This guide describes how to change the SICK safety system to accommodate a shelf system.

Configuring the SICK safety system to work with a shelf ensures safe operation when the robot is driving with any type of shelf. It changes the default protective fields on the robot so when it is driving with a shelf it can:

• React fast enough to brake before a collision.

• Avoid unintended Emergency stops while driving at higher speeds.

Things you'll need

Before setting up the SICK safety system

Install the Flexi Soft Designer application. The newest version of Flexi Soft Designer can be found here: https://www.sick.com/dk/da/flexi-soft-designer/p/p81369. Make sure you have Flexi Soft version 1.8.0 SP1 or newer. We recommend version 1.9.2. SP1.

Adding a physical switch to the SICK module

To switch from the robot's original safety settings to the shelf settings, you must first install a switch circuit on the SICK module.

Mount the NC-relay between ports I5 and X1 on the SICK safety PLC. When the switch is closed, the robot uses the larger Protective fields. When the switch is open, it uses the regular Protective fields.

• The NC-relay is used as an additional safety feature, ensuring that if the switch loses power, it defaults to the larger Protective fields.

• The wire named Control Signal is meant for external control. This must be routed to the PLC or other control devices that enable the shelf pick-up and place. This control device must send a high signal to the NC-relay to disable the larger Protective fields.

See the table below for the functionality:

Connecting to the safety PLC and scanners

Turn on the robot you want to reconfigure, and connect to its broadcast WiFi network.

Launch Flexi Soft Designer on the computer you connected to the robot.

Select Open existing project file and choose the file for the robot you want to configure. Check that the file you’ve chosen is for the right robot (MiR100 or MiR200) and the right hardware version.

• Wait while the project loads. This can take several minutes.

• If you install the wrong file, the robot enters Emergency stop. You can release the stop by installing the correct file.

• Find your robot’s hardware version on the identification label on the robot or in the Declaration of Conformity you received when you purchased the robot.

Select the Com settings menu. This starts the process of connecting to the robot.

When the Connection settings window opens, select Add TCP/IP connection profile to create the new connection.

Enter the following connection information:

• Enter a name for your configuration.

• Choose your wireless network adapter from the drop-down menu. This must be the network used to connect to the robot.

• Enter the IP address 192.168.12.9.

• Enter the TCP/IP configuration port 9000.

• Select Enable TCP/IP routing.

• Enter the subnet address 255.255.255.0.

• Select OK to save the profile.

Test the connection by selecting  on the right side of the newly-added connection profile. If you see a  next to the small connector icon, proceed to the next step.

• If you see a red or white X, select Edit Connection, and make sure you chose the correct network adapter.

• If you are offline or the network is not appearing in the drop-down menu, connect an Ethernet cable to the robot.

• If you are still having trouble connecting to the robot, right-click the network icon in the system tray, and select Open network settings. Select Wifi in the sidebar, and scroll down to Change adapter options. Right-click the WiFi adapter and go to properties. Deselect Internet Protocol Version 6 (TCP/IPv6) and select OK.

Select Activate connection profile to activate the connection. The icon is the first in the row on the right side of the row.

Close the Connection settings window and select Connect. This opens a progress window and starts the connection process.

Select OK to continue if a dialog box appears.

Transferring the SICK configuration to the robot

Select Transfer the configuration in the next dialog box to transfer the project to the robot. The warning appears to tell you that the configuration is not identical to the current device configuration.

Select all the configurations when the transfer dialog appears, and select OK.

Select Yes when prompted to start the transmission.

Select Authorised client, enter the SICK safety system password, and then select Log on. If you have a robot with a 15-digit serial number, see SICK's documentation for the default password. If you have a robot with a nine-digit serial number, use the unique password for the SICK safety system you received with the robot.

Dismiss the next dialog box by selecting OK. If you are prompted if you are sure you want to begin transmitting, select Yes.

In the next dialog box, select Release to accept the report that Flexi Soft has created. You can also save the report by selecting Save in the upper-left corner.

• Flexi Soft designer will create a safety report for each device configured that shows the changes that have been made to the Protective fields.

Select OK when the Successful configuration dialog box appears.

Repeat steps Select Yes when prompted to start the transmission.-17 with the other scanner and safety PLC. You must complete a transmission for each scanner and then for the safety PLC itself. Select YES when prompted to start the transmission to the next device. Re-enter the SICK safety system password—see Select Authorised client, enter the SICK safety system password, and then select Log on. If you have a robot with a 15-digit serial number, see SICK's documentation for the default password. If you have a robot with a nine-digit serial number, use the unique password for the SICK safety system you received with the robot..

Select Yes when prompted if you want to download the configuration. This will be the new configuration for the shelf Protective fields.

Select Yes when prompted Do you want to run the head device? This may not occur every time. It depends on the state of the SICK system.

Verifying the configuration

Select the blinking Verify configuration . You need to do this before you can use the new configuration.

Select OK when prompted.

Select Yes when prompted to Upload and verify result.

Check that the system is online and that Device configuration is verified. Look for confirmation at the lower-right of the window.

Close the Flexi Soft window without saving changes. Select No when prompted whether you want to save the current changes.

Testing the new protective fields

Turn off the robot, and then turn it back on.

Sign in to the robot interface, and go to Monitoring > Hardware health. Verify that everything under Safety system > Communication has an OK status. If not, try to upload the SICK configuration file again.

Create a mission with a Pick-up shelf action. To do this, create a Shelf position on a map and place a shelf on the position. Create a mission with a Pick-up shelf action and choose the newly added position.

Launch the mission, and monitor the result. After docking correctly to the shelf, the Protective fields should now trigger a Protective stop when encountering an object 20-30 cm from the front or rear of the robot.