This guide describes how to set up a wireless or wired WISE I/O module on an external network and how to use it with MiR robots.

The power supply is not included with the module. See the module specifications for details about the power supply.

If you have not purchased the WISE module from MiR, ensure that the it has firmware release no. A1.01 B13 or higher.

WISE modules do not support HTTPS nor 5 GHz connections,

Things you will need

• A PC, tablet, or phone

• An Ethernet cable (if you're using a wired WISE module)

Before using the WISE I/O module

1. Prepare a power cable for the module. The module can run on 10 ~ 30 VDC.

2. Ensure that the location you want to mount the WISE module is suitable: 

   • Check that there is a nearby power outlet that works and can be dedicated to powering the WISE module.

   • For a wireless module, check that you can connect to the intended SSID and that the signal strength is higher than -70 dBm.

   • For a wired module, check that there is a network outlet that works and can be dedicated to connecting the WISE module to the network.

Connecting to the WISE I/O module

1. Set switch P1 to Off in the SW1 group at the back of the WISE module.

   

2. Power up the module using the prepared power cable.

3. Connect to the WISE modules configuration page. The steps to do this differ depending on whether you are using a wired or wireless WISE module.

   For a wired module:

   1. Configure the static IP of your computer to be on same subnet as 10.0.0.1, for example, set the IP address to 10.0.0.2 with subnet mask 255.255.255.0.

   2. Connect an Ethernet cable directly between the module and your computer.

   3. Power up the WISE module.

   4. Enter http://10.0.0.1/config into a web browser to open the configuration page.

   For a wireless module:

   1. Connect to the Wi-Fi network of the WISE module.

      

   2. Enter 192.168.1.1 into a web browser to open the configuration page.

4. Sign in to the module web interface with the following credentials:

• Account: root

• Password: 00000000

Setting up the WISE I/O module

The steps to set up the WISE module differ depending on whether you are using a wired or wireless WISE module. If you have a wired module, go to Wired setup, and if you have a wireless module, go to Wireless setup.

Wired setup

1. Select the Connection mode as DHCP or Static IP and configure the IP address, Subnet address, and Default gateway.

   

2. Disconnect the power supply to the module, and set switch P1 to On in the SW1 group at the back of the WISE module.

   
   

Wireless setup

1. Go to Configuration > Wireless. Enter the access point settings, and select Submit at the bottom of the screen.

   

2. Disconnect the power supply to the module, and set switch P1 to On in the SW1 group at the back of the WISE module.

   
   

3. Power up the module, and wait for the Status/Com indicator light to flash green. This indicates that the module is connected to the Wi-Fi network and has an IP address.

4. Access the configuration page by following the steps from Connecting to the WISE I/O module.

5. Go to Configuration > Wireless. Under Infrastructure Mode IP Settings, find the IP address of the module and note it down.

6. Set switch P1 to On in the SW1 group at the back of the WISE module and restart the module.

Creating the connection to an I/O module on the robot

1. Sign in to the robot interface, and go to System > Settings > Features.

2. Enable the I/O modules feature.

   

3. Ensure that the robot is connected to the same network as the WISE module. For a wireless connection, you can check this under Setting > Wi-Fi.

4. Go to Setup > I/O modules, and select Create I/O connection.

   

5. Fill out the fields for your I/O module.

   

   • I/O module type: Select WISE module

   • I/O connection name: Enter the name of the connection. This name helps you identify the connection on the list.

   • I/O module IP address: Enter the IP address of the module.

6. Select Create. The robot interface now shows the new connection in the list.
   

7. Select Connect to connect the robot to the I/O module. This lets you see the status of the module outputs and control the status of the inputs.
   

   
   

Using I/O module zones

Use I/O module zones to make selected I/Os activate when the robot's center enters the zone.

The following example describes how you can use an I/O zone to trigger the robot to open an automated door. The door is connected to a WISE module that is configured to: 

• Open the door when input 1 is on

• Close the door when input 1 is off

The WISE module has been set up in the robot interface as an I/O module called Automatic door.

To setup the zone, follow these steps: 

1. Open the map editor for the map you want to add an I/O zone.

2. Create a zone that covers the area before and after the automated door.

3. In the zone settings, add an I/O module action, set it to the Automatic door I/O module, and select input 1.

Input 1 activates when the robot enters the zone to open the door and closes when the robot leaves the zone.

There are several issues that can occur in relation with this setup, but can be resolved with additional zones or changed configuration: 

• If you want the door to start opening sooner as the robot approaches, increase the size of the zone.

• If you have a lot of robot traffic in the area that crosses the I/O module zone, but do not need to go through the door, use an Unpreferred zone on top of the I/O module zone so other robots navigate around the zone.

• If your robot often tries to plan a new route or report an error the path is blocked while waiting for the door to open, use a Planner zone with Waiting for obstacle set to -1 and Maximum path deviation set to 0.

  

Using I/O modules in missions

Use I/O module action in missions to: 

• Make the robot wait for a specific input. Use this to make the robot wait to continue until another device triggers the correct input.

• Make the robot change the value of an output. Use this to make the robot trigger an event based on which point it has reached in the mission.

• Make the robot use an input to determine its next action.

The following mission is an example of how to use I/O module actions with two load transfer stations. The load transfer station are controlled and monitored using a single WISE module that uses its ports for the following.

The following example of a mission for docking to either load transfer station executes as follows: 

1. The robot checks if output 0 is on to see if transfer station 1 is ready to be docked to.

2. If output 0 is on, the robot docks to load transfer station 1.

3. The robot sets input 0 to on to make the transfer station start loading.

4. The robot waits until output 1 becomes on to indicate that the loading has finished and the robot can safely undock from the transfer station.

5. If input 0 was off, the robot checks if output 2 is on to see if transfer station 2 is ready to be docked to. If it is, the robot repeats the above steps, but with the second load transfer station and with another set of ports. If neither load transfer station is ready, the mission ends without the robot doing anything.

Using I/O modules in dashboards

Use I/O module widgets in dashboard to control and monitor I/O modules:

• I/O configuration: Use this widget to switch between states of an I/O module or to reset the outputs of an I/O module. To use this widget, define different states by specifying specific combinations on inputs and outputs. When the I/O module is in the specified state, you can activate the state action where you set specific outputs.

• I/O module: Use this widget to connect to and disconnect I/O modules.

• I/O status: Use this widget to monitor the status of an I/O module.

The following is an example of how you can use the I/O configuration widget to create quick control for a MiR lift top module:

• Lower lift
  This state is activated when the lift is raised (input 3 is on). When the state is on, the widget shows Lower lift. Select the widget to activate output 2 and start lowering the lift.

• Raise lift
  This state is activated when the lift is not raised (input 2 is on). When the state is on, the widget shows Raise lift. Select the widget to activate output 3 and start raising the lift.

• Default
  The default state should cover all other cases than the ones already defined. In this case, when the lift is moving up or down.  Select the widget to activate output 1 and stop the lift motion. This brings the lift in the Raise lift state.

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