MiR100, MiR200, MiR100 Hook, and MiR200 Hook robots can use the following cable chargers instead of a MiR Charge 24V charging station:

• Battery Charger 24V 13A (order number 130268)

• Power First (deprecated)

• S.P.E. (deprecated)

• Blue Power Charger (deprecated)

Table 1.1 Overview of the cable chargers used for 24V batteries

Battery Charger 24V 13A The charger is outside the robot. Indicates it is charging when the Battery Charging Indicator on the status bar lights up.	Power First (deprecated) The charger is outside the robot. Some chargers cannot charge batteries with low state of charge without an adapter cable—see Adapter cables . Indicates it is charging when one the state of charge LEDS on the charger lights up in solid yellow.	S.P.E. (deprecated) The charger is inside the robot. Indicates it is charging when the fan activates and one of the LEDs lights up in solid red.	Blue Power Charger (deprecated) The charger is inside the robot. Indicates it is charging when the fan activates after approximately 30s of charging and any of the LEDs light up. The charger must always be set to LI-ION mode—see Foreseeable misuse.

Charging with cable chargers

You can only charge the 24V batteries via the robot. You should not attempt to charge the battery outside the robot.

When you connect a cable charger to the robot where the connected battery is in Deep sleep, the battery will automatically activate when the charger is connected, provided that all other criteria for Active state are met—see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

Before charging the battery, check that: 

• The Battery disconnect switch is released. To release the switch, turn it clockwise.
  

• The battery cable is connected and locked to the battery.

   

• The F1 relay is on. You must also turn on the other two relays for the robot to work, but only F1 is necessary to connect to the battery. When turning on the relays, always start with the outer relay (F1).
  

• That the robot is not already connected to MiR Charge 24V.

• When you turn on the charging interface switch, it lights up. If it does not, the battery is either not connected or the battery is in Deep sleep—see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

Charging with Battery Charger 24V 13A

1. Connect the cable charger to a power outlet, and check that the charger is active by verifying that the Charging Output Indicator in the display panel lights up.

   

2. Plug the charger into the robot's charging port.

   

3. Turn on the charging interface by flipping the switch above it. If the switch does not light up, the battery may be in Deep sleep—see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

   If the battery is connected correctly, it will be brought out of Deep sleep when it begins charging.

   If the switch does not light up, the diode in the switch may be broken. Always make sure to also check the battery itself to verify that it is active and charging.

    

4. Check that the battery is now charging by verifying that the Battery Charging Indicator on the status bar lights up.
   
   

   The Battery Charging Indicator indicates charging states as follows:

   • The bottom half is flashing green means that the robot is charging and has a low state of charge.

     

   • The bottom half is solid green means that the robot is charging and has a medium state of charge.

     

   • Both the top and the bottom half are flashing green means that the robot is charging and has a high state of charge.

     

   • Both the top and the bottom half are solid green means that charging is completed.

     

   When the Battery Charging Indicator indicates that the battery is fully charged, the charger stops charging and does not re-evaluate the state of charge of the battery until it is disconnected and then reconnected. This means, that if the battery charges to 100%, and you then leave the battery long enough for it to deplete again, the charger will not begin charging the battery automatically.

   
   If you leave Battery Charger 24V 13A in the robot for a long period of time after it has completed charging, the Error Display in the display panel will show the error code E003. If this happens, the charger must be disconnected from its power supply and reconnected again before it can charge.
   
   
   The Battery Charger 24V 13A can become hot when charging, especially in places with a high ambient temperature.

Charging with Power First

1. Connect the cable charger to a power outlet, and check that the charger is active by verifying that the Power LED lights up.
   

2. Plug the charger into the robot's charging port

   If the robot has critically low state of charge, use the 504718 Power First adapter cable—see Adapter cables .

   

3. Turn on the charging interface by flipping the switch above it. If the switch does not light up, the battery may be in Deep sleep——see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

   If the battery is connected correctly, it will be brought out of Deep sleep when it begins charging.

   If the switch does not light up, the diode in the switch may be broken. Always make sure to also check the battery itself to verify that it is active and charging.

    

4. Check that the battery is now charging by verifying that one of the state of charge LEDs on the charger lights up in solid yellow.
   

If the 100% LED lights up, the charger has stopped charging and does not re-evaluate the state of charge of the battery until it is disconnected and then reconnected. This means that if the battery charges to 100%, and you then leave the battery long enough for it to deplete again, the charger will not begin charging the battery automatically.

Charging with S.P.E. and Blue Power cable chargers

To charge the robot's battery correctly with an internal charger, connect the charging cable from a power outlet to the robot's charging port.

The battery should immediately begin charging. If you do not have a top module on the robot, you can remove the top cover and see if any LEDs on the internal charger are lighting up. This indicates whether the charger is active and is charging the battery.

After being connected to the charger for at least an hour, the robot should be able to turn on if the battery has been charged during that time. If you cannot turn on the robot after an hour, the battery is either not connected correctly in the robot, or the battery is faulty——see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

Foreseeable misuse

• Charging the robot with a cable charger and MiR Charge 24V at the same time.

• Leaving the charging interface on after charging. Always check that the switch is not lit. Leaving the charging interface on drains the battery faster—see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

• Charging the robot with a cable charger for more than four hours.

• Using any mode other than LI-ION on a Blue Power charger. By default, the charger is set to this mode. But if you are experiencing issues with the charger, it is a good idea to check that it is still in the correct mode. To change modes, press the Mode button on the charger.
  

Adapter cables

The following section is an overview of the additional cables you may need for your battery. They are either used for charging or in the replacement battery retrofit kits.

Battery adapter cable 504101 and 503003 for replacement batteries

This is the adapter cable between the battery and the robot and is used in every robot below hardware version 6.0 with a replacement battery. It comes in two different formats:

• Cable 504101 does not support CAN bus. This is used in robots before the BMS (Battery Management System) was implemented. When you connect this cable from the battery, it immediately connects the two pins necessary to activate the battery—see MiR 24V Battery Troubleshooting and Technical Guide. You can find this guide on MiR Support Portal.

  When connected, the 12V and HV LEDs on the battery lights up. If you want the battery to enter Deep sleep, you must disconnect the cable.

  

• Cable 503003 supports CAN bus and has an additional D-sub connector to connect the battery to the CAN bus connector. The adapter cable must be connected to the robot before the battery is active.

  

Host detect cable W318a for replacement batteries

This cable is required to activate the battery in MiR100 HW 2.0–2.2 and MiR200 HW 1.1–1.3. Without this cable, the battery does not enter Active state when connected to the robot.

For more information, and to correctly install the cable, see the guide How to install the host detect wire W318a in MiR100 and MiR200. You can find this guide on MiR Support Portal.

Verifying charging in the robot interface

To verify that the robot is charging and to monitor the battery percentage on the robot, turn on the robot, and sign in to the robot interface. The battery percentage is displayed in the upper right corner.