MiR Charge 48V User Guide

Date: 06/2023
Version: 3.0 (en)
Robot hardware version: 3.2
 Copyright and disclaimer

Copyright and disclaimer

Mobile Industrial Robots A/S (MiR) makes no warranties, expressed or implied, in respect of this
document or its contents. In addition, the contents of this document are subject to change
without prior notice. Every precaution has been taken in the preparation of this document.
Nevertheless, MiR assumes no responsibility for errors or omissions or any damages resulting
from the use of the information contained.

MiR authorizes you to view, copy, print, and distribute materials available in this document
provided that:

l The materials are used for internal informational purposes only.

l A MiR copyright notice appears on every copy of the material and any portion thereof.

l No materials or related graphics are modified or altered in any way. Any rights not expressly
granted herein are reserved by MiR.

Copyright © 2019–2023 by Mobile Industrial Robots A/S.

Original instructions (English)

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F
DK-5220 Odense SØ

www.mobile-industrial-robots.com
Phone: +45 20 377 577
Email: [email protected]

CVR: 35251235

MiR Charge 48V User Guide (en) 06/2023 - v.3.0 ©Copyright 2019–2023: Mobile Industrial Robots A/S. 2
 Table of contents

Table of contents

Copyright and disclaimer 2

Table of contents 3

1. About this document 4

1.1 Where to find more information 4
1.2 Version history 6

2. Product presentation 9
2.1 How charging works 9
2.2 Nameplate 11
3.1 MiR Charge 48V specifications 13

4. Warranty 15

5. Safety 16
5.1 Safety message types 16
5.2 General safety precautions 17

6. Getting started 20
6.1 In the box 20
6.2 Mounting and powering up 22
6.3 Marking operating hazard zones 28

7. Usage 30
7.1 Setting charging station markers on the map 30
7.2 Creating the Charge at station mission 34
7.3 Creating the Recharge loop mission 38
7.4 Testing a mission 43
7.5 Charging action parameters explained 43

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 1. About this document

1. About this document

This User Guide explains how to install and take precautions for safe use of your MiR Charge 48V.
This guide also contains information on how to set up MiR250, MiR500, MiR600, MiR1000, and
MiR1350 robots for automatic charging with MiR Charge 48V.

NOTICE
Save this manual. It contains important setup and operating instructions.

1.1 Where to find more information

On MiR Support Portal you can find the following resources under Documentation:

l Quick starts describe how you start operating MiR robots quickly. It comes in print in the box
with the robots. Quick starts are available in multiple languages.

l User guides provide all the information you need to operate and maintain MiR robots and how
to set up and use top modules and accessories, such as charging stations, hooks, shelf lifts, and
pallet lifts. User guides are available in multiple languages.

l Risk assessment guide describes how to conduct a risk assessment and provides some risk
assessed use cases.

l Commissioning guide provides examples and guidelines to commission your robot

successfully.

l Operating guides describe how to set up and use MiR accessories or supported functions that
are mainly hardware-based, such as charging stations and shelf functions.

l Getting started guides describe how to set up MiR accessories that are mainly software-
based, such as MiR Fleet.

l Interface guides contain descriptions of all the elements of the robot interface and MiR Fleet
interface. Interface guides are available in multiple languages.

l Best practice guides provide helpful information you can use when commissioning or
operating your robot.

l REST API references for MiR robots, MiR Hooks, and MiR Fleet. HTTP requests can be used to
control robots, hooks, and MiR Fleet.

l MiR network and Wi-Fi guide specifies the performance requirements of your network and
how you must configure it for MiR robots and MiR Fleet to operate successfully.

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 1. About this document

l Cybersecurity guide provides important information and instructions to increase the

cybersecurity of your MiR product.

l How-to guides are short guides providing instruction for maintenance, replacement,
commissioning, and other tasks related to MiR products.

l Troubleshooting guides can help you determine the cause of an issue you are experiencing
with your MiR product and how to resolve it.

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 1. About this document

1.2 Version history

This table shows current and previous versions of this document.

Revision Description

3.0 Date: 2023-06-21

Charger HW: 3.2

l Updated images with new charger plate design.

Affects sections: How charging works and Mounting and powering up.

l Updated descriptions of charging behavior.

Affects section: How charging works.

l Changed name from operating guide to User Guide.

l Changed structure of manual.

2.5 Date: 2023-02-09

Charger HW: 3.1

l General improvements throughout the manual.

2.4 Date: 2022-12-05

Charger HW: 3.1

l Updated for hardware version 3.1.

l Updated with new styling.

l Corrected images of Power cables and added plug descriptions.

Affected section: In the box.

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 1. About this document

Revision Description

2.3 Date: 2022-05-27

Charger HW: 3.0

l Charging criteria update.

Affected section: How charging works.

2.2 Date: 2022-02-01

Charger HW: 3.0

l Updated section: Operating hazard zones.

l Updated section: Marking operating hazard zones.

2.1 Date: 2021-10-14

Charger HW: 3.0

l Added MiR600 and MiR1350 robots as approved for use with

MiR Charge 48V.

2.0 Date: 2021-09-28

Charger HW: 3.0

l New specifications and graphics added throughout the guide for new
hardware version.

1.5 Date: 2021-03-09

Charger HW: 2.0

l New section: Specifications.

l New section: Warranty.

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 1. About this document

Revision Description

1.4 Date: 2020-06-17

Charger HW: 1.0

l New section: Nameplate.

l General improvements throughout the manual.

1.3 Date: 2019-11-13

Charger HW: 1.0

l Layout changes throughout the guide.

1.2 Date: 2019-11-13

Charger HW: 1.0

l General improvements throughout the manual.

1.1 Date: 2019-07-31

Charger HW: 1.0

l General improvements throughout the manual.

1.0 Date: 2019-01-24

Charger HW: 1.0

l First edition.

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 2. Product presentation

2. Product presentation
MiR Charge 48V is a charging station that autonomously recharges docked MiR250, MiR500,
MiR600, MiR1000, and MiR1350 robots.

It is possible for multiple robots to share the same charging station. However, to avoid bottleneck
situations, we recommend integrating the robots in MiR Fleet. For more information, see one of
the MiR Fleet getting started guides.

You can mount modules on top of MiR Charge 48V, for example, other charging devices for top
modules.

2.1 How charging works

This section describes how the charging station functions.

Figure 2.1 Front view of MiR Charge 48V

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 2. Product presentation

Table 2.1 Description of the features in Figure 2.1

Pos. Description Label Description

1 VL-marker: the V-shaped recess 2 Foldable charging plate

combined with the front plate to
the right forms a VL-marker that
the robot's front safety scanner
uses to dock to the charging station

3 Charging connector, positive 4 CAN high: CAN bus communication

terminal between robot and charging
station processor

5 CAN low: CAN bus communication 6 Charging connector, negative

between robot and charging terminal
station processor

To connect to MiR Charge 48V, the robot moves to the entry position in front of the charging
station to locate the VL-marker (1). It then moves onto the charging plate (2) and establishes a
communication to the charger through (4) and (5). When a communication has been successfully
done, the charging will begin from (3) and (6).

The connectors on both charging plates (3) and (6) and underneath the robot are voltage-free
until a connection between the robot plates and the charger plates is made, and a CAN bus
communication is established via plates (4) and (5).

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 2. Product presentation

WARNING
Metal parts placed or dropped on the charging connectors during charging may
short circuit MiR Charge 48V or the robot, possibly resulting in damage to equipment
or injury to nearby personnel.

The charging connectors have electric potential difference only when in contact with
the robot. Both robot (including battery) and charging station are protected by fuses
to prevent dangerous situations should the terminals be short circuited during
charging.
l Do not place or drop metal parts on to the charging connectors during charging.

If the robot's battery is completely discharged, you must connect an external cable
charger. For information on how to do this, see the user guide or quick start of the
robot.

Before a MiR robot starts charging in the charging station, the charging current must be above 0.3
A. The default charging current is 1 A. In the robot interface under System > Settings > Battery
> Minimum charge current you can select a minimum charge current between 0.3 and 3.0 A.

If a robot charges its battery to 100% and stays connected to the charging station, the robot will
stop charging until that percentage drops below a configurable percentage that as default is set
to 95% and then charge back to 100%. This is called the topping up state. In the robot interface
under System > Settings > Battery > Battery percentage for topping up state you can select
the battery percentage threshold the robot drops down to when in topping up state.

2.2 Nameplate
MiR Charge 48V is delivered with two nameplates mounted to the charger. The nameplates of
MiR Charge 48V identify the model and serial number and includes the CE mark, technical
specifications, and the address of Mobile Industrial Robots.

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 2. Product presentation

Figure 2.2 The placing of the nameplates

Figure 2.3 Example of the MiR Charge 48V nameplates

MiRCharge 48V HW. Ver 3.2 S/N : 304109987 Number of phases 230VAC [L,N,PE]
Input : 100–240V ~ Max. 14A 50/60 Hz Made in Denmark 120V [L,N,PE]
Output at 240V : 48V = Max. 40A Mobile Industrial Robots A/S 240V [L1,L2,PE]
Output at 120V : 48V = Max. 20A Emil Neckelmanns Vej 15F PE = Protective earth
DK-5220 Odense SØ
Specific battery:
Lithium-NMC Before charging read the instructions
16P13S and 2P13S For indoor use only
41.6Ah IP 52

Caution : Attention :
Charge only lithium type batteries. Other types Utiliser pour charger uniquement les accumulateurs du type
of batteries may burst causing personal injury and damage. lithium . D'autres types d'accumulateurs pourraient éclater et
Risk of electric shock. Do not touch uninsulated causer de blessures ou damages.
portion of the output connector or uninsulated Danger: Risqué de chocs électriques.
battery terminal Ne pas toucher les parties non isolées du connecteur de
sortie ou bornes non isolées de l'accumulateur.

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3.1 MiR Charge 48V specifications
General information

Automatic charger for MiR250, MiR500, MiR600, MiR1000, and

Designated use MiR1350 robots. The robot moves and connects to the charging
station

Color RAL 7035 / Light gray

Product design life 5 years or 20 000 hours, whichever comes first

Cover material Aluminum

Specifications may vary based on local conditions and application

Disclaimer
setup

Dimensions

Length 622 mm

Height 287 mm

Depth 237 mm (with charging plate: 487 mm)

Weight 20 kg

Environment

Humidity 10–95% non-condensing

Ambient temperature range,

5–40°C
operation

Maximum altitude 2 000 m

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Power

Output 48 V, maximum 40 A, maximum 1.9 kW

Input 100–240 V AC, 50–60 Hz, maximum 3.2 kW

Compliance

Electrical standards EN60335-2-29

Designed in accordance with the Canada: CSA C22.1-18, SPE-1000-13, CSA C22.2 No. 107.2 -2001
following TÜV safety approval
standards US: NFPA 70: 2017, UL 1564: 2015, NFPA 791: 2021

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 4. Warranty

4. Warranty
Mobile Industrial Robots offers a standard warranty on all products.

Contact your distributor to see the terms and extent of product coverage.

NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR Charge 48V or its
accessories are damaged, changed, or modified in any way. Mobile Industrial Robots
cannot be held responsible for any damages caused to MiR Charge 48V, accessories,
or any other equipment due to programming errors or malfunctioning of
MiR Charge 48V.

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 5. Safety

5. Safety
Read the information in this section before powering up and operating MiR Charge 48V.

Pay particular attention to the safety instructions and warnings.

NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR Charge 48V or its
accessories are damaged, changed, or modified in any way. Mobile Industrial Robots
cannot be held responsible for any damages caused to MiR Charge 48V, accessories,
or any other equipment due to programming errors or malfunctioning of
MiR Charge 48V.

5.1 Safety message types

This document uses the following safety message types.

WARNING
Indicates a potentially hazardous situation that could result in death or serious
injury. Carefully read the message that follows to prevent death or serious injury.

CAUTION
Indicates a potentially hazardous situation that could result in minor or moderate
injury. Alerts against unsafe practices. Carefully read the message that follows to
prevent minor or moderate injury.

NOTICE
Indicates important information, including situations that can result in damage to
equipment or property.

Tells you where you can find more information about the topic.

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 5. Safety

5.2 General safety precautions

This section contains general safety precautions.

WARNING
MiR Charge 48V is not approved for installation in areas with explosive gas
atmosphere according to hazardous area classification zones 0, 1, and 2. Sparks from
static electricity may cause fire or explosions.
l Do not install MiR Charge 48V in any of the mentioned zones.

WARNING
Failure to ground MiR Charge 48V may cause electric shock.
l Ensure to ground MiR Charge 48V properly using one of the supplied three-prong
plugs.

l If none of the supplied plugs fit the local wall outlet, consult a licensed electrician.

WARNING
If MiR Charge 48V is used by children, they risk injury and electrical shock.
l Children should be supervised to ensure that they do not play with the appliance.

WARNING
If MiR Charge 48V is used by unqualified personnel, they risk injury and electrical
shock.
l This appliance is not intended for use by persons (including children) with reduced
physical, sensory, or mental capabilities or lack of experience and knowledge
unless they have been given supervision or instruction concerning use of the
appliance by a person responsible for their safety.

CAUTION
Charging a frozen battery can damage the battery.
l Never charge a frozen battery.

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 5. Safety

CAUTION
Operating the charger in a closed-in area with restricted ventilation as well as
covered or blocked vents on the sides of MiR Charge 48V can lead to overheating of
the battery and/or the charger.
l Do not operate the charger in a closed-in area, restrict ventilation, or cover or
block the vents in any way.

CAUTION
The only intended use of MiR Charge 48V is to charge the internal battery of MiR250,
MiR500, MiR600, MiR1000, and MiR1350 robots. Using it to charge other robot types
or external batteries can damage MiR Charge 48V.
l Only use MiR Charge 48V to charge MiR250, MiR500, MiR600, MiR1000, and
MiR1350 robots.

CAUTION
Connecting one of the supplied power cables to a wall outlet that does not fit the
cable plug can damage MiR Charge 48V.
l Only connect the power cable to a wall outlet that fits one of the supplied cable
plugs.

CAUTION
Robot malfunctions can cause an electrical fire, causing damage and injury to
equipment and personnel.
l Personnel operating near the robot must be informed on how to use an ABC fire
extinguisher to put out an electrical fire should the robot malfunction and catch on
fire.

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 5. Safety

CAUTION
Risk of trapping or injury to personnel if robots malfunction or if personnel enter
operating hazard zones.
l Personnel operating near the robot must be informed on how to engage the
robot's Emergency stop function in emergency situations.

l Ensure that all personnel are instructed to stay clear of operating hazard zones
when the robot is in the zone.

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 6. Getting started

6. Getting started
This section describes how to get started with MiR Charge 48V.

Read "Safety" on page 16 before powering up MiR Charge 48V.

6.1 In the box

This section describes the content of the MiR Charge 48V box.

Figure 6.1 The content of the MiR Charge 48V box

The box contains:

l MiR Charge 48V

l A MiR Charge 48V document folder containing the following printed documents:
l EC Declaration of Conformity
l MiR Charge 48V User Guide

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 6. Getting started

l Power cables for different wall outlets:

l NEMA L6-15 plug - for use in 230/240 V installations

l NEMA 5-15P plug - for use in 110/120 V installations

l CEE 7/7 plug - for use in 230/240 V installations

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 6. Getting started

6.2 Mounting and powering up

This section describes how to mount and power up MiR Charge 48V.

Before mounting
Before mounting, complete the following:

1 Turn the charging station so that you have access to its bottom side.

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 6. Getting started

2 Loosen the four 6 mm lock nuts. Use a ratchet socket wrench with a 10 mm socket.

3 Fold out the charging pad.

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 6. Getting started

4 Tighten the four 6 mm lock nuts to 5 N. Use a torque wrench with a 10 mm socket.

5 Turn the charging station around again so that the charging pad is on the ground.

6 Place MiR Charge 48V against a rigid structure on a clean, even, and dry floor.

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 6. Getting started

MiR Charge 48V must be installed to an electric circuit in accordance with national electric codes
using the cables provided by MiR. Verify that the available power supply corresponds to the
specifications stated on the MiR Charge 48V nameplate. If you are in doubt, consult a licensed
electrician.

To avoid damaging the power cord, do not put anything on it or place it where it can be damaged.
If the cord becomes damaged or frayed, replace it immediately.

If you are using an extension cord or power strip, make sure that the total current required by all
equipment on the extension is less than the extensions rating.

Figure 6.2 Rear view of MiR Charge 48V

Table 6.1 Description of the features in Figure 6.2

Pos. Description Pos. Description

1 M8 mounting holes for fixation to 2 Mounting brackets (one on each

wall (one in each top corner) side)

3 Power inlet

You can also mount applications on top of the charging station if you need to, for example, a
charger for a top module. This will require an external power source for the application.

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 6. Getting started

Figure 6.3 shows the M6 mounting holes for top modules. The holes are placed 694 mm apart in
width and 5 475 mm apart in length.

NOTICE
If you mount an application on top of MiR Charge 48V, always make sure that the
combined application functions as intended. The charger is tested with top modules
that do not exceed 25 kg and the footprint of the charger.

Figure 6.3 Top view of MiR Charge 48V

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 6. Getting started

Mounting
Wall fixing is not required, but if the charging station is moved even a few centimeters, the robot
will be unable to dock precisely. We therefore recommend fixing the charging station to a rigid
structure.

To mount MiR Charge 48V to a rigid structure, follow these steps:

1 Place MiR Charge 48V against the structure where it should be mounted.

2 Mark the position of the two M8 mounting holes on the structure.

3 Remove the charging station, and drill two holes of a suitable size for M8 bolts at the
marked positions in the previous step. Consider inserting wall plugs to ensure a secure
mounting, in which case the drilled holes must accommodate the size of the chosen
plugs.

4 Place the MiR Charge 48V against the structure again in the desired position. Ensure
that the drilled holes align with the M8 mounting holes.

5 Fasten the charging station securely to the wall by screwing M8 bolts through the
bolting holes and into the structure.

Powering up

NOTICE
Read "Safety" on page 16 before powering up the charging station.

To power up MiR Charge 48V, follow these steps:

1 Insert the power cord into the power inlet, then into the wall power outlet.

2 Turn on the power on the power outlet.

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 6. Getting started

Shutting down and demounting

To shut down the charger, follow the powering-up procedure in reverse.

To demount the charger, follow the mounting procedure in reverse until the charger is no longer
screwed into the rigid structure.

6.3 Marking operating hazard zones

When the robot docks to a charging station, the robot mutes its Protective fields temporarily.

The muting starts when the robot reaches the Entry position approximately one meter from the
charging station marker. To indicate this to people nearby, the robot slows down and starts
blinking yellow, using the eight signal lights on the corners of the robot.

To avoid potentially hazardous situations as a consequence of the muted Protective fields, you
must mark the physical area around MiR Charge 48V as an operating hazard zone.

Operating hazard zones are areas that must be visibly marked to comply with safety standards in
EN 1525 and ISO 3691-4. Personnel must be instructed to stay clear of operating hazard zones
when a robot is approaching.

To create a sufficiently large operating hazard zone, the marking must be at least one meter away
from the potentially hazardous area in all directions.

Robots may need more space to operate than the required operating hazard zone. Consider
expanding operating hazard zones to include the required free space for operation to ensure that
the robot can operate smoothly. For the robot's space requirements, see the space requirement
best practice guide for your robot. You can find this guide on MiR Support Portal.

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 6. Getting started

Figure 6.4 The striped black and yellow line identifies the required operating hazard zone around
MiR Charge 48V

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 7. Usage

7. Usage
The main way to use MiR Charge 48V is through missions that you create.

If you are using MiR Fleet, charging is handled autonomously, and you should not
create charging missions. Refer to the MiR Fleet Getting Started Guide to set up
MiR Fleet to enable auto charging. You can find this guide on MiR Support Portal.

In the following sections you will find practical examples of how missions can be tailored to
different tasks. The examples include:

l Setting Charging station markers on the map.

l Creating a mission that makes the robot dock to a charger and recharge to 40% power. The
example mission is titled Charge at station.

l Creating a mission that uses a Loop and an If action to make the robot dock to the charger
when it is low on power. The example mission is titled Recharge loop.

7.1 Setting charging station markers on the map

Before creating the marker, you must ensure that the robot is localized correctly on an active
map. If in doubt, you can check if the red lines representing the laser scanner line match the black
lines on the map as shown in Figure 7.1.

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 7. Usage

Figure 7.1 The robot is correctly localized when they align with the black lines that represent walls

Once the robot is localized, it is possible to insert a charging station marker correctly on the map
using the following steps:

1 Manually drive the robot so its front is facing the MiR Charge 48V and is within one
meter from it.

2 In the robot interface, enter the map editor of the map where you want to create a
marker. This is done by navigating to Setup > Maps and selecting Edit next to the
map you would like to work on.

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 7. Usage

3 In the Object-type drop-down menu, select Markers, and then select the icon Draw a
new marker.

4 In the Create marker window, enter a name for the marker, and select Type > MiR
Charge 48V.

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 7. Usage

5 Select Detect marker. The Detect-marker function tracks the position of the charging
station using the V-marker and automatically sets the X, Y, and Orientation values in the
robot, enabling it to dock to the charging station.

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 7. Usage

6 Select OK to create the marker. A new marker icon represented by a lightning symbol is
now visible on the map in front of the robot and is ready to be used in missions.

If the robot is too far from the charging station, a message that the robot failed to
locate the marker is displayed. Try to move the robot closer to the charging station, and
ensure that the front safety laser scanner is positioned in front of the VL-marker of the
charging station.

7.2 Creating the Charge at station mission

This section describes how you create the example mission Charge at station. The mission
demonstrates how you use docking and charging actions in your mission. To make the example
yourself, it is assumed that you completed the following:

l Created a MiR Charge 48V marker named Charger as described in "Setting charging station
markers on the map" on page 30.

The goal of the mission is to make the robot dock to MiR Charge 48V and recharge its battery up
to 40%.

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 7. Usage

To create the mission, follow the steps below:

1 Go to Setup > Missions. Select Create Mission.

2 Name the mission Charge at station, and select a mission group and site. Select Create
mission.

l In the Move menu, select Docking.

l In the Battery menu, select Charging.
l In the Move menu, select Relative move.

The following steps describe which parameters each action should be set to. To modify
the parameters, select the gearwheel at the right end of the action line to open the
action dialog box. When you have set the parameters, select Validate and close.

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 7. Usage

3 In the Dock to action, under Marker, select Charger. This is the marker you created on
the map in front of the charging station.

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 7. Usage

4 In the Charging action, set the parameters as follows:

l Minimum time: Select Ignore value.

l Minimum percentage: type 40.

In our example, there is no minimum time. When the battery reaches 40%, the charging
is completed.
To learn more about the different Charging action combinations, see "Charging action
parameters explained" on page 43.

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 7. Usage

5 In the Relative move action, under X, change the value to -2. This will make the robot
drive two meters backward after charging.

6 Select Save to save the mission.

The mission can also be inserted in other missions. In that case, the Relative move action is
unnecessary.

7.3 Creating the Recharge loop mission

This section describes how you create the example mission Recharge loop. The mission
demonstrates how you use a Loop and If action to make the robot dock to a charger when it
reaches low power. To make the example yourself, it is assumed that you completed the
following:

l Created a MiRCharge marker named Charger as described in "Setting charging station markers
on the map" on page 30.

l Created three robot positions named Position 1, Position 2, and Position 3.

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 7. Usage

The goal of the mission is to make the robot drive between the three robot positions until it
reaches a battery percentage below 20%, where it then docks to MiR Charge 48V and charges its
battery up to 50%.

1 Go to Setup > Missions, and select Create mission.

2 Name the mission Recharge loop, and select a mission group and site. Select Create
mission.

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 7. Usage

3 Select the following actions:

l In the Logic menu, select Loop.

Select the gray bar that reads Content to embed the next action into the Logic
action.
l In the Logic menu, select If.
Select the gray bar that reads True to embed the next actions into the If action.
l In the Move menu, select Move three times.
Select the gray bar that reads False to embed the next actions into the If action.
l In the Move menu, select Move.
l In the Battery menu, select Charging.

The following steps describe which parameters each action should be set to. To modify
the parameters, select the gearwheel at the right end of the action line to open the
action dialog box. When you have set the parameters, select Validate and close.

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 7. Usage

4 In the Loop action, select Endless.

5 In the If action, set the parameters as follows:

l Compare: Select Battery Percentage.

l Operator: Select >= (greater than or equal to).
l Value: Type 20.

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 7. Usage

6 In the three Move actions, under Position, select one of the robot positions for each of
the actions.

7 In the Charging action, set the parameters as follows:

l Minimum Time: Select Ignore value.

l Minimum Percentage: Type 50.

To learn more about the different Charging action combinations, see

"Charging action parameters explained" on the next page.

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 7. Usage

8 Select Save to save the mission.

7.4 Testing a mission

After you create a mission, always run the mission to test that the robot executes it correctly.

NOTICE
Always test missions without load to minimize potential hazards.

To run a mission, follow these steps:

1 Go to Setup > Missions.

2 Select Queue mission next to the mission you want to run. The mission is now added
to the mission queue.

3 Select Continue to start the mission.

4 Watch the robot execute the mission, and verify that it performs as expected.

We recommend running the mission 5–10 times to ensure that it runs smoothly. If something
interrupts the mission, use a Try/Catch action in that step of the mission and decide what the
robot has to do if a mission action fails.

7.5 Charging action parameters explained

A charging action can be defined with a minimum time, a minimum percentage, or a combination
of those two. This section explains the four options for setting the charging duration.

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 7. Usage

Minimum Time Minimum Percentage

If you want to ensure that the battery stays If you want to ensure that the battery is
in the charging station for a minimum charged to a certain percentage, you can
amount of time, you can select the Ignore select the Ignore value check box under
value check box under Minimum Minimum Time. The robot will then charge
Percentage. The robot will then charge for the battery up to the set minimum
the set minimum amount of time before percentage before moving on with the
moving on with the mission. mission.

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 7. Usage

Combination of minimum time and/or Charge until new mission in queue

minimum percentage
You can choose to let the robot stay in the
When you select neither of the Ignore charging station until it receives a new
value check boxes, you combine minimum mission by selecting Charge until new
time and minimum percentage, so the mission in queue. This is useful, for
robot stays in the charging station until it example when the charging action is not
fulfills one of the two parameters before followed by other actions, or the charging
initiating the next mission. action is not included in a looped mission in
which case the robot will continue after the
set charging time or percentage is fulfilled.

If the battery reaches 100% while the robot

is waiting for a new mission, the charger
disconnects and lets the battery discharge
until it has dropped to 90%. It then
connects again and tops up until the
battery is back to 100%. This is known as
Topping up.

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Doc. no.: 301012

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