Things you'll need

• New drive wheels from MiR

• A 90 Nm torque wrench with a 17 mm Hex socket

• A lifting device to lift the robot, rated for at least 1 000 kg

• Four M12 lifting eye bolts with counter nuts and washers

• A support block to keep one end of the robot raised

Before replacing the drive wheels

Step 1: Press the two buttons on the left side compartment hatch.

Step 2: Pull open the hatch.

Step 3: 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 the middle position.

Step 4: Disconnect the status light cable.

Step 5: Turn the two hinges in the bottom corners to release the hatch.

Step 6: Remove the hatch from the robot.

Step 7: Remove the hatch on the right side compartment using the same procedure.

Step 8: Raise the robot above ground and use a support block to keep one end lifted—see the section Maintenance in the user guide for instructions on how to lift the robot safely. Make sure the support block is supporting the robot's chassis.

Replacing the drive wheels

Step 1: Remove the four drive wheel bolts using a 17 mm Hex wrench.

Step 2: Remove the drive wheel from the axle and discard it.

Step 3: Place the new drive wheel onto the axle.

Step 4: Mount the wheel by reusing the same four bolts, and cross-tighten the bolts to 90 Nm. Tighten the bolts in the order shown in the image.

Step 5: Repeat Step 1 to Step 4 on the other drive wheel. You must always replace the drive wheels in pairs to ensure they have the same diameter.

Step 6: Reassemble the robot by following the step in Before replacing the drive wheels in reverse.