The bogie and motor are provided by MiR only as one combined package.

Things you'll need

• A new bogie with a motor from MiR

• A torque wrench spanning 11.6–90 Nm

• A 22 mm hex socket
  

• A T30 bit

• A T30 screwdriver

• A flat-head screwdriver

• A pair of slip-joint pliers

• A support block to raise the robot

Before replacing the motor

1. 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.
   

   

2. On the side with the bogie you want to replace, press the two buttons on the hatch.
   

   

3. Pull open the hatch.

   

4. Disconnect the status light cable.

   

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

   

Accessing the front compartment

1. Turn the two screws on the front compartment hatch 90˚ using a flat-head screwdriver.
   

   

2. Pull out the electronics drawer.

   

Removing the corner shield

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

2. Remove the four screws from the corner shield using 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.

   

Pulling out the bogie arm

1. Raise the robot above ground, and use a piece of wood or other firm material to keep it lifted—see the section Lifting MiR600/MiR1350 in the user guide for instructions on how to lift the robot safely. The drive wheel must not be in contact with the floor.

   

2. Remove the bogie screw using a 22 mm hex socket. When fastening the new bogie, tighten the screw to 90 Nm.

   

3. Pull out the wheel and bogie arm slightly. Pull out the bogie arm enough to make it possible to gain access behind the wheel gearing.
   

   

4. Make sure the bogie is stable and supported. You can use support blocks or ask another person to help hold it.

   

   Be careful not to pull any wires while pulling out the bogie arm. If necessary, unplug any wires that are not long enough to let you pull out the bogie far enough for you to reach behind it.

5. Disconnect the following three cables located behind the bogie beneath the center compartment. There is an identical set of cables on the other side. Only disconnect the three cables closest to you.

   Label the cables clearly. When reattaching these cables, make sure that each cable is attached to the equivalent sockets on the replacement bogie with motor. If the cables are switched, it can damage the robot.

   To disconnect the brake power cable you may need to use a pair of slip-joint pliers to loosen the connector lock. The brake power cable is the cable that is closest to the motor.

   

6. Disconnect the motor power cable and the hall sensor cable directly from the motor. The bogie arm with the motor is now detached.

   

7. Pull the bogie free of the robot completely. You have now removed the bogie arm and can replace it with a new one.

   

Replacing the bogie

To install the new bogie into the robot, complete all of the disassembly steps in the reverse order with the new bogie. When fastening the bogie screw, tighten the screw to 90 Nm. When reattaching the corner shields, tighten the screws to 11.6 Nm.