The top interfaces are used to send and receive signals between the robot and the top module. If the top module and robot do not always operate together correctly, it is possible that there is a fault in the GPIO connection. The GPIO connector is integrated in the top interface board.

You can always view and test the GPIO connections in the robot interface under Setup > I/O modules > MiR internal I/Os. Use this page to test each input and output.

If you have a MiR Shelf Carrier 250 top module, see the MiR250 Shelf Carrier User Guide for how to test the top module and GPIO connections.

Things you'll need

• A top interface board from MiR

• A T10 Torx screwdriver

• A 10 mm wrench

• Torque wrenches for the following:

  • 0.3 Nm with a T6 Torx head

  • 5 Nm with a T30 Torx head

  • 15 Nm with a T45 Torx head

Before replacing the GPIO interfaces

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: If a top module is mounted to the robot, remove the top module according to the demounting instructions for the module. If the robot does not have its top cover beneath the module, continue to Replacing the GPIO interface. If the robot still has its top cover after demounting the top module, follow the next steps to remove the cover.

Step 3: Disconnect the antennas. Unscrew the antennas from the top compartment covers and remove them.

Step 4: 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 5: Remove the top compartment covers from the top plate by unscrewing the eight screws with a T10 screwdriver. Make sure the antenna cables are not connected to the compartment covers.

Replacing the GPIO interface

Step 1: Unscrew the two large screws mounting the interface plate to the robot using a T30 Torx screwdriver. Tighten these screws to 5 Nm when reassembling.

Step 2: Unscrew the four screws fixing the Auxiliary safety functions interfaces to the interface plate using a T6 Torx screwdriver. Tighten these screws to 0.3 Nm when reassembling.

Step 3: Gently, pull up the interface frame to the top of the battery. Do not pull it far enough to strain any connected cables.

Step 4: Pull up and twist the Auxiliary safety function interface connectors 90° and remove them from the interface frame.

Step 5: Pull the interface frame further out, and when possible, disconnect the cable from the GPIO interface module beneath the frame.

Step 6: Connect the four cables to the new GPIO interface module. There are two 4-pin connectors that can be connected to either of the 4-pin sockets. It does not matter which of the two sockets the 4-pin connectors are connected to.

Step 7: Reassemble the interface module by following steps 1-5 in reverse. Make sure to tighten the screws to the correct tightening torque.

Step 8: Mount the top cover or top module back on the robot and reconnect the battery by following the steps in Before replacing the GPIO interfaces in reverse. Make sure to tighten the screws to the correct tightening torque.

Testing

You can view and test the GPIO connections in the robot interface under Setup > I/O modules > MiR internal I/Os. Use this page to test each input and output. If the GPIO interface is functioning correctly, the output pins deliver 24 V when activated and the Input pins are activated when they receive 24 V. Select an output to activate it. Active I/Os turn green and inactive ones are red.

If you have a MiR Shelf Carrier 250 top module, see the user guide for how to test the top module and GPIO connections.

If you don't have a top module to test the GPIO modules, you can connect a wire from each output to an input. When you activate an output by selecting it in the robot interface, the input should also activate.