TMC300Ext Instruction Manual
Revision: 2.01
Publicly available
p. 3 of 55
Table of contents
1 Introduction ................................................................................................................................. 5
1.1 Intended readership..................................................................................................................... 5
1.2 Where to find information........................................................................................................... 5
1.3 Revision history............................................................................................................................ 5
2 Safety............................................................................................................................................ 6
2.1 Overview ...................................................................................................................................... 6
2.2 Safety concept.............................................................................................................................. 6
2.3 General safety instructions .......................................................................................................... 7
2.3.1 Warning notes.............................................................................................................................. 7
2.3.2 Caution notes............................................................................................................................... 8
2.3.3 Notices.......................................................................................................................................... 9
2.4 Safety circuit............................................................................................................................... 10
2.5 Safety system specifications ...................................................................................................... 10
2.6 Intended use .............................................................................................................................. 10
2.7 Foreseeable misuse.................................................................................................................... 11
2.8 Risk assessment.......................................................................................................................... 11
2.9 Residual risks.............................................................................................................................. 11
2.9.1 Crush hazards............................................................................................................................. 11
2.9.2 Low speed collision hazards....................................................................................................... 11
2.10 Directive conformity................................................................................................................... 12
3 Commissioning........................................................................................................................... 13
3.1 E-Stop and Reset ........................................................................................................................ 13
3.2 Safety zones ............................................................................................................................... 13
3.3 Alleviating crushing hazards....................................................................................................... 13
3.4 Use.............................................................................................................................................. 14
3.5 TMC300Ext mounting................................................................................................................. 15
3.6 SICK setup (Applies for ROEQ Cart300 solutions) ...................................................................... 17
3.6.1 Connecting to the Sick Safe laser scanner system ..................................................................... 17
3.6.2 Setting up COM settings (Sick scanners).................................................................................... 17
3.6.3 Backup of existing laser scanner configuration (front/rear scanners) Recommended ............. 19
3.6.4 Uploading laser scanner configuration to Sick Safe laser scanners........................................... 22
3.7 ROEQ cart and docking station mounting.................................................................................. 27
3.8 Setting parameters in the MiR robot ......................................................................................... 29
3.8.1 Setting the distance to marker (for disabling collision checks).................................................. 29
3.8.2 Setting Docking parameters in MiR –only for MiR firmware after 2.4.1 .................................. 30
3.9 Calibration of the MiR robot front laser (Optional)................................................................... 31
3.10 Create docking station position ................................................................................................. 32
3.11 Global offset adjustment (Optional) .......................................................................................... 34
3.12 Calibration of individual docking station offsets (Optional) ...................................................... 39
3.13 Test of ROEQ supplied SICK safety zones................................................................................... 41
3.14 Test of ROEQ supplied docking sequence.................................................................................. 42
4 Detailed presentation ................................................................................................................ 43
4.1 Product description.................................................................................................................... 43
4.2 Identification label ..................................................................................................................... 43
4.3 TMC300Ext ................................................................................................................................. 44
4.4 Lock bolt homing button............................................................................................................ 45
4.5 ROEQ cart components.............................................................................................................. 46
4.6 ROEQ docking station components............................................................................................ 46
4.7 Troubleshooting......................................................................................................................... 47
5 Technical specifications.............................................................................................................. 48
