PALOMAT AMR - MiR User manual

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 1 of 33
Table of Contents
1 Identification:..............................................................................................................................3
1.1 General ..................................................................................................................................3
1.2 Product Label and Type Designation....................................................................................3
1.3 Product version/Electric version ...........................................................................................3
1.4 Declaration of Conformity ....................................................................................................4
1.5 Applied standards..................................................................................................................5
2Product Description: ....................................................................................................................6
2.1 Product Supply and Consumption Data ................................................................................6
2.2 Keeping .................................................................................................................................7
2.3 Safety Information.................................................................................................................8
2.4 Intended use...........................................................................................................................8
2.5 Limits of use..........................................................................................................................9
2.6 Foreseeable misuse..............................................................................................................10
2.7 Residual risks ......................................................................................................................10
3Definitions:.................................................................................................................................11
4Preparation of product prior to use: ...........................................................................................12
4.1 Transport .............................................................................................................................12
4.2 Unwrapping.........................................................................................................................12
4.3 Dismantling from transport pallet .......................................................................................13
4.4 Setting Up............................................................................................................................14
4.5 Special requirements for the assembly site .........................................................................14
4.6 Mounting in floor ................................................................................................................15
4.7 Assembly of 15-pallet safety frame.....................................................................................16
4.8 Adjustment of the maximum indicator................................................................................17
4.9 Safety Measures prior to use...............................................................................................17
4.10 Disposal of Wrapping......................................................................................................17
4.11 Protection in periods without normal use........................................................................17
4.12 Rewrapping......................................................................................................................17
4.13 Placing of guide...............................................................................................................17
5Operation....................................................................................................................................18
5.1 Stacking Function Description without MiR. .....................................................................19
5.2 De-stacking Function Description without MiR.................................................................19
5.3 Function description for removal of pallet stack without MiR...........................................20
5.4 Activation of Front Sensor..................................................................................................20
5.5 Activation of Emergency Stop............................................................................................20
6Parring PALOMAT® with MiR................................................................................................21
6.1 location of WISE module....................................................................................................21
6.2 Teach MiR to the PALOMAT® .........................................................................................22
6.3 Interacting with the WISE I/O.............................................................................................22
6.4 Setting Time to outputs .......................................................................................................23
6.5 The use of MiR and PALOMAT®......................................................................................24
7Maintenance and Cleaning.........................................................................................................25
7.1 Safety Measures ..................................................................................................................25
7.2 Maintenance and Cleaning..................................................................................................25
7.3 Service Form .......................................................................................................................25
8Troubleshooting.........................................................................................................................26
8.1 Troubleshooting Procedure .................................................................................................27

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 2 of 33
8.2 Error Codes..........................................................................................................................28
8.3 Troubleshooting actuators...................................................................................................28
8.4 Trouble shooting step by step on PLC ................................................................................29
9List of Spare Parts and Consumables.........................................................................................30
9.1 Spare Parts Drawing See Fig. 9.1........................................................................................30
9.2 Wiring Diagram...................................................................................................................31
10 Taking product out of service ....................................................................................................31
10.1 Own Notes:......................................................................................................................32
11 Appendix:...................................................................................................................................33
11.1 Linak management TR-EM-239 Parallel Drive ..............................................................33

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 3 of 33
1 Identification:
1.1 General
This instruction manual is the English translated version of the original Danish instruction manual.
It is supplied with the PALOMAT®.
The purpose of this instruction manual is to ensure proper handling, installation, operation and
maintenance of the PALOMAT®.
The instruction manual should be kept in a place known to the staff for easy access by the operators
and maintenance personnel.
1.2 Product Label and Type Designation.
This manual applies to all PALOMATs of type PALOMAT® AMR 152800-02.
1.3 Product version/Electric version
See documentation front page and the type label on the side of the machine.
Manufacturer/Distributor.
See documentation front page.
Type label

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 4 of 33
1.4 Declaration of Conformity
Manufacturer: BILA A/S
Industrivej 10
7900 Nykøbing Mors
DK-Danmark
Machine type: PALOMAT® AMR
152800-02
Used directive: 2006/42/EF The Machine Directive
Applied standards: Refer to the next page
The PALOMAT® is tested by the manufacturer and it is hereby declared that security and other
equipment were satisfactory in the test.
Note
This declaration solely covers the above type PALOMAT® AMR 152800-02, and no form of
connected equipment or functions. The PALOMAT® is CE-approved, but if the PALOMAT® is
deployed with different equipment, the combined installation needs to be risk-assessed and CE-
approved once more.
This declaration shall lapse immediately if changes to the equipment are made, or spare parts
not recommended are used, without approval in writing by BILA A/S.
Date: 01.11.2020
Place: Nykøbing Mors
Underskrift: __________________________ _________________________
Jan B. Sørensen Thomas Gadegaard
CEO Design Engineer
Our type label to be inserted her
________________________________

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 5 of 33
1.5 Applied standards
The list below covers the standards that fully or partially used during the development and construction of this
PALOMAT® according to the Machinery Directive, EMC and Low Voltage Directive.
Harmonised standards:
DS/EN ISO 12100:2011 Safety of machinery –General principles for design –Risk assessment
and risk reduction

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 6 of 33
2Product Description:
2.1 Product Supply and Consumption Data
Dimensions
PALOMAT® Type:
Length
Height
Width
Weight
MiR Lifter
152800-02
1530mm
60.2”
2740mm
107.8”
1340mm
52.7”
480 kg
1058 lbs
EU Pallet Lift
152801-02
1590mm
62.6”
2705mm
106.5”
1560mm
61.4”
510 kg
1125 lbs
EU Pallet Lift
152830-02
1590mm
62.6”
2795mm
110”
1565mm
61.6”
530 kg.
1168 lbs
Pallet Lift
152831-02
1590mm
62.6”
2795mm
110”
1560mm
61.4”
530 kg.
1168 lbs
Pallet Lift
152832-02
1590mm
62.6”
2795mm
110”
1560mm
61.4”
530 kg.
1168 lbs
Pallet Lift
Elevating Power
PALOMAT®
Type:
Number of lifting
cylinders
Max. Elevating
Power
Max.
Number of pallets
1528XX-XX
2
500 kg / 1102 lbs
15
Electrical data for 152800-XX –152801-XX -152830-XX - 152831-XX:
Power supply: 220-240VAC / 50 Hz / 1P+N+PE
Standby Consumption: 23 W
Consumption during operation: 550 W (at max. load of 500kg)
Noise Level: 70 dB(A)
Max. Fuse: 16A D01
Control: EL/U60-H02-S02
Software PLC: U60-S02
Electrical data for 152832-XX:
Power supply: 220-240VAC / 50 Hz / 1P+N+PE

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 7 of 33
Standby Consumption: 23 W
Consumption during operation: 550 W (at max. load of 500kg)
Noise Level: 70 dB(A)
Max. Fuse: 16A D01
Control: EL/U60-H02-S02
Software PLC: U62-S02
WISE module interface:
Inputs: [Continuous signal]
•Signal 0 –PALOMAT® empty (destacking)
•Signal 1 - New pallet ready to be picked up
•Signal 2 –PALOMAT® full (stacking)
•Signal 3 –PALOMAT® ready for pallet
Outputs: [Pulse 3-4 sec.]
•Signal 0 - Choose destacking
•Signal 1 - Choose stacking
•Signal 2 - Emptying the PALOMAT® (full stack)
•Signal 3 - Not used
Data sheet:
Digital outputs Relay 2A: [Potential-free]
Rated value (DC): 5V DC to 30V DC
Rated value (AC): 5V AC to 250V AC
Digital input: [Potential-free]
Rated value (DC) 24V DC
2.2 Keeping
If the PALOMAT® is not to be set up immediately upon receipt, buyer shall be responsible for
checking, within a fortnight, that all parts have been included, informing the distributor about any
deficiencies/shortages. After this, the PALOMAT® is to be wrapped again as upon receipt, and to
be left in dry, frost free surroundings.

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 8 of 33
2.3 Safety Information.
2.4 Intended use
PALOMAT® AMR MiR is intended to be commissioned and used in indoor industrial
environments for stacking and destacking pallets only with collaboration with MiR500 and/or
MiR1000.
The PALOMAT® AMR MiR must only be used for empty, and undamaged pallets with
dimensions described in the order confirmation.
In case of using this machine for some other purpose, BILA A/S disclaims any
responsibility/liability at all.
For details about the environmental conditions in which the PALOMAT® should operate, see
section 4.5.
The PALOMAT® AMR MiR is intended to be commissioned according to Section 4 Preparation of
product prior to use and prepared to the environment according to the guidelines. This is a
prerequisite for safe usage of PALOMAT® AMR MiR.
PALOMAT® AMR MiR is designed and all risks are considered when used with the following
Robots:
Caution, squeezing hazard.
Hazardous Electric Tension.
Max. Load on PALOMAT®.

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 9 of 33
•MiR500 with top module: EU pallet lift. For EUR pallets 1200x800x144mm
•MiR1000 with top module: EU pallet lift. For EUR pallets 1200x800x144mm
Using the PALOMAT® and the MiR robot described, they can perform the following actions in
collaboration:
•The MiR500/MiR1000 can deliver an empty pallet to the PALOMAT®
•The MiR500/MiR1000 can pick up an empty pallet from the PALOMAT®
•The MiR500/MiR1000 can empty the PALOMAT® of all the empty pallets in it.
The actions described above must be performed according to the procedure described in section 6.5
The use of MiR and PALOMAT®
PALOMAT® AMR MiR must be operated in automatic mode to obtain the necessary safety.
Operating the PALOMAT in manual mode, the security is reduced and must therefore be operated
by an instructed person with knowledge of the machine's operation see section 5.
2.5 Limits of use
The PALOMAT® AMR MiR should only be used for the purposes described in section 2.4
Intended use.
The PALOMAT® AMR MiR cannot handle the following listed points:
•Do not use a robot other than MiR500 and MiR1000
•Do not use accessories other than the EU pallet lift for MiR500 and MiR1000
•Do not fill the PALOMAT® with a stack of pallets using MiR robot.
This operation can for an example be done with a forklift.
•Do not operate where the pallet is not positioned correctly centered on the MiR

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 10 of 33
2.6 Foreseeable misuse
Any use or application deviating from the intended use is deemed to be misuse. This
includes, but is not limited to:
•Do not use the PALOMAT® for lifting persons.
Risk of injury.
•Do not stay inside the PALOMAT® during operation
Risk of injury.
•Do not use the PALOMAT® with damaged or dismantled parts or shielding
Risk of injury.
•Do not manually pick up or deliver pallets by person
Risk of injury.
•Do not use PALOMAT® in potentially explosion hazardous environments
The PALOMAT® is not ATEX approved for setting up in explosion hazardous
environments.
•Do not use PALOMAT® outdoor.
•Do not overload the PALOMAT®
For the restriction see section 2.1 Product Supply and Consumption Data
•Do not use other pallets than described in the order confirmation
•Do not use damaged / non-intact pallets
•Failure to follow the guidelines for commissioning
See section 4. Preparation of product prior to use
•Failure to make a risk assessment of the full installation
Since it must be paired with the MiR500 or MiR1000 The MiR500 and MiR1000 Risk
Analysis Guide must also be considered in the final installation.
•Do not operate outside the permissible operating rating parameters and environmental
specifications
See section 4. Preparation of product prior to use
2.7 Residual risks
All risks have been adequately reduced, and therefore no residual risks are present.

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 11 of 33
3Definitions:
Definitions of terms used in this documentation.
List of Parts
A list describing the parts of the machine.
Operating Staff
Persons knowing the machine, and the risks connected with it. Not necessarily having any expert
relevant knowledge of the mechanical and electrical items of the machine.
Maintenance Staff
An expert person having a thorough knowledge of the field of work.

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 12 of 33
4Preparation of product prior to use:
4.1 Transport
Transport of the PALOMAT® by forklift or elevating forklift may only be conducted from the front
or from the back, using the transport pallet intended for that purpose.
4.2 Unwrapping
The PALOMAT® is placed on a transport pallet and is wrapped in foil. These things must be
removed prior to use.
Transport Pallet
Plastic foil

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 13 of 33
4.3 Dismantling from transport pallet
Remove the four bolts by which the PALOMAT® is fastened to the transport pallet. (Fig.4.1).
Then insert one or two pallets in the magazine using a forklift (Fig. 4.2) and elevate the
PALOMAT® free of the transport pallet. (Fig. 4.3)
Now remove transport pallet and place the PALOMAT® at the place required. (Fig. 4.3)
Transport bolts
Fig. 4.1
Fig. 4.2
Fig. 4.3

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 14 of 33
4.4 Setting Up.
Place the PALOMAT® on a level base. After placing the PALOMAT®, check the distance
between the sides inside at the front and back. The distance must be equal ± 3mm. (Fig. 4.4)
The PALOMAT® must be mounted and secured with bolts in the floor. See section 4.6
4.5 Special requirements for the assembly site
Temperature: The PALOMAT® must only be used in damp-proof production areas with a room
temperature of approx. 20oC.
Humidity: The components are not suitable for cleaning with water.
Lighting: There must be a minimum of 150 LUX in the spot where the PALOMAT® is placed,
so it is possible to operate in a safe manner.
Floor: The floor must be level and the surface must be fully intact. The full requirements are
described in section 4.6.
Fig. 4.4

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 15 of 33
4.6 Mounting in floor
The floor shall be made in min. 8 cm thick concrete which is level and firm for the PALOMAT® to
be bolted securely in it, using expansion bolts or adhesive anchors.
Mark the holes for mounting in floor through the mounting holes placed in the front and on the back
of the PALOMAT® (Fig. 4.4). Drill the holes and secure the PALOMAT®. Remember to mount
spacing ring between floor and PALOMAT®. (Fig. 4.5)
For extra strength, the PALOMAT® can also advantageously be bolted from the inside as shown in
Fig. 4.6
Fig. 4.4
Fig. 4.5
Mounting holes
Fig. 4.6

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 16 of 33
4.7 Assembly of 15-pallet safety frame
1. Place back shield (1) on the PALOMAT® and tighten it with bolts
2. Place sides (3), track facing rear shield (1), and attach to rear shield
3. Fasten shields using the 8 mm bolts and nut provided
4. Finish by placing fish plate (2) at the top of the safety frame and tighten bolts
5. Place the Max indicator (4) for e.g. 15 pallets (see section 4.7 Adjustment of the Max
indicator).
3
2
1
4

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 17 of 33
4.8 Adjustment of the maximum indicator
When the safety frame is mounted, change the position
of the maximum indicator
When adjusting the maximum indicator for e.g. 15
pallets, 14 stacked pallets are placed in the magazine
and lifted by the PALOMAT® grippers. Then place the
maximum indicator about 20 mm above pallet no. 14 to
ensure that only 15 pallets can be stacked.
When the PALOMAT® tries to stack pallet no. 15, it
will receive a signal from the maximum indicator and
then put the stack of 15 pallets down and retract the
grippers so that the stack can be removed.
4.9 Safety Measures prior to use
All sensors and functions must be tested before putting the PALOMAT® into operation for the
running of the daily work and all guards must be installed before use.
4.10 Disposal of Wrapping
The wrapping consists of plastic foil and wood.
Both may be disposed of as ordinary waste.
4.11 Protection in periods without normal use
If the PALOMAT® is to be left unused for some considerable time, it is to be cleaned of dirt and
liquid (water and oil). And then lubricated with a thin layer of oil for protection against unnecessary
rust and corrosion. For cleaning, see section: Maintenance and Cleaning.
4.12 Rewrapping
If the PALOMAT® must be moved to another location, it must be rewrapped with the foil, and
mounted on the transport pallet
Should moving the PALOMAT® to a different location prove necessary, it will have to be
rewrapped with foil and transport fittings. With a view to being able to transport the PALOMAT®
without running any risk of damage, neither to the machine nor to people. (vide section 2).
4.13 Placing of guide
This manual is to be available close to the PALOMAT®. If this is not possible, the place where the
manual is to be kept is to be clearly marked at the machine.

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 18 of 33
5Operation
The PALOMAT® may be operated manually or automatically. Using the manual side of the panel
will only be necessary for removal of entire pallet stack, or after alarm stop.
NOTE! Manual operation shall be subject to being run by instructed operators since the grips
may be pulled back while the pallets are elevated in the stack.
1. Manual
Manual operation. Movements may be run up or down, and grip fingers out and in.
2. Auto/Start
Start controls for stacking or destacking. Activated in two secs.
3. Arrow up
Operation in MAN: Jack cylinder moving up.
4. Arrow down
Operation in MAN: Jack cylinder moving down.
Operation in AUTO: Emptying function activated in five secs., and the PALOMAT® will
put the pallet stack on the floor.
5. Stacking/Grip in
Operation in MAN: Removing grips from pallet.
Operation in AUTO: Controls for stacking of pallets.
6. De-stacking/Grip out
Operation in MAN: Pushing grips into pallet.
Operation in AUTO: Controls for de-stacking of pallets.
1
3
4
7
8
9
2
5
6

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 19 of 33
7. Stop
Stopping all movements and going into Manual
8. Reset/Error
Reset: Acknowledgement for alarm. Keeping button depressed for two seconds, and going
into manual. At emergency stop, the energy is removed from the actuators.
Error: RESET/ERROR button flashing a number of times for error. Please check number of
flashes under section 8.2
9. Available
5.1 Stacking Function Description without MiR.
1. The PALOMAT® has been prepared according to section 4.3
2. Check that ”STACKING” button is on
3. Push ”AUTO/START” button for 2 seconds
4. The PALOMAT is now ready for use
5. Run a pallet into the magazine and remove the pallet elevator / forklift upon which the pallet
will be stacked
6. Repeat item 5 until the max. number of pallets or weight has been reached
7. When the max. number of pallets has been reached, depress “ARROW DOWN” button for
five secs. After which the PALOMAT® will put the stack on the floor. “STACKING”
button flashing
8. The pallet stack may now be removed.
5.2 De-stacking Function Description without MiR.
1. The PALOMAT® has been prepared to section 4.3
2. Check that ”DESTACKING” and ”AUTOSTART” buttons are on
3. A pallet stack is run into the PALOMAT
4. The PALOMAT® will now elevate the stack, leaving the bottom pallet behind
5. A pallet may now be removed, and will, after about 10 secs. from the pallet is gone, put a
new pallet on the floor
6. When the last pallet has been removed, repeat from item 3 again.
Switching between stacking and de-stacking in ”Auto” mode may always be performed.

Instruction manual for PALOMAT® AMR –MiR
Version 2.0 | UK Page 20 of 33
5.3 Function description for removal of pallet stack without MiR
For emptying the PALOMAT® of all pallets, press ”Arrow Down” button
for five seconds after which the PALOMAT® will put the stack on the floor. The stack may now be
freely removed from the PALOMAT®.
NOTE. The stacking or destacking button will flash when this function is active until the
PALOMAT® has been emptied of pallets.
5.4 Activation of Front Sensor
If the front sensor is broken while the PALOMAT® is moving downward, the PALOMAT® will
stop and go into alarm. The ”RESET/ERROR” button will then flash three times. To reset the
alarm, push ”RESET/ERROR” button for two secs., and the PALOMAT® will go into manual.
Then push AUTO/START for two seconds and the PALOMAT® will continue.
5.5 Activation of Emergency Stop
If the emergency stop/hatch switch is activated, the PALOMAT® will stop all movements. The
“RESET/ERROR” button will flash twice. Reset the alarm by releasing the emergency stop and
depress RESET/ERROR for two seconds the PALOMAT® will now go into manual. Then push
AUTO/START for two seconds and the PALOMAT® will continue.
MAN Aut
5X
MAN Aut
5X
MAN Aut
5X