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5. Accessing the internal parts

MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 43

Figure 5.1. The top compartments of MiR250.

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 Mir25011
- Top Modules12
- External Parts13
- Internal Parts21
3 Warranty28
4 Safety29
- Safety Message Types29
- General Safety Precautions30
- Intended Use33
- Users34
- Foreseeable Misuse36
- Warning Label36
- Residual Risks37
5 Accessing the Internal Parts38
- Front Compartment39
- Rear Compartment40
- Side Compartments41
- Top Compartments42
6 Getting Started44
- In the Box44
- Unpacking Mir25045
- Connecting the Battery48
- Powering up the Robot50
- Connecting to the Robot Interface52
- Driving the Robot in Manual Mode53
- Moving the Robot by Hand55
- Checking the Hardware Status57
- Mounting the Nameplate58
- Shutting down the Robot60
7 Battery and Charging62
- Charging the Robot62
- Disconnecting the Battery63
- Battery Storage64
- Battery Disposal66
8 Security67
- Managing Users and Passwords67
- Software Security Patches67
9 Navigation and Control System69
- System Overview69
- User Input71
- Global Planner71
- Local Planner73
- Obstacle Detection74
- Localization79
- Motor Controller and Motors82
- Brakes82
10 Safety System84
- System Overview84
- Personnel Detection89
- Overspeed Avoidance94
- Stability95
- Emergency Stop Circuit95
- Safeguarded Stop96
- Locomotion97
- Shared Emergency Stop98
- Reduced Speed99
- Safety Stop100
- Light Indicators and Speakers101
11 Commissioning105
- Analysis of the Work Environment105
- Risk Assessment107
- Creating and Configuring Maps108
- Markers118
- Positions121
- Creating Missions122
- Creating a Footprint125
- Using Operating Hazard Zones129
- Making a Brake Test131
- Creating User Groups and Users132
- Creating Dashboards135
- Updating Mir250 Software137
- Creating Backups137
- System Settings138
12 Usage146
- Creating Markers146
- Creating Positions151
- Creating the Mission Prompt User153
- Creating the Mission Try/Catch158
- Creating the Mission Variable Docking164
- Creating the Mission 80 CM Doorway172
- Testing a Mission179
13 Applications180
- Mounting a Top Module180
14 Maintenance184
- Regular Weekly Checks and Maintenance Tasks184
- Regular Checks and Replacements186
- Battery Maintenance188
15 Packing for Transportation189
- Original Packaging189
- Packing the Robot for Transportation190
- Battery190
16 Disposal of Robot191
17 Payload Distribution192
- Side View193
- Front View195
- Top View197
18 Interface Specifications199
- Left Side Interfaces199
- Right Side Interfaces205
- Connector List211
19 Error Handling213
- Software Errors213
- Hardware Errors214

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