Milvus Robotics SEIT 100, User Manual

Page 1: ...User Manual for SEIT 100 Autonomous Mobile Robot...

Page 2: ...2 6 Battery Safety 10 3 Product identification 11 3 1 Product Overview 11 3 2 Technical Data 18 4 Transport and Storage 19 4 1 Transport 19 4 2 Storage 20 5 Getting Started Guide 21 5 1 Unpacking 21 5...

Page 3: ...IT 100 o Pass the manual on to any subsequent operator or occupant Milvus Robotics does not accept any liability for faults or defects due to non observance of this manual If you have any questions af...

Page 4: ...onomous Mobile Robot This term describes SEIT 100 with an attached attachments creating a complete mobile robot SEIT 100 This is the model name Attachments Any passive or dynamic device attached to an...

Page 5: ...e working with SEIT 100 Safety Devices Perform any maintenance and repair work on SEIT 100 only in de energized state and ensure that it cannot be started accidentally Do not remove protective covers...

Page 6: ...rs or wheels Do not expose the AMR to rain or moisture Do not operate the AMR in potentially explosives environment 2 2 Intended Use The SEIT 100 may only be used for industrial applications and in an...

Page 7: ...implementation complies with all local standards and legal requirements The following target groups are addressed in these operating instructions Operators Operators have been instructed in the operat...

Page 8: ...operating mode Explanation Comment Transport Storage Loading and unloading transport and storage Assembly Initial start up Installation at the end customer and performing the test run Cleaning Extern...

Page 9: ...only in applications where you anticipate and mitigate potential risks to personnel and equipment Milvus does not intend SEIT 100 for use in uncontrolled areas without risk analysis For example in are...

Page 10: ...o might cause the battery to discharge below a usable state requiring its replacement Effective April 1 2016 IATA regulations UN 3480 PI 965 require that air shipped lithium ion batteries must be tran...

Page 11: ...wer Connector 4 USB Port 8 AUX Charge Connector User Buttons interactive programmable instruments for users to take a certain action Aux I O Connector to provide communication between robot and top mo...

Page 12: ...3 2 Top view of SEIT 100 1 Lifting Holes 2 Emergency Stop Buttons Lifting Holes M8 lifting holes for fixation of top module e g RC150 conveyor and to lift SEIT 100 See Applications for dimensions of t...

Page 13: ...13 P a g e Version 2 2 01 2021 EN User Manual for SEIT 100 Figure 3 3 Side view of SEIT 100 1 Navigation and Safety Lasers category 3 PL d in accordance with ISO 13849 1...

Page 14: ...3 4 Isometric view of SEIT 100 1 Led Indicators 2 Charging Pads 3 Depth Camera Led Indicators letting the surround know which operation is executed by SEIT 100 Charging Pads to charge SEIT 100 via ch...

Page 15: ...IT 100 3 1 2 SEIT 100 Manual Remote Controller Figure 3 5 Manual remote controller Activate Deactivate Manuel Pendant control Led indicator USB receiver 2 x AA batteries Standart control mode is X Spe...

Page 16: ...N3 9 24V 4 IN4 10 24V 5 IN5 AUX Emergency Safety 11 O1 6 RX RS232 12 O2 AUX connector supports low current power devices and it has 5 inputs and 2 outputs Figure 3 7 Inputs and 24 V pin are used to re...

Page 17: ...ide 1 24V Max 15A When an emergency or a protective stop situation occurs the power is shut down It is controlled by a Safety PLC and a contactor 2 GND CAUTION Damage Risk Power pin supply voltage is...

Page 18: ...rake Electric fail safe Approx Weight 80 kg Unloaded Gradeability 8 fully loaded Dimensions 814 mm x 630 mm x 300 mm LxWxH Loading Plate Dimensions 595 mm x 510 mm LxW Operating temperature 0 C to 40...

Page 19: ...crane forklift etc is rated for the weight of SEIT 100 Ensure that no persons are located under the suspended load while lifting and moving SEIT 100 Additional information about the transport is locat...

Page 20: ...damages to avoid losing any claims for compensation 4 2 Storage WARNING Risk of injury due to improper storage Do not stack SEIT 100 Do not place any other objects on SEIT 100 Check SEIT 100 stability...

Page 21: ...WARNING Risk of injury Follow all unpacking safety instructions and use appropriate tools and equipment Failure to do so could result in personal injury and equipment damage 5 1 1 Box Content Dimensi...

Page 22: ...22 P a g e Version 2 2 01 2021 EN User Manual for SEIT 100 5 1 2 Unpacking Figure 5 2 Open view of the box 1 MR AutoC 100 3 Free standing installation apparatus 2 SEIT 100...

Page 23: ...ersion 2 2 01 2021 EN User Manual for SEIT 100 5 2 Initial Start up 5 2 1 Start Up Switch the position of main power switch 1 as ON as in the Figure 5 3 Figure 5 3 Location of main power switch on SEI...

Page 24: ...ot for about 30 seconds While the system is booting led indicators See page 14 blink You may hear contactors are switched on and when led indicators See page 14 become solid SEIT 100 is up and running...

Page 25: ...ly by authorized electricians Observe the safety information Carefully install all connections such as cables and check for correct fit WARNING Risk of injury due to incorrect handling Check electrica...

Page 26: ...ote controller turns off and SEIT 100 is ready to be driven NOTICE Risk of Property Damage Make sure that manual remote controller is secured when it is not in use This prevents unauthorized persons f...

Page 27: ...transported can o Reduce SEIT 100 s ability to traverse an incline o Change its operating center of gravity CG Inclines Ramps with a properly designed and stable payload SEIT 100 can operate on ramps...

Page 28: ...oscope and fluorescent lights or other strong light sources directly on the scanning area since they can influence the device under certain circumstance WARNING Persons or parts of the body to be prot...

Page 29: ...y Steps and Gaps Typical floor characteristics that are considered to be steps include any height difference caused by floor stab settling expansion gaps or cracks Other environmental objects might cr...

Page 30: ...the battery recharges Recharge time is 2 hours for 80 3 hours for 100 Run time with no payload is approximately 10 hours This varies significantly depending on use and accessory power consumption 5 3...

Page 31: ...utoC 100 This figure includes the floor plate for free standing installation Figure 5 6 MR AutoC 100 1 Led indicator 6 24 VDC charger pin 2 AUX charge connector 7 On off switch 3 Anderson charge conne...

Page 32: ...t is well designed to protect the surrounding from electric shock do not touch both pins and do not short circuit them with a conductive material In case of unwanted scenarios docking station has prot...

Page 33: ...ling plates to level MR AutoC 100 Fixing the floor plate The floor plate is placed where the docking station would take place The floor is marked through fixing holes The marked points are drilled Wit...

Page 34: ...N User Manual for SEIT 100 Fixing the leveling plates The leveling plates is fixed with supplied fasteners as in the Figure 5 9 Figure 5 9 Fixing the leveling plates 1 Countersunk Socket Head Screws 2...

Page 35: ...r Manual for SEIT 100 Fixing MR AutoC 100 to the floor plate MR AutoC 100 is fixed to the floor plate with supplied fasteners as in the Figure 5 10 Figure 5 10 Fixing MR AutoC 100 to the floor plate 1...

Page 36: ...done accordingly Figure 5 11 Leveling the docking station 1 Socket Head Cap Screws 3 Floor Plate 2 Socket Set Screws Slightly loosen the socket head cap screws 1 By rotating socket set screws 2 in CW...

Page 37: ...docking station Plug supplied cable s one end into 110 220V AC socket See page 31 and plug the other end into the 110 220V AC grid Turn On off switch See page 30 in CW direction to initialize MR AutoC...

Page 38: ...21 EN User Manual for SEIT 100 5 3 3 2 Charging Procedure of SEIT 100 General Overview of Components Figure 5 13 Connection cable between the robot and MR AutoC 100 Figure 5 14 Connection cable betwee...

Page 39: ...By turning On off switch See page 31 in CCW direction one may turn off the docking station DANGER Risk of injury ELECTRICAL SHOCK HAZARD DO NOT TOUCH BOTH PINS WHILE ENERGIZED Charging Manually Either...

Page 40: ...both sides of MR AutoC 100 is open Table 5 2 Indicator light s colors on the dock station and their meanings Color Effect State Description White Slide Booting MR AutoC 100 is initializing White Solid...

Page 41: ...laser 5 3 4 1 Safety Scanning Laser SEIT 100 safety scanning laser is SICK S300 It is a precise scanning and navigation sensor with the following characteristics Parallel to the floor at a height of...

Page 42: ...eras The depth cameras detect obstacle below and above the scanning plane of the safety laser such as an empty pallet FOV o H 87 3 V 58 1 D 95 3 Isometric figure shows that the approximate location of...

Page 43: ...perational Consideration Figure 5 16 shows that SEIT 100 s approximate locations of the sensor fields As this figure shows there are blind spots to the left and right of SEIT 100 Figure 5 16 Navigatio...

Page 44: ...uring turning maneuver The AMR is operating at low speed during such maneuver but an AMR with its payload has a considerable mass and might tip a person over If SEIT 100 operate in the same workplace...

Page 45: ...et has a specific protective and warning fields and these fields has different dimensions for each speed set Figure 5 18 Demonstration of field sets distance Table 5 4 Distances according to speeds an...

Page 46: ...46 P a g e Version 2 2 01 2021 EN User Manual for SEIT 100 Figure 5 19 Navigation and safety laser s field set at high speed Figure 5 20 Navigation and safety laser s field set at medium speed...

Page 47: ...47 P a g e Version 2 2 01 2021 EN User Manual for SEIT 100 Figure 5 21 Navigation and safety laser s field set at low speed Figure 5 22 Navigation and safety laser s field set at stopping...

Page 48: ...a task based risk assessment so that appropriate protective and warning field sets can be applied Otherwise unwanted accidents may occur WARNING Risk of injury To prevent the risk of a person approach...

Page 49: ...ing or executing an action Press the start stop button 2 The robot starts to shutdown process When the robot finishes the shutdown process led indicators See page 14 becomes inactive the start stop bu...

Page 50: ...0 for specific applications For more information contact Milvus Robotics Mounting an Attachment SEIT 100 has 4 M8 lifting holes that are used to mount an attachment onto SEIT 100 See Figure 6 1 Also a...

Page 51: ...that must also comply with the specified wight limit The payload structure s CG in each instance must be within the defined area WARNING Risk of injury and property damage If the load on the robot is...

Page 52: ...52 P a g e Version 2 2 01 2021 EN User Manual for SEIT 100 Figure 7 2 Front view of recommended payload CG...

Page 53: ...manufacturer s instructions The best type of product is a mild detergent solution with warm water Safety Laser Scanner The safety laser scanner is largely maintenance free The optics cover on the safe...

Page 54: ...switched off power Faults on an electrical equipment may be removed only by a trained electrician Requirement The danger spots on SEIT 100 are covered by protective plates and other protective devices...

Page 55: ...Start SEIT 100 Buttons switches and ports on SEIT 100 do not work Damaged or broken Replace the related part No supply voltage Check SEIT 100 is on SEIT 100 is constantly in emergency state An obstacl...

Page 56: ...IT 100 The battery needs recharging Charge the battery Battery level is below a usable state Replace the battery SEIT 100 cannot be charged There is an error in docking station Restart the dock Batter...

Page 57: ...only by qualified personnel Milvus Robotics offers training sessions about required maintenance and repair tasks upon request 10 1 Ordering Information Ordering spare and wear parts requires the exact...

Page 58: ...on and with SEIT 100 the legal regulations concerning waste avoidance and proper disposal and recycling must be followed NOTICE Substances with a water hazards class such as greases and oils hydraulic...