MIR MiR100 Mode d’emploi
MiR100 UR Interface
Technical Documentation
Version 1.2
Software release 1.7
Release date: 26.09.2016
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 2 of 17
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 3 of 17
Table of contents
1Introduction......................................................................................................................................................4
2Connecting MiR100 and UR Robot...................................................................................................................4
2.1 Preconditions............................................................................................................................................4
2.2 Connecting MiR100 to the UR robot ........................................................................................................4
2.3 Safety connections ...................................................................................................................................5
2.4 Connecting the Ethernet cable.................................................................................................................6
3Handling the application ..................................................................................................................................7
3.1 Starting the robot .....................................................................................................................................7
3.2 Creating a new program...........................................................................................................................9
3.3 Loading robot program...........................................................................................................................10
3.4 Network settings ....................................................................................................................................13
3.5 Shutting down the robot ........................................................................................................................13
4Using a Universal Robot with MiR..................................................................................................................14
4.1 Enabling Universal Robot features .........................................................................................................14
4.2 Connecting to Universal Robot...............................................................................................................15
4.3 Create mission with Universal Robot actions.........................................................................................16
4.4 Preparing the Universal Robot before use .............................................................................................16
5Frequently Asked Questions...........................................................................................................................17
6Changelog .......................................................................................................................................................17
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 4 of 17
1Introduction
The MiR UR Interface offers a simple way of interaction between a MiR100 and one robot arm from Universal
Robots mounted on the MiR. It is possible to run specific UR programs at certain points in a mission while the
MiR100 is standing still. After the particular UR program has finished, the MiR100 can continue moving.
2Connecting MiR100 and UR Robot
2.1 Preconditions
It is the customer’s own responsibility to mount the UR robot on top of the MiR. This includes providing a
suitable bracket for the solution.
There are different options for powering the UR. The one explained in the following has been tested by Mobile
Industrial Robots. However, if any other solution is requested, please contact Universal Robots.
Caution
The MiR100 must be equipped with two batteries when running a UR application.
Notice
Read the instructions for the UR robot before continuing.
2.2 Connecting MiR100 to the UR robot
1. Connect two wires to the connection panel of the MiR100:
a. Connect the positive wire to any of the free ports in the connector labeled 1.
b. Connect the ground wire to any of the free ports on labeled 6, 7 or 8.
Figure 1 Connecting the MiR100
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 5 of 17
2. Connect these two wires to a two-phase switch as shown in Figure 2 MiR100 wiring diagram.
3. Connect the output of this switch to two different DC/DC converters. The first one converts the 24 V of
the MiR’s batteries to 48 V, and the second one converts it to 12 V, the two voltages which the UR
robot needs to work. See Figure 2 MiR100 wiring diagram.
Note: References, specifications and information on how to connect those power supplies to the UR robot’s
safety control board are found in the document “UR Robots with Battery Supply Installation guide”. (Please ask
Universal Robots for this document.)
2.3 Safety connections
For safety reasons, the UR robot must be brought to stop whenever the MiR goes into an emergency stop. This
safety function is achieved by means of a relay connected to the safety PLC of the MiR and to the Safeguard
Stop connections:
1. Connect the positive input of the relay to the Q4 output of the safety PLC of the MiR.
2. Connect the negative input of the relay to any free port on connectors 18, 19 or 20 on the MiR (see
Figure 1 Connecting the MiR100).
3. On the UR side, remove the two bottom jumpers of the Safety pins, and connect the 24V to the
common connector of the relay and the NC connectors to both SI0 and SI1.
Figure 2 MiR100 wiring diagram
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 6 of 17
Figure 3 Connecting the UR robot
2.4 Connecting the Ethernet cable
At the base of the UR robot’s gray controller cabinet, you’ll find an Ethernet port. Connect a standard RJ-45
Ethernet cable here. Connect the other end of the cable to the application interface on top of the MiR100.
Figure 4 Connecting Ethernet cable to UR robot (1) and MiR100 (2)
1
2
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 7 of 17
3Handling the application
3.1 Starting the robot
Step
Instruction
Illustration
1
Make sure the UR control box is
connected to power (see previous
chapter). Start the UR, by pushing
the green on/off button on the UR
touchscreen.
2
When the UR touchscreen starts up,
click "Go to initialization screen".
3
Click the "ON" button to change
screen state to "IDLE". A warning
about keeping a clear distance is
displayed because the brakes are
going to be released in the next
step.
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 8 of 17
Step
Instruction
Illustration
4
Click "START". You will hear a few
clicking sounds letting you know
when the brakes are releasing.
5
The UR is now initialized. Click the
"OK" button to continue.
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 9 of 17
3.2 Creating a new program
Step
Instruction
Illustration
1
From the main menu click “Program
Robot” to go to a menu where you
create a program.
2
Choose either ‘Pick and Place’ or
‘Empty Program’.
3
When used with a MiR100 robot,
make sure to uncheck ‘Program
Loops Forever’ before you save the
UR program.
MiR100 UR Interface Technical Documentation
Copyright Mobile Industrial Robots 2016 Page 10 of 17
3.3 Loading robot program
Step
Instruction
Illustration
1
From the main menu choose
‘Program Robot’.
2
Click ‘Load Program’.
3
Select the program and click "Open".
Make sure that the given UR
program (URP file) is collision free
and does not reach limitation in joint
configuration which can tilt the
MiR100. It is the user’s responsibility
to ensure this.
Autres manuels pour MiR100
11
Table des matières
Autres manuels MIR Équipement d'enregistrement
Manuels Équipement d'enregistrement populaires d'autres marques
Strymon
Strymon NIGHTSKY Manuel utilisateur
Mitsubishi Electric
Mitsubishi Electric 16CH DIGITAL RECORDER DX-TL5000U Manuel utilisateur
Tews Technologies
Tews Technologies TPMC465 Manuel utilisateur
Honeywell
Honeywell Excel 50 Manuel utilisateur
SeaLevel
SeaLevel COMM+8.LPCI Manuel utilisateur
Arturia
Arturia AUDIOFUSE STUDIO Manuel utilisateur
