How to replace the speaker on MiR250

How to replace the speaker on MiR250

Date: 2021-06-01

Document version: 1.2

Document number: 400047

Order number: 450375

Valid for: MiR250

Valid for software version: N/A

Valid for hardware version: 1.0 and higher

This guide describes how to replace the speaker in a MiR250 robot. You may need to replace the speaker if the robot is not emitting warning sounds as expected.

Things you'll need

  • A MiR250 speaker from MiR

  • A T30 Torx screwdrivers

  • A 10 mm wrench

  • Torque wrenches for the following:

    • 15 Nm with a T45 Torx head

    • 0.9 Nm with a T20 Torx head

Before replacing the speaker

Step 1: Turn off the robot and disconnect the battery. To disconnect the battery, follow these steps:

  1. Remove the rear cover by pressing the two white buttons and pulling off the cover. When removing the cover, un-click the two bottom corners first and then the two top corners.

  2. Turn the Battery lock switch clockwise to release the Battery lever.
  3. Pull the Battery lever down to disconnect the battery.
  4. Turn the Battery lock switch counter-clockwise to lock the battery lever again.

Step 2: Disconnect the antennas. Unscrew the antennas from the top compartment covers and remove them.

Step 3: Disconnect the antenna cables from the top cover. Unscrew the two nuts from the antenna connectors using a 10 mm wrench, and push the antenna connectors through the covers.

Step 4: Remove the top compartment covers from the top plate by unscrewing the eight screws with a T10 Torx screwdriver. Make sure the antenna cables are not connected to the compartment covers.

Step 5: Remove the top cover from the robot by unscrewing the four screws using a T45 Torx screwdriver. Make sure the antenna cables are not connected to the top cover.

When reassembling the robot, tighten these screws to 15 Nm.

 

Step 6: Remove the front cover by unscrewing the two screws with a T30 Torx screwdriver and pulling off the cover. When removing the cover, un-click the two bottom corners first and then the two top corners.

 

Step 7: Pull out the battery. Be sure to handle the battery gently.

Step 8: Unscrew the two screws on the battery plate. This will enable you to remove the plate where the safety PLC is mounted.

Step 9: 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.

 

If you don't 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.

Replacing the speaker

Step 1: Remove the speaker cover in the front compartment by unscrewing the two screws with a T20 Torx screwdriver. Be careful not to damage any of the other cables or components in the front compartment.

To better access the speaker, you can unplug some of the cables from the cameras and motor controller carrier board. Make sure to note down or mark where to reconnect the cables after you have finished replacing the speaker.

 

Step 2: Push the speaker through the speaker hole gently. Be careful not to damage any cables.

There is a large wheel axle behind the speaker that is not shown on the following image.

Step 3: Once the speaker is released, disconnect the two cables.

Step 4: Remove the old speaker, and connect the cables to the new one. It doesn’t matter which cable is connected to which connector.

Step 5: Push the speaker through the speaker hole. Make sure not to pinch any cables. It should look like the following image.

Step 6: Mount the speaker cover to the new speaker by screwing in the two screws. Tighten the screws to 0.9 Nm.

Step 7: Reassemble the robot by placing the PLC plate back in place and following the steps in Before replacing the speaker in the reverse order. Make sure to push the antenna cables back through the holes in the top cover.

Tighten the four screws that mount the top cover to the robot to 15 Nm.

Testing

To test if the speaker is working, queue a mission that includes a sound action or send the robot through a Sound and light zone where it uses its speaker.

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