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16. Payload distribution

MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 183

Side view 750 kg

Table of Contents

Default Chapter3
- Table of Contents3
1 About this Document8
- Where to Find more Information8
- Version History9
2 Product Presentation10
- Main Features of Mir100011
- Top Modules12
- External Parts13
- Internal Parts19
- Manual Brake Release Switch25
3 Warranty26
4 Accessing the Internal Parts27
- Front Compartment27
- Rear Compartment29
- Side Compartments29
- Top Compartments30
5 Safety31
- Safety Message Types31
- General Safety Precautions32
- Intended Use35
- Users37
- Foreseeable Misuse38
- Residual Risks38
6 Getting Started40
- In the Box40
- Unpacking Mir100041
- Connecting the Battery45
- Powering up the Robot46
- Connecting to the Robot Interface48
- Driving the Robot in Manual Mode50
- Checking the Hardware Status52
- Mounting the Nameplate53
- Shutting down the Robot55
7 Battery and Charging56
- Charging the Robot56
- Disconnecting the Battery57
- Battery Storage57
- Battery Disposal58
8 Security59
- Managing Users and Passwords59
- Software Security Patches59
9 Navigation and Control System61
- System Overview61
- User Input63
- Global Planner63
- Local Planner65
- Obstacle Detection66
- Localization72
- Motor Controller and Motors75
- Brakes75
10 Safety System77
- System Overview77
- Personnel Detection82
- Overspeed Avoidance87
- Stability87
- Emergency Stop Buttons88
- Emergency Stop Circuit89
- Safeguarded Stop90
- Locomotion91
- Shared Emergency Stop92
- Reduced Speed94
- Safety Stop94
- Light Indicators and Speakers95
11 Commissioning99
- Analysis of the Work Environment99
- Risk Assessment101
- Creating and Configuring Maps102
- Markers114
- Positions117
- Creating Missions118
- Creating a Footprint121
- Using Operating Hazard Zones125
- Making a Brake Test127
- Creating User Groups and Users128
- Creating Dashboards131
- Updating Mir1000 Software133
- Creating Backups134
- System Settings134
12 Usage143
- Creating Markers143
- Creating Positions148
- Creating the Mission Prompt User150
- Creating the Mission Try/Catch155
- Creating the Mission Variable Docking161
- Testing a Mission169
13 Applications171
- Mounting a Top Module171
14 Maintenance174
- Regular Weekly Checks and Maintenance Tasks174
- Regular Checks and Replacements176
- Battery Maintenance179
15 Packing for Transportation180
- Original Packaging180
- Packing the Robot for Transportation181
- Battery181
16 Payload Distribution182
17 Disposal of Robot189
18 Interface Specifications190
- General Purpose Interfaces190
- Safety Interfaces197
- Connector List201
19 Error Handling203
- Software Errors203
- Hardware Errors204

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