ROEQ TR125 User manual

ROEQ TR125 Top Roller user guide V1.3 1
ROEQ TR125 Top Roller system
Original User Guide (en)

ROEQ TR125 Top Roller user guide V1.3 2
Copyright and disclaimer
All rights reserved. No parts of this manual may be reproduced in any form without the express written
permission of ROEQ ApS. ROEQ makes no warranties, express or implied, in respect
of this document or its contents. In addition, the content of the document is subject to change without
prior notice. Every precaution has been taken in the preparation of this manual. Nevertheless, ROEQ
assumes no responsibility for errors or omissions or any damages resulting from the use of the
information contained.
Copyright © 2019 by ROEQ ApS.
Contact the manufacturer:
ROEQ ApS
Kobbervænget 5
DK-5492 Vissenbjerg
www.ROEQ.dk
[email protected]
CVR: 38656872

ROEQ TR125 Top Roller user guide V1.3 3
Contents
1. Introduction............................................................................................................................................... 5
1.1. Intended readership.......................................................................................................................... 5
1.2. Where to find information ................................................................................................................ 5
1.3. User guide release history................................................................................................................. 5
2. Safety......................................................................................................................................................... 6
2.1. Overview............................................................................................................................................ 6
2.2. Safety concept................................................................................................................................... 6
2.3. General safety instructions................................................................................................................ 7
Warning notes ........................................................................................................................................... 7
Notices....................................................................................................................................................... 9
2.4. Safety circuit.................................................................................................................................... 10
2.5. Risk assessment............................................................................................................................... 10
2.6. Roller and Lifter standstill during emergency stop ......................................................................... 10
2.7. Preventing accidents from dangling packages ................................................................................ 11
2.8. Preventing accidents from undesired unload of packages ............................................................. 12
2.9. Safety system specifications............................................................................................................ 12
2.10. Intended use................................................................................................................................ 13
2.11. Directives..................................................................................................................................... 13
2.12. Identification label....................................................................................................................... 13
3. Detailed presentation.............................................................................................................................. 14
3.1. Product description ......................................................................................................................... 14
3.2. ROEQ Top Roller .............................................................................................................................. 14
4. ROEQ Top Roller installation ................................................................................................................... 16
4.1. Unpacking and installing the ROEQ Top Roller System................................................................... 16
4.2. Setting up SICK safety configuration ............................................................................................... 19
4.2.1. Connecting to the Sick safety system.......................................................................................... 19
4.2.2. Setting up COM settings.............................................................................................................. 20
4.2.3. Taking Backup of existing laser configuration (Recommended) ................................................. 22
4.2.4. Uploading ROEQ safety configuration to the Sick system........................................................... 24
4.3. Generating docking points for the system ...................................................................................... 29
4.4. Using the ROEQ Top Roller missions ............................................................................................... 33
4.4.1. Mission parameters..................................................................................................................... 35
Mission timeout...................................................................................................................................... 35

ROEQ TR125 Top Roller user guide V1.3 4
Operating height..................................................................................................................................... 35
4.4.2. Error statuses............................................................................................................................... 35
Timeout ................................................................................................................................................... 35
Conveyor full........................................................................................................................................... 35
Risk of dangling packages....................................................................................................................... 36
MiR emergency stop............................................................................................................................... 36
Unsuitable unload position .................................................................................................................... 36
4.4.3. Removing an emergency stop caused by dangling package ....................................................... 36
4.4.3.1. Remarks................................................................................................................................... 38
4.5. Interfacing external conveyor systems............................................................................................ 38
4.5.1. Docking marker behind front of external station (Recommended)............................................ 39
4.5.2. Docking position with marker aligned with front of external station......................................... 40
4.5.3. Installing docking sensor reflector............................................................................................... 41
5. Accessories for ROEQ Top Roller............................................................................................................. 43
5.1. Stand-alone docking station............................................................................................................ 43
6. Technical Specifications........................................................................................................................... 44
6.1. Cargo specification .......................................................................................................................... 45
7. Maintenance............................................................................................................................................ 48
7.1. Regular cleaning and inspection...................................................................................................... 48
8. Declaration of conformity ....................................................................................................................... 49

ROEQ TR125 Top Roller user guide V1.3 5
1. Introduction
1.1. Intended readership
The purpose of this user guide is to support the system integrator in setting up the ROEQ Top Roller 25 for
MiR 100 and ROEQ Top Roller 125 for MiR 200.
The descriptions throughout the guide assumes a basic level of knowledge regarding the setup process of
the MiR robot and software interface. Furthermore, the installation process of the Top Roller requires some
level of software knowledge and craftmanship.
This user guide contains all necessary information about the installation and usage of ROEQ Top Roller and
related equipment.
This version of the guide is specifically directed towards ROEQ Top Roller hardware version 1.4.0 (Roller
only) and version 2.1.1 (Roller with lifter).
1.2. Where to find information
On www.roeq.dk, distributor site (login required), a wide range of information can be found, e.g.: software
update, User Guide, Sick safety zones, 3D CAD files and more.
Further, this product is shipped with a USB key holding a digital copy of this guide as well as numerous tools
relevant for various steps in the commissioning and service tasks of the TR125.
1.3. User guide release history
This document applies to the following product versions
Document version
Release date
Description
1.3
2019.09.27
Added more details to the cargo specification.
Additional minor updates.
1.2
2019.05.30
Added section on lifter missions
1.1
2019.05.27
Added section on docking sensor
1.0
2019.04.01
New Document

ROEQ TR125 Top Roller user guide V1.3 6
2. Safety
This product is partly completed machinery (according to EU directive 2006/42/EF, Machinery Directive)
and as such a risk assessment is required for each installation.
It is particularly important that all the safety instructions and warnings in following in sections are followed.
2.1. Overview
This manual contains notices to be observed to ensure personal safety and to prevent damage to property.
The notices referring to personal safety are highlighted in the manual by a safety alert symbol. The notices
shown below are graded by signal words to indicate degree of danger.
The ROEQ products are intended to be used with MiR100™/MiR200™robots.
Read the MiR manual carefully before commissioning the combined solution.
In the following some safety issues may be identical to sections of the MiR user guide.
2.2. Safety concept

ROEQ TR125 Top Roller user guide V1.3 7
2.3. General safety instructions
This section contains general safety notes. Some safety notes are repeated or further specified in
other sections of the manual and further safety notes are present throughout the manual.
Warning notes
•Ensure proper mounting of load during transport
Danger of personal injury from overturning robot or falling load.
Goods loaded on top of the Top Roller must be placed correctly and meet
specifications stated in section 6.
•Avoid leakage of fluid during transport
Danger of personal injury from leaking fluid.
Make sure that loads containing fluids do not leak during transport.
•Update maps to avoid hazards on the route
Danger of personal injury and/or damage to the robot.
Make sure to update maps to avoid driving in hazardous zones such as
close to stairways.
•Do not drive vehicle irresponsibly
Danger of personal injury and/or damage to the robot.
The robot should not be driven over edges or in other ways operated
irresponsibly.
•Only use TR125 for transporting approved cargo
Always comply with the cargo specifications outlined in section 6 -
Technical Specifications.
Risk of package dropping to the ground if moving the robot.
Risk of personal injury and/or damage to goods, Top Roller, and robot.
•Ensure proper loading and unloading of packages
Do not leave packages partially supported by both the Top Roller and an
external conveyor system.
Risk of package dropping to the ground if moving the robot.
Risk of personal injury and/or damage to goods, Top Roller, and robot.
•Ensure proper docking before unloading packages
Do not attempt to unload a package without first docking the robot at an
appropriate station to receive the package.
Risk of package dropping to the ground.
Risk of personal injury and/or damage to goods, Top Roller, and robot.

ROEQ TR125 Top Roller user guide V1.3 8
•Align the height of the load and unload stations with that of the Top Roller
Do not allow for a significant drop when transferring packages from or to the
top roller using external loading or unloading stations.
Risk of personal injury and/or damage to goods, Top Roller, and robot
•Where to place
Avoid driving in areas with obstacles and always keep all drive paths clean
and free for obstacles.
Avoid placing docking stations on slopes.
Always check weight/speed/slope conditions before commissioning.

ROEQ TR125 Top Roller user guide V1.3 9
Notices
•Indoor use only
Risk of damage to the robot and/or Top Roller.
The robot and Top Roller are made for indoor use only and should never be
used outdoor.
•Avoid small objects on the floor in the robot’s area
Risk of property damage and/or minor damage to the robot.
The robot cannot detect obstacles lower than 50mm and may overrun
smaller objects.
•Remove unwanted object from the floor in the robot’s area
Risk of inefficient execution of orders.
The robot will go around objects that are not part of the map, but this may
influence the efficiency of the planned route.
•Avoid overheating of components
Risk of damage to the robot or robot components.
The ambient temperature in the robot’s environment must not exceed 50
degrees Celsius - 122 degrees Fahrenheit.
•Avoid exposure of the robot to excessively humid or dry environment
Risk of damage to the robot or robot components.

ROEQ TR125 Top Roller user guide V1.3 10
2.4. Safety circuit
Using the ROEQ equipment does not overrule the safety circuit principle made by MiR. Same principles are
valid after installation of ROEQ Top Roller and if a person or other moving object enters the safety zones of
the robot, where the planner due to response time, errors etc. does not respond, the safety circuit will
force the robot into emergency stop, and the robot stops immediately. When the person or object is out of
the safety zone again, the robot will automatically reset the emergency stop. When installing a ROEQ Top
Roller on a MiR100™/MiR200™the system will utilize the standard SICK safety zones specified by MiR.
The ROEQ Top Roller system is not designed to handle objects which exceeds the size of the conveyor and
will therefore not change the size of the safety zones managed by SICK Safety Components.
MiR100™/MiR200™is designed with total redundant electrical safety circuit including Sick Safety
Components. If any internal errors in the safety circuit occur, the robot will immediately go into emergency
stop which means that all moving parts will be unpowered. This include the motor for the Top Roller. Only
when the redundancy is provided, it is possible to reset the emergency stop and continue.
For more information, refer to MiR user guide.
2.5. Risk assessment
To ensure safe installation make sure to make a risk assessment. The risk assessment is the responsibility of
the individuals who are commissioning the product in the environment it will be used in. The risk
assessment must cover the robot, the top application (Top Roller) and corresponding load transfer, work
cells and the environment it will be used in.
It is recommended to follow guidelines in ISO 12100, EN 1525, ANSI B56.5 or other relevant standards to
conduct the risk assessment.
2.6. Roller and Lifter standstill during emergency stop
The top roller is designed to cut the power from the roller motor, whenever an emergency stop is triggered.
Similarly, the power is removed from the lifting system in TR125 systems with automatic height
adjustment. This is to force a complete standstill of both rollers and lifting system during emergency stop of
the robot.
Any top roller mission active when the MiR experiences an e-stop is cancelled and an error message is
shown in the MiR interface:
Figure 1 Error message during e-stop
This is to avoid unexpected startup of the rollers, when an emergency stop is lifted.

ROEQ TR125 Top Roller user guide V1.3 11
Notice: While the MiR is en emergency stop, no error message is visible. The message is only shown when
the emergency stop is resolved.
For top roller systems with automatic height adjustment, the lifting system will descend to a fully lowered
position following an emergency stop. This is to prevent the robot moving with cargo in an elevated position.
2.7. Preventing accidents from dangling packages
The ROEQ Top Roller extends the default safety system of the MiR robot by adding an additional source for
providing emergency stops. The Top Roller uses this to issue emergency stops when there is a risk that
packages may drop to the floor.
Whenever a package passes the front of the robot, it is registered by an optical sensor. If the Top Roller
tries to load or unload a package, but for whatever reason, the front sensor detects that the cargo has not
been completely transferred, an emergency stop will be issued.
This is to ensure that the robot cannot be moved if a package is accidentally left dangling on the foremost
part of the conveyor as illustrated in Figure 2.
Figure 2 Automatic E-stop when experiencing dangling packages
Moving the robot if a package is accidentally left dangling may cause personal damage. Issuing an
emergency stop when experiencing dangling packages removes this risk.
The ability to issue an emergency stop when detecting dangling packages requires the user to update the
SICK safety configuration, prior to operating the Top Roller. This is described in Section 4.2.
The ability to detect if cargo is left dangling requires that the transferred cargo complies with the approved
specifications –Consult section 6.
•Do not operate the Top Roller before updating the SICK safety configuration
Follow the procedure in Section 4.2.
Failure to do so may result in increased risk of personal injury and/or damage to
goods, Top Roller, and robot.

ROEQ TR125 Top Roller user guide V1.3 12
•Only use TR125 for transporting approved cargo
Always comply with the cargo specifications outlined in section 6 - Technical
Specifications.
Risk of package dropping to the ground if moving the robot.
Risk of personal injury and/or damage to goods, Top Roller, and robot.
2.8. Preventing accidents from undesired unload of packages
To avoid packages being unloaded at an unsuitable position, the top roller is equipped with an optical
docking sensor to verify when a package can be unloaded.
The sensor is mounted on the front of the top roller, underneath the emergency stop button:
Figure 3 Docking sensor
For the top roller to allow unloading of packages, this sensor needs to be in line of sight with a reflector, to
indicate that the robot is correctly positioned, for unloading.
The top roller is shipped with two reflectors:
Figure 4 Reflector for the docking sensor
The reflectors that must be installed by the user on any external conveyor station that packages must be
unloaded onto –See “Installing docking sensor”under section 4.5.
2.9. Safety system specifications
The regulations and specifications regarding the MiR100™/MiR200™safety system stated in the user
guide supplied by MiR remains valid when installing the ROEQ Top Roller system.

ROEQ TR125 Top Roller user guide V1.3 13
2.10.Intended use
The ROEQ product portfolio of MiR accessories is intended to operate in the same conditions as the MiR
robot and apart for ROEQ specific requirements stated in section 6, the limitations given by MiR apply.
In particular, when moving cargo with the ROEQ TR systems, the user must take care in complying with the
MiR payload and center-of-mass specifications.
2.11. Directives
The ROEQ Top Roller has been designed and manufactured in accordance to the following EU directives:
2.12.Identification label
This section illustrates the placement of the ROEQ identification label and describes the content of the
label.
ROEQ ApS
Kobbervænget 5
DK-5492 Vissenbjerg
Denmark
Serial number: X100265A500000010
Made in Denmark 2019
-CE
ROEQ ApS. declares that the ROEQ Top Roller meets the
requirements of the applicable EC directives.
See Declaration of conformity in Appendix 8.
-Serial number
A unique serial number is given to all CE approved ROEQ products.
•The first digit refers to the product variant
o5 = Top Roller for MiR100/MiR200 - auto height adjust.
o6 = Top Roller for MiR100/MiR200 - manual height adjust.
oSecond, third and fourth digit states the hardware version
•265A5000 is the ROEQ product code
•The last five digits is the sequential number
The identification label can be found in back left corner underneath the rollers (on the aluminum plate)
Directive
Description
2006/42/EF
Directive of Machinery

ROEQ TR125 Top Roller user guide V1.3 14
3. Detailed presentation
This section gives an in dept description of the ROEQ Top Roller system.
3.1. Product description
The ROEQ Top Roller is an accessory for the MiR100/200™which allows the robot to serve as a part of an
automated internal logistic system by performing automated pickup and delivery of various types of
packages and containers.
The ROEQ Top Roller works in conjunction with the software embedded on the MiR robot and acts as an
extension of the robot’s autonomous capabilities.
After installing the ROEQ Top Roller on Top of MiR100/200 the robot can operate between locations
specified by the user.
The ROEQ Top Roller is fully compatible with MiR100 hardware version 2.0 and MiR200 hardware version
1.1 and newer versions.
3.2. ROEQ Top Roller
Pos.
Description
Pos.
Description
1
Rear sensor
6
Conveyor base
2
Top Roller
7
Side rails
3
Wi-Fi antenna
8
Front sensor
4
Emergency stop button
9
ROEQ Button
5
Reset button

ROEQ TR125 Top Roller user guide V1.3 15
Pos.
Description
Pos.
Description
1
Front sensor
3
Top Roller installation bolts
2
Emergency stop button
4
Top camera supplied by MiR

ROEQ TR125 Top Roller user guide V1.3 16
4. ROEQ Top Roller installation
When installing the ROEQ Top Roller system on a MiR100™/MiR200™the following steps must be
performed:
1. Unpacking the ROEQ Top Roller system Section 4.1
2. Installation and connection of the Roeq Top Roller Section 4.1
3. Setting up SICK safety configuration Section 4.2
4. Generating docking points and missions for the system Section 4.3
5. Using ROEQ Top Roller missions Section 4.4
6. Interfacing external conveyor systems Section 4.5
In support of this user guide, some of the above steps are supported by video demonstrations included on
the enclosed USB-drive and on the ROEQ website (log-in required).
4.1. Unpacking and installing the ROEQ Top Roller System
This section illustrates the content included in the pallet and describes the preferred unpacking process.
The steps are similar for both the roll-only and the roll-and-lift systems, although some of the images may
differ.
Step
Instruction
Illustration
1.
Unpack the pallet
and remove the
conveyor base to
access the Top
Roller section.
Screws for
mounting is
located in the
small packet next
to the conveyor
NOTE: Never lift the Top Roller up by using the Emergency Stop. Due to the size and weight of the
Top Roller it is recommended two persons to lift the Top Roller up from the packaging.
2.
Remove the pallet
lid, foam sheet
and foam blocks
placed around the
Top Roller.

ROEQ TR125 Top Roller user guide V1.3 17
3.
After unpacking
both the Conveyor
base and the Top
Roller, place the
conveyor base on
top of the MiR
robot.
4.
Fasten the
conveyor base to
the MiR robot by
using the four M10
bolts included in
the pallet.
5.
Plug in the 4 pin
and 10 pin
connectors as well
as the ethernet
and Wi-Fi cable.
6.
Place the Top
Roller unit on top
of the conveyor
base, while making
sure not to
damage the
cables.

ROEQ TR125 Top Roller user guide V1.3 18
7.
Verify that the Top
Roller and the
conveyor base are
Correctly aligned
and verify that
there is no gap
between the units
(see red arrow on
illustration).
8.
Fasten the two
units together by
using all eight of
the included M6
bolts.
9.
Remove the black
cover plate
underneath the
roller unit by
unscrewing the
three M3 bolts.
10.
Remove the strip
restraining the
cables from the
conveyor base.
11.
Connect the
conveyor base to
the Top Roller by
plugging in the
Molex and JST
connectors to
their
corresponding
counterpart.

ROEQ TR125 Top Roller user guide V1.3 19
4.2. Setting up SICK safety configuration
•Updating the safety system is mandatory before using the ROEQ Top Roller
Read this section carefully and be sure to perform the safety system update as
described.
This section describes the process for updating the SICK safety configuration on the MiR robot prior to
using the ROEQ Top Roller. An updated safety configuration is required to enable the Top Roller in issuing
emergency stops to the robot, when experiencing dangling packages.
4.2.1. Connecting to the Sick safety system
Since the Sick safety system is interfaced with proprietary Sick software, the two programs Sick Flexi Soft
Designer and Sick CDS software must be installed on the PC used to update the SICK system.All software
necessary for the implementation of the ROEQ Top Roller is included on the enclosed USB-drive. Sick Flexi
Soft Designer utilizes CDS to configure the scanners.
Note: It is highly recommended to back up (upload) the existing safety configuration for the Main Module
and both Front- and Rear laser scanners before transferring (download) the new configuration. This is
described later in this instruction.
Definition of terms in the Sick program:
12.
Carefully insert the
assembled
connectors into
the cable slots and
reinstall the black
cover plate.
13.
Mount the two
included cable tie
mounts and route
the cables being
careful not to
damage the
cables.
Tighten the cables
ties.
Step
Instruction
1.
Log on to the robots Wi-Fi.
2.
Connect to the robot via web browser: mir.com

ROEQ TR125 Top Roller user guide V1.3 20
•Download to scanner: Here the laser scanners are the units to be downloaded to (will be stored on
laser scanners).
•Upload to PC: Here the PC connected to the robot (laser scanners) is the unit to be uploaded to
(will be stored on PC)
•
4.2.2. Setting up COM settings
This section describes the procedure for getting connected to the Sick safety system system.
These steps are also described in a video enclosed on the USB-drive.
Step
Instruction
Illustration
1.
Turn on the intended MiR
robot and log onto the
corresponding WiFi
network.
2.
Copy the content of the
USB-drive to the hard-drive
on the PC.
3.
From the SICK folder copied
in step 2, install Flexi Soft
Designer and CDS
4.
Start the program
Sick Flexi Soft Designer
from the PC.
5.
A connection must be
configured to connect the
PC to the Sick system on the
robot.
Start the connection setup
by clicking “Com settings”.
6.
The connection settings
window will appear. A
TCP/IP connection is
required between the PC
and the scanners.
Click “Add TCP/IP
connection profile”.