This guide describes how to replace either the front or rear safety laser scanner on MiR500, MiR600, MiR1000, and MiR1350. Before replacing the scanner, verify that the issue you are experiencing with the scanner cannot be solved by replacing the scanner cover glass (order number 450204) if it is scratched or otherwise damaged.

The procedure to access a safety laser scanner differs between the robots:

• For MiR500 and MiR1000, see Before replacing a safety laser scanner on MiR500 and MiR1000.

• For MiR600 and MiR1350, see Before replacing a safety laser scanner on MiR600 and MiR1350.

Once you have removed the corner shield, it is the same procedure to replace the laser scanner on all of the robots—see Replacing the safety laser scanner on all robots.

Things you will need

• A SICK microScan 3 safety laser scanner from MiR

• A 5 Nm torque wrench with a T25 head

• An 11.6 Nm torque wrench with a T30 head (MiR600 and MiR1350 only)

• A 4 mm Hex screwdriver (MiR500 and MiR1000 only)

• A flat-head screwdriver

• A clean anti-static lens cloth

• An anti-static plastic cleaner

Before replacing a safety laser scanner on MiR500 and MiR1000

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.

   

2. Determine which two maintenance hatches are next to the corner shield with the safety laser scanner you want to replace. You will need to remove these two hatches to remove the corner shield to access the laser scanner. 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 front maintenance hatch

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

    

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

   

Removing the rear maintenance hatch

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

   

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

   

Removing the side maintenance hatch

1. Turn the two screws 90˚. Use a flat-head screwdriver. Pull open the hatch.

   

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

Only remove the corner shield around the safety laser scanner you want to replace.

1. Press the Emergency stop button on the corner shield you are going to remove. This makes room for the cover to pass the button. After reassembling, remember to release the button again.

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.

3. Remove the four screws from the corner shield. Use a 4 mm Hex screwdriver.

   

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.

   

   Continue to Replacing the safety laser scanner on all robots.

Before replacing a safety laser scanner on MiR600 and MiR1350

Determine which two maintenance hatches are next to the corner shield with the safety laser scanner you want to replace. You will need to remove these two hatches to remove the corner shield to access the laser scanner. 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.

1. Remove the side maintenance hatch.

   Press the two buttons on the hatch.

   

2. Pull open the hatch.

   

3. Disconnect the status light cable.

   

4. Turn the two hinges in the bottom corners to release the hatch, and remove the hatch from the robot.

   

   

5. Turn off the robot, and disconnect the battery in the left side compartment.

   To disconnect the battery, pull out the Battery lock pin, and pull the Battery lever downwards until the Battery lock pin is in the middle position.

   

Accessing the front compartment

1. Turn the two screws 90˚. Use a flat-head screwdriver.

   

2. Pull out the electronics drawer.

   

Removing the rear maintenance hatch

1. Press the two buttons on the rear hatch.

   

2. Pull open the hatch.

   

3. Disconnect the status light cable.

   

4. Turn the two hinges in the bottom corners to release the hatch, and remove the hatch from the robot.

   

   

Removing the corner shield

Only remove the corner shield that has the safety laser scanner you want to replace.

1. Press the Emergency stop button on the corner shield you are going to remove. This makes room for the cover to pass the button. After reassembling, remember to release the button again.

2. Remove the four screws from the corner shield. Use a T30 screwdriver. When reattaching the corner shields, tighten the screws to 11.6 Nm.

   

3. 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.

   

Continue to Replacing the safety laser scanner on all robots.

Replacing the safety laser scanner on all robots

1. Unscrew the four screws mounting the laser scanner to the robot. Use a T25 screwdriver. Make sure to hold the safety laser scanner when removing the screws to avoid the scanner falling.

    

2. Carefully, remove the safety laser scanner from the robot. Gently, pull the cables so the scanner is at a comfortable working distance from the robot.

   

3. Label the cables on the back of the safety laser scanner in the order they are plugged in. It is very important that the cables are plugged into the same sockets on the new safety laser scanner. This guide includes an overview of which cables connect to which sockets, but it is a good idea to have a cross-reference in case a cable has been mislabeled originally or has lost its label.

   

4. Unplug the cables from the safety laser scanner. For the rear scanner there are two cables, and for the front scanner there are three.

   

5. Remove the plastic caps and plugs from the sockets in the new laser scanner. Check that the cover glass has not been scratched or damaged.

6. Plug the scanner cables from the robot into the new laser scanner in the same sockets as in the old laser scanner using the labels applied in Step 3 in Replacing the safety laser scanner on all robots. The robot will report errors if the cables are not connected in the right sockets.

7. For MiR500 and MiR1000 the cables must be connected as follows:

   • For the front scanner: CAB-010 to XF1, CAB-011 to XF2, and CAB-012 to XD1.

   • For the rear scanner: CAB-011 to XF1 and CAB-013 to XD1.

   For MiR600 and MiR1350 the cables must be connected as follows:

   • For the front scanner: Port 1 to XF1, Port 2 to XF2, and Power BR to XD1.

   • For the rear scanner: Port 1 to XF1 and Power BR to XD1.

     

     You can remove the labels you applied to the cables after you have connected them.

8. Mount the laser scanner to the robot by placing it in the scanner bracket and screwing in the four screws. Use a T25 torque wrench. Tighten the screws to 5 Nm. Be careful that none of the cables are pinched between the robot frame and the scanner.

    

9. Reassemble the robot by following the steps for your robot model before Replacing the safety laser scanner on all robots in reverse.

10. Clean the safety laser scanner and optics cover. Use the anti-static plastic cleaner and lens cloth.

11. Apply a new SICK configuration by following the guide How to apply the default SICK configuration on MiR250, MiR500, MiR600, MiR1000, and MiR1350.

Testing

• Power up the robot, and sign in to the robot interface.

• Check if the robot reports any errors regarding the safety laser scanners. If it does, the scanner cables may have been connected incorrectly.

• Go to Monitoring > Safety system and check that the robot is accurately displaying the obstacles around it in the laser scanner data visualization. If not, inspect the laser scanner cover for contamination and damage.

If you encounter an issue with the replaced scanner(s), you need to generate a SICK report—see the guide How to generate a SICK report.