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

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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

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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.

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•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.