The guide describes how to convert a MiR250 Shelf Carrier to a regular MiR250 and make the robot drive without a top module.

Things you'll need

• A Conversion kit: MiR250 Shelf Carrier to MiR250

• A multi-bit screwdriver

• A T10 bit

• A T20 bit

• A T45 bit

• A small flat-head bit

• An 8 mm wrench

Before removing the shelf module

1. Turn off the robot by pressing and holding the Power button for three seconds.

2. Push the two white buttons on the rear cover at the same time. Loosen the bottom corners one at a time by pulling out each corner.

    

3. Turn the Battery lever lock clockwise to unlock the battery connector.

   

4. Pull the Battery lever down to disconnect the battery.

   

Removing the MiR250 Shelf Carrier top module

1. Remove the 14 screws from the top plate. Use a T20 bit.

   

2. Remove the antenna extension cables using an 8 mm wrench.

   

3. Unscrew the nuts from the antenna connectors using an 8 mm wrench. Save the nuts for later. They will be reused after mounting the top plate.

   

4. Unscrew the eight M3 screws for the top compartment covers using a T10 bit.

   

5. Move the top compartment covers to the side to gain access to the top compartment I/O.

   

6. Unplug the Emergency stop connector by pressing down on the release switch and pulling upward in the connector. Do not pull on the cable, pull on the connector.

   

7. Unplug the two GPIO connectors. Do not pull on the cables, pull on the connectors.

   

8. Remove the four screws from the Auxiliary safety function connectors using a small flat-head bit, and then unplug the connectors. Do not pull on the cables, pull on the connectors.

   

   

9. Remove the four bolts that hold the shelf module in place. Use a T45 bit.

   

   

10. Carefully lift the shelf module off the robot. It is recommended to have two persons lifting the module.

    

Mounting a new top plate on the robot

1. Place the top plate onto the robot.

   

2. Add the Emergency stop box and the washers, and tighten the four M8 bolts holding the top plate in place to 15 Nm. Use a T45 bit.

   

Add dummy plug and Emergency stop connector

1. Remove the middle rubber grommet from the left top compartment cover, and cut a hole in the center for the dummy plug to fit through.

   

   

2. Insert the AUX dummy plug into the power interface, and remount the top compartment covers using a T10 bit. Tighten the M3 screws to 0.7 Nm.

   

3. Connect the Emergency stop box to the Emergency stop interface. (The rubber grommet already has a hole in it).

   

4. Screw on the antenna nuts and tighten them using an 8 mm wrench. Remove the antennas from the shelf module and attach them here.

   

Edit the robot's footprint

Because the standard shelf module has been removed, the robot is now less tall than configured in the default software footprint. You need to either modify the robot's current default footprint, or apply the MiR250 footprint as the default foot print to make the robot identify as a regular MiR250 in terms of physical height.

See the guide How to change the robot footprint for instructions on editing the robot's footprint.