If your robot has lost connection to the front or rear scanner, it is possible that the connection to the scanner has been compromised. Before replacing one of the cables, its a good idea to check if the current cable is plugged in correctly:

• The front scanner cable connects the front scanner to the router with an Ethernet cable and to the safety PLC with a power and signal cable.

• The rear scanner cable connects the rear scanner to the safety PLC with both an Ethernet cable and a power and signal cable.

For a better idea of which connectors you should check, see the steps in this guide that show the cable connections.

If one of the scanner cables are damaged, it must be replaced.

Things you will need

• A safety laser scanner front or rear scanner cable from MiR

• A pair of pliers or scissors to cut cable ties

• Cable ties

• A 10 mm wrench

• A screwdriver with the following exchangeable bits:

  • T10

  • T30

• A torque wrench ranging from 1.3 to 15 Nm with the following exchangeable bits:

  • T10

  • T25

  • T45

• The guide How to replace the safety laser scanners on MiR250

• A clean anti-static lens cloth, such as SICK optics cleaning cloth part no. 4003353 (see SICK's product list)

• An anti-static plastic cleaner, such as SICK Plastic cleaner and care product part no. 5600006 (see SICK's product list)

Remove the rear cover and disconnect the battery

1. Push the two white buttons on the rear cover at the same time.

   
   

2. Loosen the bottom corners one at the time by pulling out each corner.

   

3. Loosen the top corners one at the time by pulling each corner down, and then out.

   

4. Disconnect the battery (MiR250 hardware version 1.0).

   1. Turn the battery lock pin clockwise to unlock the battery connector.

      

   2. Pull the battery lever downwards to disconnect the battery.

      

   3. Turn the battery lock pin counterclockwise to lock the battery connector.

      

5. Disconnect the battery (MiR250 hardware version 2.0)

   1. Pull out the battery lock pin while pushing the battery lever downwards.

      

   2. The battery lock pin will click into place and lock the battery connector once the battery lever has been pushed all the way down.

      

Remove the top plate

1. Disconnect the antennas. Unscrew the antennas from the top compartment covers and remove them.

   

2. Disconnect the antenna cables from the top cover. Unscrew the two nuts from the antenna connectors. Use a 10 mm wrench. Then, push the antenna connectors through the covers.

   

3. Remove the top compartment covers from the top plate by unscrewing the eight screws. Use a T10 bit. Make sure the antenna cables are not connected to the compartment covers.

    

4. Remove the top cover from the robot by unscrewing the four screws. Use a T45 bit. Make sure the antenna cables are not connected to the top cover.

    

Remove the front cover

1. Unscrew the two screws holding the front cover. Use a T30 bit.

   
   

2. Loosen the bottom corners one at a time by pulling out each corner.

   

3. Loosen the top corners one at the time by pulling each corner down, and then out.

   

4. Pull off the cover.

   
   

Remove the side cover

1. Turn the two screws counterclockwise with a T30 bit.

   

2. Loosen the bottom corners one at the time by pulling out each corner.

   

3. Pull off the cover.

   

Remove the battery and PLC plate

1. Pull out the battery. If you have not enabled battery fast-swap on the robot, be sure to lift the battery over the rear status light, and then pull it out, gently.

    

2. Unscrew the two screws on the battery plate. Use a T30 bit.

   

3. Remove the plate beneath the battery that the safety PLC is mounted to. To remove the plate, lift the plate approximately 3 cm, and then pull it 5 cm towards the rear end of the robot. You should then be able to tilt the plate upwards and place it at the rear end of the robot.

    

4. If you do not have anyone to help you hold the safety PLC plate, place an object beneath the safety PLC to support it while you finish the next steps.

   

5. Loosen the four screws in the front corner bumper above the laser scanner with the cable you are replacing. Use a T30 bit.

   

6. Screw in the black set screw, and lift the corner bumper.

    

Replacing the front laser scanner cable

1. Remove the front laser scanner as described in the guide How to replace the safety laser scanners on MiR250. Handle the scanner carefully and place it somewhere clean and safe where it will not be contaminated or damaged.

2. Cut the cable ties for the front scanner on the safety PLC and disconnect the front scanner cable. The front scanner cable is the inner cable with the multi-colored wires.

   

3. Disconnect the front scanner Ethernet cable from the router.

   1. On MiR250 hardware version 1.0, the cable coming from the front scanner is connected to port 4 on the router.

      

   2. On MiR250 hardware version 2.0, the cable coming from the front scanner is connected to port 1 on the switch.

      

4. Cut all of the zip ties around the two cables that lead to the safety laser scanner. Be careful not to cut any of the cables.

   

5. Gently pull the cables out from the robot through the front compartment and then up beneath the corner bumper and discard the cable.

   

6. Lead the Ethernet and safety PLC connector ends of the new front safety laser scanner cable under the bumper, to the front compartment, and into the center compartment. The cable should be placed where the old scanner cable was.

   

7. Connect the two connectors to the router and safety PLC in the same sockets as the old cable.

   

   1. On MiR250 hardware version 1.0, the Ethernet cable should be connected to port 4 on the router.

      

   2. On MiR250 hardware version 2.0, the Ethernet cable should be connected to port 1 on the switch.

      

8. Collect the cables together and replace the zip ties you removed. Make sure all of the cables are collected and there is no unnecessary tension on any of them.

   

9. Bring the laser scanner back to the robot, connect it to the system plug, and mount it back into the robot as described in the guide How to replace the safety laser scanners on MiR250.

10. Reassemble the robot by following the steps in How to replace the laser scanner cables on MiR250 in reverse. Be very careful when lowering the safety PLC back into the robot.

Replacing the rear laser scanner cable

1. Remove the rear laser scanner as described in the guide How to replace the safety laser scanners on MiR250. Handle the scanner carefully and place it somewhere clean and safe where it will not be contaminated or damaged.

2. Cut the cable ties for the rear scanner on the safety PLC and disconnect the rear scanner cable. The rear scanner cable is the outer cable with the multi-colored wires.

   

3. Disconnect the rear scanner Ethernet cable from the safety PLC.

   

4. Cut any zip ties around the two cables that lead to the safety laser scanner.

   

5. Gently pull the cables in through the corner bumper compartment, and discard the cable.

   

6. Lead the Ethernet and safety PLC connector ends of the new front safety laser scanner cable into the center compartment of the robot.

   

7. Connect the two connectors to the safety PLC in the same sockets as the old cable.

   

8. Collect the cables together and replace the zip ties you removed. Make sure all of the cables are collected and there is no unnecessary tension on any of them.

   

9. Bring the laser scanner back to the robot, connect it to the system plug and mount it back into the robot as described in the guide How to replace the safety laser scanners on MiR250.

10. Reassemble the robot by following the steps in How to replace the laser scanner cables on MiR250 in reverse. Be very careful when lowering the safety PLC back into the robot.

Testing

Turn on the robot, and see if any errors are displayed regarding a missing connection to the safety laser scanners. If so, check the cables again, making sure that all of the connectors are correctly connected.