This guide describes how to replace an Emergency stop button on MiR500 and MiR1000 robots.

Things you'll need

• An Emergency stop button and bracket for MiR500 and MiR1000 from MiR

• A screwdriver with a 4 mm Hex head

Before replacing the Emergency stop button

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 Emergency stop button 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 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 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 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 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 Emergency stop button

Step 1: Unscrew the three screws mounting the button bracket to the robot chassis.

Step 2: Loosen the screws at the end of the button's connection terminal, and disconnect the four wires connected to the button.

Step 3: Replace the button with the new button and bracket.

Step 4: Insert the wires into the terminals with the same numbers on their labels as the terminal. The wires are labeled with the format SX-YY, where X indicates which of the four Emergency stop buttons the wires connect to and YY indicates which terminal the wires connect to on the Emergency stop button. You can also use the following overview: 

• Wires S1-11, S2-11, S3-11, and S4-11 connect to terminal 11

• Wires S1-12, S2-12, S3-12, and S4-12 connect to terminal 12

• Wires S1-21, S2-21, S3-21, and S4-21 connect to terminal 21

• Wires S1-22, S2-22, S3-22, and S4-22 connect to terminal 11

Step 5: Tighten the screws at the end of the button and make sure the wires are securely connected to the Emergency stop button.

Step 6: Reassemble the robot by following the steps before Replacing the Emergency stop button in reverse. Make sure to turn the new Emergency stop button counter-clockwise to release it after you have reassembled the robot.

Testing

Turn on the robot. After start-up, check that it is not in Emergency stop under Monitoring > Hardware health > Safety system.

If it is, you should check that you have connected the wires to the Emergency stop button correctly. Make sure each wire is securely connected and that they are connected to the correct terminal.

If the robot is not in Emergency stop, press the new Emergency stop button. If the robot enters Emergency stop, the button has been successfully replaced. If not, see the paragraph above.