This guide describes how to replace the Emergency stop cable harness in MiR Shelf Carrier 250.

Things you'll need

• The Emergency stop cable harness from MiR

•  Screwdrivers with the following heads:

  • T45, T20, and T10

  • 7 mm hex socket

• Torque wrenches for the following:

  • 2.5 Nm with a T20 head and a 7 mm hex socket head

  • 15 Nm with a T45 head

• Cable ties

Before replacing the harness

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 top cover by unscrewing all 14 screws in the top cover using a T20 screwdriver.

Step 3: Remove the top compartment covers from the interface compartments by unscrewing the eight screws with a T10 screwdriver.

Step 4: Disconnect the GPIO, Safety-related functions, and Emergency stop connectors from the robot's top interfaces. These are the cables labeled 4-8.

Step 5: Remove the weights in the four corners by unscrewing the two screws in each set.

Step 6: Remove the weight brackets by unscrewing the large screws and the two nuts on each bracket. Use a T45 screwdriver for the large screws and a 7 mm hex socket screwdriver for the nuts.

Replacing the harness

Step 1: Cut the cables ties around the Emergency stop harness.

Step 2: Remove the four nuts on the two yellow Emergency stop brackets using a 7 mm wrench.

Step 3: Remove the old harness and replace it with the new one.

Step 4: Screw on the four nuts to mount the Emergency stop brackets to MiR Shelf Carrier 250, and apply new cable ties to keep the wiring harness in place. Tighten the nuts to 2.5 Nm.

Reassembling the robot

Step 1: Mount the weight brackets and weights back on the robot. Tighten the large screws to 15 Nm and the nuts to 2.5 Nm.

Step 2: Reconnect the top interface connectors, and mount the top compartment covers by screwing in the four screws in each cover with a T10 screwdriver. Do not tighten the screws too much, and make sure to pull the end of the antenna cable through the antenna hole.

Step 3: Mount the top cover back onto the robot. Start by screwing in the four center screws and then the 10 outer screws using a T20 screwdriver. Make sure to tighten all of the screws to 2.5 Nm.

Step 4: Reconnect the battery and turn on the robot. You have now finished replacing the Emergency stop wiring harness.

Testing

Turn on the robot and wait for it to finish starting up. Once it is ready to operate, press one of the Emergency stop buttons, and verify that the robot enters Emergency stop immediately.

Release the Emergency stop button by twisting it. Press the Resume button on the control panel, and wait for the robot's status light to indicate that the robot is in an operational state.

Repeat with the other Emergency stop button.

If the robot does not enter Emergency stop when you press the Emergency stop button, check the cable connections in the top module.