This guide describes how you apply a standard SICK configuration to MiR100 or MiR200 robots.

Things you'll need

• A PC with the SICK Flexi Soft Designer application. This can be downloaded from SICK's website. We recommend using the latest version to ensure that the software is compatible with the SICK file.

• The correct project file for your robot. Below you will find a list of MiR hardware versions and their corresponding SICK configuration files. It is important that the correct file is used, or the robot will be locked in Protective stop until the correct file is applied.

Before applying the SICK configuration file

1. Turn on the robot you want to reconfigure.

2. Connect to the robot's network by either using an Ethernet cable or by connecting to its WiFi access point.

3. Open SICK Flexi Soft Designer.

4. Select Open existing project file and choose the file for the robot you want to configure. Check that the file you’ve chosen is for the right robot and the right hardware version.

   • If you apply the wrong file, the robot will enter Protective stop. You can release it by applying the correct file version

   • Find your robot’s hardware version on the identification label on the robot or in the Declaration of Conformity you received when you purchased the robot.

Connecting to the safety PLC

1. Select Com settings to set up a connection to the robot's safety PLC.

   

2. In the displayed window, select Add TCP/IP connection profile.

   

3. Enter a profile name of your choice, and select your TCP/IP interface. Set the parameters as follows:

   • Choose your wireless network adapter from the drop-down menu. This must be the network used to connect to the robot.

   • Enter the IP address: 192.168.12.9

   • Enter the TCP/IP configuration port: 9000

   • Check Enable TCP/IP routing

   • Enter Subnet Address: 255.255.255.0

   • Select OK to save the profile.

   

4. Select the green check mark on the right side of the newly-added connection profile to test the connection.

   

   1. If you see a green check mark next to the small connector icon, proceed to the next step.

   2. If you see a red or white X, select Edit Connection, and make sure you chose the correct network adapter.

   3. If you are offline or the network is not appearing in the drop-down menu, connect an Ethernet cable to the robot.

   4. If you are still having trouble connecting to the robot:

      • Right-click the network icon in the system tray.

      • Select Open network& internet settings.

      • Select Wi-Fi in the sidebar and go to Change adapter options.

      • Right-click the WiFi adapter, and go to Properties.

      • Uncheck Internet Protocol Version 6 (TCP/IPv6), and select OK.

5. Select the green arrow to activate the new profile. Select OK once you have activated the profile.

   

6. In the main window, select Connect.

   
   

Applying the SICK configuration file

1. Select Transfer the configuration to transfer the project to the robot when the next pop-up appears. This is a warning that the loaded project is not identical to the current device configuration.

   The warning might not appear if the loaded project and the current device configuration are similar. If the warning does not appear, manually start the transfer.

   

2. Select all the configurations when the transfer dialog appears. Ensure all the boxes are checked, and select OK.

   

3. Select Yes when asked if you want to start the transmission.

   

4. Under User group, select Authorised client, enter the SICK safety system password, and then select Log on. If you have a robot with a 15-digit serial number, see SICK's documentation for the default password. If you have a robot with a nine-digit serial number, use the unique password for the SICK safety system you received with the robot.

   

5. Dismiss the warning that pops up by selecting OK. If you are asked if you are sure you want to begin transmitting, select YES.

6. When the next dialog box appears, select Release to accept the report that Flexi Soft has created. You can also save the report by clicking the save icon in the top left.

   Flexi Soft designer will create a safety report for each device configured that shows the changes that have been made to the safety zones.

   

7. Select OK when the successful configuration window appears. You will now go on to configure the other scanner and the safety PLC itself.

8. Repeat steps 3-7. You must complete a transmission for each scanner and then for the safety PLC itself.

9. Select YES when asked if you want to download the configuration, and select YES if you are asked: Do you want to run the head device?. This may not occur every time, depending on the state of the SICK system.

10. Select the blinking Verify configuration button. You will need to do this before you can use the new configuration.

    

11. Select OK when prompted. A pop-up asking to download passwords might appear. Uncheck everything and go on without doing this.

12. Select YES when asked Set device to verified?.

13. Check that the system is online and the Device configuration is verified. Look for confirmation at the bottom right of the screen.

    

14. Close the Flexi Soft window without saving changes. Select No when prompted whether you want to save the current changes.

Testing the safety zones

It is important to perform a test to ensure the zones are switching correctly. To do this, power on the robot and test the safety features:

• Emergency stop. Test the Emergency stop button by pressing and releasing it. The robot's status lights should turn red when the button is pressed.

• Protective stop. Test the scanner safety zones by placing an object in front of the scanners and making sure the robot enters Protective stop (the status lights turns red). Test both the front and the rear scanner.