR100 and MiR200
MiR100 and MiR200 can have two types of batteries. You can distinguish them by the BMS
connector port and the serial number. If the serial number includes “CB” as shown in the
picture below, it means that it has the CAN bus communication option.
This picture shows a battery with CAN bus communication and where to find the serial
number.

How to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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MiR500 and MiR1000
MiR500 and MiR1000 only have one type of battery. The picture below shows where to find
the serial number.
Document history
Version
Date
Description
1.0
2020-09-24
First edition.

How to guide (en) 09/2020 - v.1.0 ©Copyright 2020: Mobile Industrial Robots A/S.
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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