This guide describes how to replace the hook computer inside a MiR Hook 250.

Things you'll need

• T10, T25 Torx screwdrivers

Before replacing the hook computer

Step 1: Create a backup of the hook calibrations. For help, see the guide How to USB restore a MiR Hook 250.

Step 2: 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 3: Unscrew the antennas from the front cover.

Step 4: Remove the center cover by unscrewing the four screws (two on each side) with a T25 Torx screwdriver and lifting the cover off.

Step 5: Remove the front cover. The cover is held in place with magnets.

Step 6: Remove the internal front cover by unscrewing the eight screws (four in each cover) with a T25 Torx screwdriver.

Replacing the hook computer

Step 1: Unplug the cables from the hook computer. Standing in front of the robot, the cables are connected as follows:

Left side, two cables: Encoder and 3D camera.

Right side, five cables: Ethernet, Power, On/Off signal, and motor controllers (one for the brake and one for the actuator).

Step 2: Unmount the hook computer from the internal compartment by unscrewing the two screws from the metal fitting that holds the hook computer in place with a T10 Torx screwdriver.

Step 3: Carefully pull out the hook computer from the internal front compartment.

Step 4: Unmount the metal fitting from the hook computer by unscrewing the two screws with a T25 screwdriver.

Step 5: Mount the metal fitting to the new hook computer by screwing in the two screws with a T25 Torx screwdriver.

Step 6: Mount the new hook computer with the metal fitting in the robot by screwing in the two screws with a T10 Torx screwdriver.

Step 7: Reconnect the cables where they were before (see Step 1 in Replacing the hook computer).

Step 8: Remount the front internal cover, the antennas, the front hook cover and the center cover.

Step 9: Turn on the robot.

Step 10: Go through the How to USB restore a MiR Hook 250 guide from Reconfiguring the hook settings to restore the previous calibrations. When you are done, make sure that the hook is running the same software version as the robot.

Testing

Test the hook by either running some of your existing missions that include hook actions, or use the manual hook control and verify that it performs each task correctly.

If you have any problems, turn off the robot, disconnect the hook cable from the power interface, and check that all of the cable beneath the hook cover are connected correctly.