MIR 1350 - Page 240

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16. Payload distribution

Figure 16.1. Overview of the permitted center of mass (CoM) of payloads.

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Table of Contents3
About this Document8
Where to Find more Information8
Version History9
Product Presentation12
Main Features of Mir135013
External Parts16
Internal Parts23
Manual Brake Release Switch29
Warranty31
Safety32
Safety Message Types32
General Safety Precautions33
Intended Use38
Users39
Foreseeable Misuse40
Warning Label41
Residual Risks42
Accessing the Internal Parts43
Front Compartment44
Rear Compartment45
Side Compartments48
Top Compartments49
Getting Started51
In the Box52
Unpacking Mir135053
Connecting the Battery57
Powering up the Robot58
Connecting to the Robot Interface60
Connecting the Robot to a Wifi Network64
Driving the Robot in Manual Mode68
Checking the Hardware Status71
Mounting the Nameplate72
Shutting down the Robot74
Battery and Charging76
Charging the Robot77
Disconnecting the Battery80
Swapping out the Lithium-Ion Battery80
Battery Storage82
Battery Disposal83
Cybersecurity84
Navigation and Guidance System85
System Overview85
User Input87
Global Planner88
Local Planner89
Obstacle Detection90
Localization99
Motor Controller and Motors102
Brakes103
Safety-Related Functions and Interfaces104
System Overview104
Personnel Detection111
Overspeed Avoidance119
Emergency Stop Buttons119
Emergency Stop Circuit121
Safeguarded Stop123
Locomotion125
System Emergency Stop126
Reduced Speed128
Shelf Mode129
Safety Functions Performance Overview129
Safety Stop134
Light Indicators and Speakers135
Commissioning139
Analysis of the Work Environment139
Risk Assessment141
Creating and Configuring Maps143
Markers155
Positions163
Creating Missions164
Creating a Footprint169
Using Operating Hazard Zones173
Making a Brake Test175
Creating User Groups and Users176
Creating Dashboards180
Updating Software182
Creating Backups183
System Settings183
Usage193
Creating Markers193
Creating Positions200
Creating the Mission Prompt User202
Creating the Mission Try/Catch206
Creating the Mission Variable Docking212
Testing a Mission221
Applications223
Mounting a Top Module223
Maintenance226
Regular Weekly Checks and Maintenance Tasks227
Regular Checks and Replacements229
Battery Maintenance234
Lifting Mir1350235
Packing for Transportation237
Original Packaging237
Packing the Robot for Transportation238
Battery238
Payload Distribution239
Side View241
Front View242
Interface Specifications243
Left Compartment Interfaces243
Right Compartment Interfaces255
Connector List263
Disposal of the Robot265
Error Handling266
Software Errors266
Hardware Errors267
Glossary270

MIR 1350 - Page 240

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