How to replace the motor brake relay monitor on MiR100 and MiR200

How to replace the motor brake relay monitor on MiR100 and MiR200

How to replace the motor brake relay monitor on MiR100 and MiR200

How to guide (en)

Date: 2021-06-03

Document version: 1.1

Document number: 300039

Order number: 450264

Valid for: MiR100 and MiR200

Valid for software version: N/A

Valid for hardware version: MiR100 v. 4.0 and higher and MiR200 v. 3.0 and higher

This guide describes how to replace the motor brake relay monitor on a MiR100 or MiR200 robot.

Things you'll need

  • A motor brake relay monitor from MiR

  • A T20 Torx screwdriver

  • A small flat-head screwdriver

Before replacing the relay monitor

Step 1: Turn off the robot, and remove the top cover.

Step 2: Turn the Battery disconnect switch to Off.

Step 3: Unscrew the four screws on the motor controller cage, and remove the cage from the robot.

 

Replacing the relay monitor

Step 1: Locate the motor brake relay next to the motor controller. The motor brake relay monitor is the module at the bottom of the relay.

Step 2: Remove the end clamp on the DIN rail to access the relay. Use the screwdriver to pry it off.

Step 3: Remove the relay and monitor by pushing the screwdriver into the small notch at the bottom of the relay, and pry the relay off.

 

Step 4: Take pictures of the wires connected to the relay where the wire labels are clearly visible. You will need these pictures later when plugging the wires back into the relay.

Step 5: Unplug all of the wires. You need to be able to turn the relay over to access the relay monitor.

To release the wire pins from the relay, use the screw driver to push into the small holes above or below each terminal.

 

Step 6: Disconnect the monitor from the relay by pressing the screw driver into the small notch on the side of the relay. This will release the monitor so you can remove it.

Step 7: Attach the new monitor onto the relay. Make sure it is oriented correctly.

Step 8: Attach the relay and new monitor back onto the DIN rail so the monitor is at the bottom.

Step 9: Connect all of the cables back into the relay. Use the pictures you took in step 4 to make sure you connect each wire to the correct terminal. If you are in doubt, see the wiring diagram for your robot to check which terminal to attach each wire to.

Step 10: Attach the end clamp to the top on the DIN rail, and reassemble the robot by following the steps in Before replacing the relay monitor in the reverse order.