Docking station Technical Documentation Version 1.1 Release date: 01.09.2015
Table of contents 1 Introduction...3 2 Layout and dimensions...4 3 What s included in the box...4 4 Connecting devices...5 4.1 Mounting the docking station....5 4.2 Mounting the front shield and connecting it to the battery....7 5 Usage... 10 5.1 Docking mission explained.... 10 5.2 Making a new mission using the docking station.... 10 5.3 Using the docking station during a mission.... 12 6 Frequently Asked Questions... 13 7 Change log... 13 Copyright Mobile Industrial Robots 2015 Page 2 of 13
1 Introduction The docking station is a charging station for the MiR100 robot. When position MiR100 in front of the docking station, it can locate the docking station and guide itself into position and start charging. The docking station features two pins that MiR100 will charge through. The docking station can be controlled through MiR100 s mission interface, which gives the possibility to dock, charge and go on with other operations. Copyright Mobile Industrial Robots 2015 Page 3 of 13
2 Layout and dimensions Copyright Mobile Industrial Robots 2015 Page 4 of 13
3 What s included in the box Package includes: (1) Docking station. (2) Front shield. (3) Optocoupler. (4) 32A relay. (5) Relay. (6) DIN rail. (7) Wires. (8) Bolts. 4 Connecting devices 4.1 Mounting the docking station. Step Instruction Illustration 1 NOTE: It is important that the docking station has at least 50cm of space on both sides of the docking station. Copyright Mobile Industrial Robots 2015 Page 5 of 13
2 The docking station needs to be 4,5 cm over the ground so MiR100 can see the docking station. 3 Unscrew the mount screws on the docking station. 4 Open the docking station. Copyright Mobile Industrial Robots 2015 Page 6 of 13
5 Mount the docking station on to the wall through the holes in the back of the docking station. 6 Connect the docking station to a 220V plug. 4.2 Mounting the charger front shield of the robot and connecting the wires to the battery. Before mounting the charger front shield on MiR100, remember to take off the battery within the robot. When mounting the front shield, remember to insert the wires for the ultrasonic sensors and the lights. Remember to insert the wires for the ultrasonic sensors correctly as shown on the picture below. Remember to have red wire to VCC and black wire to GND Copyright Mobile Industrial Robots 2015 Page 7 of 13
In the package there is included a DIN rail to mount the optocoupler, fuse and the relay on. An example is shown on the picture above mounted in that order from left to right. Illustrated below is an example of where to mount the DIN rail in to MiR100. If the space in MiR100 is limited inside the robot, please find another suitable place to mount the DIN rail. To wire the optocoupler, fuse and relay to the battery and to the front shield, please get an overview of the installation at the diagram below. Where to insert wires in MiR100 s existing DIN rail: To wire the 5v relay to DIN 9, please insert the wire in one of the available ports. To wire the two grounds, please insert the wires in DIN 18, 19 or 20 in one of the available ports. Copyright Mobile Industrial Robots 2015 Page 8 of 13
If there are no available ground ports in DIN 18, 19 or 20, please use the ground sections in DIN section red or blue. Everything needed to install the package is included. 2T1 4T2 6T3 1L1 3L2 5L3 + / 11 A / 14 0 / 12 Figure 1. A simple wiring diagram for wiring into MiR100. Copyright Mobile Industrial Robots 2015 Page 9 of 13
5 Usage The docking station can be used in MiR100 s mission interface, so it can be used together with other actions within a mission list. 5.1 Docking mission explained. Explanation of the parameters in the docking mission: Distance to dock (X): Frontal distance to docking station in meters. Measured from the middle of the MiR100. Distance to dock (Y): Sideways distance to docking station in meters. Measured from the middle of MiR100. Docking offset (X): forward or backward adjust MiR100 to make a precise dock in meters. Docking offset (Y): sideways adjust MiR100 to make a precise dock in meters. Dock search tolerance: How big an area MiR100 will search for the docking station in, measured from all sides and out in meters. It is important that this area only contains the docking station. Docking Charger: Boolean value to turn charging on and off. 1 is on, 0 is off. Docking Type: 3 different types of docking possibilities. (Only the docking station is illustrated). 5.2 Making a new mission using the docking station. Follow the instruction below to learn how to make a mission so MiR100 can dock into the docking station. Step Instruction illustration 1 Log in as administrative user with username admin and password mir4you Copyright Mobile Industrial Robots 2015 Page 10 of 13
2 Go to Service- >Configuration- >Missions 3 Press Create mission. Copyright Mobile Industrial Robots 2015 Page 11 of 13
4 Drag Docking over to mission and configure. When done press save. Explanations of inputs see 5.1. 5.3 Using the docking station during a mission. Follow the instruction below to learn how to run a mission with docking, in an already built mission with MiR100. Step Instruction Illustration 1 In Service-> Launch menu, remember to turn docking and mission on before starting a new mission. Go to Mission in Start menu. Copyright Mobile Industrial Robots 2015 Page 12 of 13
2 Add the new mission to Missions in queue. 6 Frequently Asked Questions Question: It seems like MiR100 can t find the docking station. Answer 1: try to adjust the map in command view. Answer 2: is there at least 50cm of space on both sides of the docking station? Answer 3: If above doesn t works, depending on distance from dock, try to change the search tolerance in the action in the relevant mission. Question: MiR100 is trying to dock but it drives too close or too far. Answer: try adjusting the offset X. 7 Change log Version Date Changes 0.1 27.08.2015 Document created 1.0 01.09.2015 Revision for mission change 1.1 29.09.2016 Figure 1 text changed in Relay and Optocupler. Copyright Mobile Industrial Robots 2015 Page 13 of 13