The proximity boards are part of the CAN communication bus that connects to the power board. The indicator lights are also part of the communication bus, meaning that if a proximity sensor is faulty, you can identify that there is an issue because the connected indicator lights will be failing too.

Determining which proximity board to replace

To determine which proximity sensor needs to be replaced on your robot, sign in to the robot interface, and go to Monitoring > Hardware health > Power board > CAN communication bus.

The nodes 10-17 represent each of the proximity boards. Each proximity board is numbered 0-7, which reflects the second digit in the ID number in the interface.

The proximity boards are connected in the same order as their node ID number. If one proximity board fails, all the following nodes will also fail. meaning that although multiple nodes may be disconnected, it is often because the first of the disconnected nodes has a faulty connection. Once this is fixed, all following nodes are also reconnected.

Proximity board versions

Due to supply issues, the proximity board has been revised. The revised version is only compatible with the positions in the robot where the proximity boards are not connected to a robot status light LED strip.

Each proximity module has a sticker with the item number on it:

• Old proximity boards have item number 500474 (corresponds to order number 450174).

• Revised proximity boards have item number 504707 and a yellow sticker on them (corresponds to order number 450614).

If the proximity board you need to replace is board 10, 12, 14, or 16, the proximity board is not connected to an LED strip, and you can replace that proximity board directly.

If you are replacing board 11, 13, 15, or 17, remove the faulty proximity sensor, and replace it with an old proximity board from number 10, 12, 14, or 16. Install the new proximity sensor in the position where proximity board 10, 12, 14, or 16 was installed before. The following image illustrates that to replace proximity board 13, you first remove board 13, replace it with board 14, and install the new board as board 14.

Things you'll need

• A proximity board from MiR

• A 4 mm Hex screwdriver

• A flat-head screwdriver

Before replacing the proximity board

Step 1: Turn off the robot, and disconnect the battery. To disconnect the battery, open the rear compartment, and turn the Battery disconnect switch to the Off position.

Step 2: Determine which two maintenance hatches are next to the corner shield that the proximity board you want to replace is mounted to. The following sections describe how to remove each hatch type. Only remove the two hatches on either side of the corner shield you need to remove.

Removing the side compartment hatch

Step 1: Turn the two screws 90˚ with a flat-head screwdriver, and pull open the hatch.

Step 2: Remove the compartment hatch. To do this, disconnect the status light cable, and turn the two hinges in the bottom corners.

Removing the front compartment hatch

Step 1: Press the two buttons on the front hatch, and pull open the hatch.

Step 2: Remove the compartment hatch. To do this, disconnect the status light cable, and turn the two hinges in the bottom corners.

Removing the rear maintenance hatch

Step 1: Press the two buttons on the rear hatch, and pull open the hatch.

Step 2: Remove the compartment hatch. To do this, disconnect the status light cable, and turn the two hinges in the bottom corners.

Removing the corner shield

Step 1: Press the Emergency stop button on the corner shield you are going to remove. After reassembling, remember to release the button again.

Step 2: Disconnect the cables plugged into the corner shield. Mark which cables should be plugged into which sockets, or take a picture to make sure you plug in the cables correctly when reassembling the robot.

Step 3: Remove the four screws from the corner shield using a 4 mm Hex screwdriver.

Step 4: Remove the corner shield. It may require some force to disconnect the shield from the corner bumper. Pull it downward firmly to remove it from the bumper.

Replacing the proximity board

Step 1: Mark which cables in the proximity board connect to which sockets, or take a picture to make sure you plug in the cables correctly when reassembling the robot.

Step 2: Unplug all the cables connected to the proximity board, and remove it from the corner shield.

Step 3: Use a flat-head screwdriver to adjust the ID knob on the new proximity board to the same number as the old board. The knob assigns the CAN node ID number and must be set to the same number as the old board. The following image shows the proximity board knobs adjusted for proximity boards 0 and 1.

Step 4: Plug the cables back into the proximity board, and reattach the board to the corner shield.

Step 5: Reassemble the robot by following the disassembly steps in the opposite order. Make sure to plug the connectors in the corner shields in to the right sockets.

Step 6: Reconnect the battery, turn on the robot, and verify that the indicator lights are behaving correctly. If the indicator lights are not working as expected, check that the cables are correctly connected to the proximity board. You can use the MiR500 or MiR1000 wiring diagram to verify that you have connected them in the correct order.