This guide describes how to replace one of the 3D cameras on MiR250 with a revised spacer plate that provides more support for the camera connector. This reduces the likelihood of the connection to the camera getting loose over time.

Things you'll need

• Loctite 2400 threadlocking adhesive, or other adhesive with same properties—see Loctite 2400 specifications

• A 0.3 Nm torque wrench with a 5.5 mm Hex head

Kit contents

• 1 × Intel D435 camera

• 1 × camera spacer plate

• 4 × 2 mm nylon screw insulators

• 2 × M3 lock nuts

• Large cable ties

Before replacing the camera

Step 1: Turn off the robot and disconnect the battery. To disconnect the battery, follow these steps:

1. Remove the rear cover by pressing the two white buttons and pulling off the cover. When removing the cover, un-click the two bottom corners first and then the two top corners.
   
   
2. Turn the Battery lock switch clockwise to release the Battery lever.
   
3. Pull the Battery lever down to disconnect the battery.
   
4. Turn the Battery lock switch counter-clockwise to lock the battery lever again.

Step 2: Remove the front cover by unscrewing the two screws with a T30 screwdriver and pulling off the cover. When removing the cover, un-click the two bottom corners first and then the two top corners.

Replacing the camera

Step 1: Disconnect the USB-C cable from the top of the camera you want to replace. If you have a newer revision of the camera mount, cut the cable tie fixing the cable to the camera spacer plate.

Step 2: Unscrew the two lock nuts behind the camera mount, and discard them along with the screw insulators.

Step 3: Remove the camera from the robot and discard it.

Step 4: Assemble the new camera. On the two threaded shafts, first slide on two new nylon screw insulators from the kit, and then the camera spacer plate. Make sure that the spacer plate is rotated so the support flange is on the same end as the socket for the USB-C cable and that when mounted on the robot, the support flange is facing inwards.

Step 5: Place the new camera on to the camera mount on the robot. Make sure to face it so the USB-C socket is facing upwards.

Step 6: Apply threadlocking adhesive to the two new lock nuts from the kit.

Step 7: Behind the camera mount, slide on the two remaining screw insulators from the kit, followed by the lock nuts. Tighten the lock nuts to 0.3 Nm.

Step 8: Connect the USB-C camera cable to the top of the camera, and use a cable tie to fix the connector to the support flange. Make sure the cable tie supports the cable, but does not pull it unnecessarily taunt. The support is intended to ensure that the cable stays securely connected to the camera.

Step 9: Reassemble the robot, and remove the plastic cover from the camera.

Testing

To test the new camera, see the guide How to test if the 3D cameras are working on MiR robots.