MIR MiR250 Dynamic - Page 141

13. Maintenance
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 141
Check every six months
Part Maintenance Symptoms of neglect
Drive wheels
(the two
middle
wheels)
Check wheel surfaces for wear. If
the center seam has been worn
away, replace the wheels.
You can also measure the
diameter of the wheels to assess
how worn down they are. Replace
if the diameter is less than
197.5mm.
Replace in pairs. See the guide
How to replace the drive wheels on
MiR250.
The robot's IMU must be
calibrated after replacement of
the wheels—see the guide How to
calibrate the IMU.
Robot cannot travel over large
steps and gaps without scraping
the bottom of the robot.
Robot swerves more if the wheels
are uneven sizes.
Localization becomes inaccurate
due to inaccurately converted
encoder data.