Date: 2023-05-25

Document version: 1.3

Valid for: MiR100, MiR200, MiR250, MiR500, MiR600, MiR1000, and MiR1350.

This guide describes how to calibrate the Inertial Measurement Unit (IMU). When you replace one of the following robot components, you need to calibrate the IMU:

• A drive wheel

• A motor

• An encoder

• The MiR board (MiR100/MiR200) or the power board (MiR250/MiR500/MiR600/MiR1000/MiR1350)

• The motor controller carrier board

• The robot computer

• The wiring harness that connects to the motor encoders (W053 in MiR100/MiR200, CAB-036 in MiR250, and CAB-024, CAB-025, or CAB-075 in MiR500/MiR1000. For MiR600/MiR1350, the cables are unnamed, but are connected to the motor encoders)

You also have to calibrate the IMU after USB restoring your robot.

Before calibrating the IMU

The robot must have enough space to rotate 360° around itself. This means that you need 2×2 m for MiR100/MiR200/MiR250 and 3×3 m for MiR500/MiR600/MiR1000/MiR1350.

The robot must be set to Autonomous mode—see your robot's user guide on how to switch modes.

Calibrating the IMU

1. In the robot interface, go to System > Robot Setup.

   

2. Find the section Inertial measurement unit in the lower-right corner.

   

3. Select Start calibration. The robot starts spinning on the spot. A progress bar shows the progression of the calibration. After a couple of minutes, the calibration finishes, and the spinning stops.

   

   If the robot does not start spinning, make sure that it is set to Autonomous mode.

4. Select Apply if you want to keep the calculated new value.

   

   If the interface displays the warning Outside tolerance, it is because the new value has a high deviation compared to the original value. Remember to set the robot to Autonomous mode for the IMU calibration.

   If this does not work, please contact MiR Technical Support for assistance.