This guide describes how to replace the motor controller carrier board on MiR600 and MiR1350. Before replacing the board, check that all of the cables are securely connected to the board. It is possible that a loose connection to the power board may cause symptoms that indicate you should replace the board.

Things you'll need

• A motor controller carrier board for MiR600 and MiR1350 from MiR

• Torque wrenches for the following:

  • 1.2 Nm with a T10 head

  • 5 Nm with a T25 head

Before replacing the motor controller carrier board

Step 1: Turn off the robot, and disconnect the battery. To disconnect the battery, open the left side compartment, pull out the Battery lock pin, and pull the Battery lever to the center position.

Step 2: Press the two buttons on the rear hatch.

Step 3: Pull open the hatch.

Step 4: Disconnect the status light cable.

Step 5: Turn the two hinges in the bottom corners to release the hatch, and remove the hatch from the robot.

Step 6: Remove the seven screws on the rear panel using a T25 screwdriver. When reassembling, tighten these screws to 5 Nm.

Step 7: Loosen the top three screws while holding the bottom of the panel. When reassembling, tighten these screws to 5 Nm.

Step 8: Remove the panel by sliding it downwards and out to access the rear maintenance compartment.

Step 9: Slide the panel with the manual brake release switch and MiR remote interface toward you and unhook it from the robot. This makes it easier to access the carrier board. If you cannot slide the panel off, loosen the screws on both ends. Make sure to not pull on any of the attached cables or wires.

Replacing the motor controller carrier board

Step 1: Take several pictures of the motor controller carrier board so you can see where each cable is connected. Although this guide provides the expected overview of where each cable is connected, it is a good idea to have an image of the original setup as a cross reference in case a cable is missing a label.

Step 2: Disconnect all of the connected cables. Make sure to pull the connectors out straight to avoid bending any pins.

Step 3: Unscrew the four screws in the corners of the motor controller carrier board using a T10 screwdriver.

Step 4: Remove the board and replace it with the new board. Make sure to orient the board correctly, and check that the holes in the corners align.

Step 5: Screw in the four M3×10 screws and tighten them to 1.2 Nm. You can reuse the same screws that were used to mount the carrier board before.

Step 6: Reconnect all of the cables to the carrier board. Each cable is labeled with which connector on the carrier board it must be plugged into.

Step 7: Reassemble the robot by following the steps in Before replacing the motor controller carrier board in reverse. Tighten the ten M3 x 10 screws in the rear panel to 5 Nm, and check that the border around the rear panel fits securely around the rear maintenance compartment. It is important that the rear panel closes the compartment completely to protect the contents from dust.

Testing

Once the robot is reassembled, turn on the robot.

Check under Monitoring > Hardware health that all components have the OK status. If the CAN communication bus displays a warning, wait 15–20 minutes for the robot to connect to the new carrier board.