Table of contents
1 About this manual ............................................................................................................ 1
1.1 Overview..................................................................................................................... 1
1.2 Document history ....................................................................................................... 1
1.3 Where to find more information ................................................................................ 1
2 Mechanical ....................................................................................................................... 2
2.1 Mounting .................................................................................................................... 2
2.2 Docking ....................................................................................................................... 3
2.3 Cable management..................................................................................................... 3
3 Electrical ........................................................................................................................... 4
3.1 Requirements ............................................................................................................. 4
3.1 1 MiR................................................................................................................... 4
3.1 2 UR .................................................................................................................... 4
3.2 Wiring diagram ........................................................................................................... 5
3.2 1 Power............................................................................................................... 5
3.2 2 Safety ............................................................................................................... 7
3.2 3 Communication ............................................................................................. 10
4 Communication interface ............................................................................................... 13
4.1 Introduction.............................................................................................................. 13
4.2 MiR master ............................................................................................................... 13
4.2 1 When to use................................................................................................... 13
4.2 2 Mission flow................................................................................................... 13
4.2 3 Configuration ................................................................................................. 14
4.2 4 Mission example............................................................................................ 17
5 Setup of the applications................................................................................................ 18
5.1 MiR............................................................................................................................ 18
5.1 1 Create mission with Universal Robots actions............................................... 18
5.1 2 Preparing the Universal Robot arm before use ............................................. 19
5.2 UR e-Series - handling the application...................................................................... 19
5.2 1 Starting the robot .......................................................................................... 19
5.2 2 Creating a new program ................................................................................ 22
5.2 3 Loading robot program.................................................................................. 25
5.2 4 Network settings............................................................................................ 29
5.2 5 Make the UR Robot arm take external input................................................. 30
5.2 6 Shutting down the robot ............................................................................... 33
5.3 UR CB Series - handling the application.................................................................... 34
5.3 1 Starting the robot .......................................................................................... 34
5.3 2 Creating a new program ................................................................................ 36
5.3 3 Loading robot program.................................................................................. 38
5.3 4 Network settings............................................................................................ 42
5.3 5 Shutting down the robot ............................................................................... 42
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