This guide describes how to replace a NUC robot computer with a NUC8 robot computer on MiR100 or MiR200 robots. The NUC5 and NUC7 are no longer used in MiR production, and for this reason, you can only replace your robot computer with a NUC8. The performance of your robot should be unchanged after implementing the NUC8. The main difference is that an adapter cable is used to connect the motor controller cable to the robot computer, and that you have to mount an HDMI audio extractor to the chassis of the robot because the NUC8 does not have an audio jack connector.

Things you'll need

• A NUC8 robot computer from MiR

• T20 and T25 screwdrivers

• A PH0 screwdriver

Before installing the kit

1. Sign in to the robot interface, and go to System > Settings > 3D camera > Advanced settings, and note down the calibration values for the 3D cameras. If there are no calibration values displayed under advanced settings, your robot does not need 3D camera calibrations.
   

2. Turn off the robot, and remove the top cover. To turn off the robot, press the blue Power button.
   

3. Disconnect the battery by pressing the Battery disconnect switch. When the switch clicks, the battery is disconnected. To reconnect the battery, turn the Battery disconnect switch clockwise. Disconnect the battery by pressing the Battery disconnect switch. When the switch clicks, the battery is disconnected. To reconnect the battery, turn the Battery disconnect switch clockwise.
   

4. Disconnect the battery connectors from the robot's battery. There is a power cable and a CAN bus cable that must be disconnected.
   

5. Disconnect the status light cables on the left side cover.
   

6. Remove the front cover from the robot, and disconnect the ultrasound sensors. Note the orientation of the ultrasound connectors. When you reconnect the connectors, they must be oriented the same way so the sides with the yellow wires are facing the left side of the robot.
   

Replacing the robot computer

1. Take pictures of the cables connected to the robot computer, and mark the cables for the laser scanners with colored labels. Later, you will need to plug all the cables into the new computer in the same setup as the old computer.
   
   

   It is very important that the safety laser scanners are plugged into the correct ports. Be thorough when noting which sensors connect to which USB ports and when marking which of the cables are for the safety laser scanners.

2. Unplug all the cables, and remove the robot computer from the motherboard plate.
   
   

   • If the computer is mounted to a bracket, unscrew the two screws on the mounting bracket.
     

3. Mount the computer to the motherboard plate by fastening it with the two screws removed in step 2.

4. Plug all of the cables back into the robot using the pictures taken in step 1.
   
   

   • Connect the two-pin connector from the NUC to the cable going into the power port of the HDMI audio extractor.
     

   • Connect the HDMI cable from the HDMI audio extractor to the NUC. The cable must go into the port labeled Protected UHD. If you choose the other HDMI port, the robot will not be able to play any sounds.
     

   • Connect the four-pin boot up signal connector from the NUC to the robot's MiR board. The USB cable that goes to the MiR Board has to be connected to the USB hub or USB extender found on top of the robot computer.
     

   • Connect the antenna cable to the NUC.
     

   • Connect the safety laser scanners to the USB ports shown in the image below—see .
     

   • Connect the power cables to the NUC.
     

   • Connect the Ethernet cable to the RJ45 port on the NUC.
     

   • Connect two of the remaining four USB connectors to the top USB ports on the NUC.
     

   • Use the adapter for the motor controller cable.
     
     Tighten the screws in the motor controller connector by hand. Do not use a screwdriver or you may tighten them too much.
     

   • Connect the USB-C cable for the motor controller to the USB-C port on the NUC.
     

   • You can remove the old white HDMI cable as it is no longer in use. This means that you can no longer use the HDMI port behind the removable corner cover on the robot. If you want to connect a screen to the robot, you must connect it directly to the HDMI port on the robot labeled Protected UHD.
     

5. Remove the adhesive paper from the supplied bracket.
   

6. Mount the HDMI audio extractor to the chassis of the robot, and connect the speaker cable, the HDMI cable, and the power connector to the HDMI audio extractor.
   

Reassembling the robot

1. Reconnect the battery, reattach the cable tray lids, and reattach the covers. Be careful not to damage any cables by pinching or pulling them.

2. Restore your robot by following the guide How to USB restore MiR100 and MiR200. You will need the camera calibration values noted in the first step of this guide.

Troubleshooting

• The robot drives strange or goes into Protective stop

  • The scanner cables may have been swapped during the process. Sign in to the robot interface and go to System > Robot setup and select Swap under the laser scanners dialog. Then, reboot the robot.
    

• The robot does not shut down after flipping the On/Off switch to Off

  • The USB cables are not properly connected. The USB cable that goes to the MiR Board has to be connected to the USB hub or USB extender found on top of the robot computer.

• The status light in the front of the robot does not light up

  • The status light connector is not connected. The connector is located in the corner of the robot. Take off the top cover, and plug it back in.

• The robot reports hardware errors, for example, unconnected sensors

  • Go through the How to USB restore MiR100 and MiR200 guide and make sure you have detected the serial numbers for the cameras, laser scanners, and motor controller correctly. When restoring a NUC8, the motor controller should be handled in the same way as the other sensors connected through USB connections.