No parts of this manual may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties,.
Operating Guide (en) Date: 06/2020 Revision: v.1.4 Copyright and disclaimer All rights reserved. No parts of this manual may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice. Every precaution has been taken in the preparation of this manual. Nevertheless, MiR assumes no responsibility for errors or omissions or any damages resulting from the use of the information contained. Copyright © 2018-2020 by Mobile Industrial Robots A/S. Contact the manufacturer: Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ www.mobile-industrial-robots.com Phone: +45 20 377 577 Email: support@mir-robots.com CVR: 35251235 MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 2 Table of contents 1. About this document 4 1.1 Where to find more information 4 1.2 Version history 5 2. Safety 6 2.1 Safety message types 6 2.2 General safety precautions 7 3. Product presentation 11 3.1 How charging works 11 3.2 Nameplate 13 4. Getting started 15 4.1 In the box 15 4.2 Installing and powering up 17 4.3 Mark potentially hazardous floor areas 19 5. Usage 22 5.1 Setting charging station markers on the map 22 5.2 Creating the Charge at station mission 27 5.3 Creating the Recharge loop mission 31 5.4 Charging action parameters explained 37 MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 3 1. About this document 1. About this document This operating guide explains how to install and take precautions for safe use of your MiR Charge 48V. This guide also contains information on how to set up MiR250, MiR500 and MiR1000 robots for automatic charging with MiR Charge 48V. NOTICE Save this manual. It contains important safety and operating instructions. 1.1 Where to find more information At www.mobile-industrial-robots.com, you can find the following resources under the Manuals tab on each product page: · Quick starts describe how you start operating MiR robots quickly. This document is in print in the box with the robots. Quick starts are available in multiple languages. · User guides provide all the information you need to operate and maintain MiR robots. User guides are available in multiple languages. · Risk Analysis Guides include guidelines on how to create a risk assessment of your robot solution. · Commissioning guides describe how to commission your robot safely and prepare it to operate in the workplace. · Operating guides describe how to set up and use top modules and accessories, such as charging stations, hooks, shelf lifts, and pallet lifts. · Getting started guides describe how to set up products that are mainly software-based, such as MiR Fleet. · Reference guides contain descriptions of all the elements of the robot interface and MiR Fleet interface. Reference guides are available in multiple languages. · REST API references for MiR robots, MiR hooks, and MiR Fleet. · The MiR network and WiFi guide specifies the performance requirements of your network and how you must configure it for MiR robots and MiR Fleet to operate successfully. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 4 1. About this document 1.2 Version history This table shows current and previous versions of this document and their interrelations with hardware releases. Revision 1.0 1.1 1.2 1.3 1.4 Release date 2019-01-24 2019-07-31 2019-10-07 2019-11-13 2020-06-17 Description First edition Small updates to the document Small updates to the document Layout changes New chapter: Nameplate Small updates to the document HW 1.0 1.0 1.0 1.0 1.0 MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 5 2. Safety 2. Safety Read the information in this section before powering up and operating MiR Charge 48V. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR Charge 48V or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR Charge 48V, accessories, or any other equipment due to programming errors or malfunctioning of MiR Charge 48V. 2.1 Safety message types This document uses the following safety message types. WARNING Indicates a potentially hazardous situation that could result in death or serious injury. Carefully read the message that follows to prevent death or serious injury. CAUTION Indicates a potentially hazardous situation that could result in minor or moderate injury. Alerts against unsafe practices. Carefully read the message that follows to prevent minor or moderate injury. NOTICE Indicates important information, including situations that can result in damage to equipment or property. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 6 2. Safety 2.2 General safety precautions This section contains general safety precautions. WARNING Contact with live electrical parts can cause electric shock. · Do not touch any internal components of MiR Charge 48V while it is powered. WARNING MiR Charge 48V is not approved for installation in areas with explosive gas atmosphere according to hazardous area classification zones 0, 1 and 2. Sparks from static electricity may cause fire or explosions. · Do not install MiR Charge 48V in any of the mentioned zones. WARNING Failure to ground MiR Charge 48V may cause electric shock. · Ensure to ground MiR Charge 48V properly using one of the supplied three- prong plugs. · If none of the supplied plugs fit the local wall outlet, consult a licensed electrician. WARNING If MiR Charge 48V is used by children, they risk injury and electrical shock. · Children should be supervised to ensure that they do not play with the appliance. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 7 2. Safety WARNING If MiR Charge 48V is used by unqualified personnel, they risk injury and electrical shock. · This appliance is not intended for use by persons (including children) with reduced physical, sensory, or mental capabilities or lack of experience and knowledge unless they have been given supervision or instruction concerning use of the appliance by a person responsible for their safety. CAUTION Operating the charger in a closed-in area with restricted ventilation as well as covered or blocked vents on the sides of MiR Charge 48V can lead to overheating of the battery and/or the charger. · Do not operate the charger in a closed-in area, restrict ventilation or cover or block the vents in any way. CAUTION The only intended use of MiR Charge 48V is to charge the internal battery of MiR250,MiR500, and MiR1000 robots. Using it to charge other robot types or external batteries can damage MiR Charge 48V. · Only use MiR Charge 48V to charge MiR250, MiR500, and MiR1000 robots. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 8 2. Safety CAUTION Metal parts placed or dropped on the charging connectors during charging may short circuit MiR Charge 48V or the robot, possibly resulting in damage to equipment or injury to nearby personnel. The charging connectors have electric potential difference only when in contact with the robot. Both robot (including battery) and charging station are protected by fuses to prevent dangerous situations should the terminals be short circuited during charging. · Do not place or drop metal parts on to the charging connectors during charging. CAUTION Connecting one of the supplied power cables to a wall outlet that does not fit the cable plug can damage MiR Charge 48V. · Only connect the power cable to a wall outlet that fits one of the supplied cable plugs. CAUTION Charging a frozen battery can damage the battery. · Never charge a frozen battery. CAUTION Robot malfunctions can cause an electrical fire, causing damage and injury to equipment and personnel. · Personnel operating near the robot must be informed on how to use an ABC fire extinguisher to put out an electrical fire, should the robot malfunction and catch on fire. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 9 2. Safety CAUTION Risk of trapping or injury to personnel if robots malfunction or if personnel enter operating hazard zones. · Personnel operating near the robot must be informed on how to engage the robot's Emergency stop function in emergency situations. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 10 3. Product presentation 3. Product presentation MiR Charge 48V is a charging station that autonomously recharges docked MiR250, MiR500, and MiR1000 robots. It is possible for multiple robots to share the same charging station. However, to avoid bottleneck situations, we recommend integrating the robots in MiR Fleet. For more information see the MiR Fleet Getting Started Guide. 3.1 How charging works To connect to MiR Charge 48V, the robot moves to a position in front of the charging station to locate the VL-marker (1). It then moves onto the charging plate (2), and the charging begins. 3.1 identifies the features of MiR Charge 48V. Figure 3.1. Front view of MiR Charge 48V. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 11 3. Product presentation Label Description 1 VL-marker: the V-shaped recess combined with the front plate to the right forms a VL-marker that the robot's front safety scanner uses to dock to the charging station 3 Charging connector, positive terminal 5 CAN low: CAN bus communication between robot and charging station processor Label Description 2 Charging plate 4 CAN high: CAN bus communication between robot and charging station processor 6 Charging connector, negative terminal To connect to MiR Charge 48V, the robot moves to the entry position in front of the charging station to locate the VL-marker (1). It then moves onto the charging plate (2) and establishes a communication to the charger through (4) and (5). When a communication has been successfully done, the charging will begin from (3) and (4). The connectors on both charging plates (3) and (6) and underneath the robot are voltage-free until a connection between the robot plates and the charger plates is made, and a CAN bus communication is established via plates (4) and (5). If the robot's battery is completely discharged, you must connect an external cable charger. For information on how to do this, see the user guide or quick start of the robot. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 12 3. Product presentation 3.2 Nameplate MiR Charge 48V is delivered with two nameplates mounted to the charger. The nameplates of MiR Charge 48V identify the model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 13 3. Product presentation Figure 3.2. Example of MiR Charge 48V nameplates. Item CE Serial number Description Mobile Industrial Robots A/S declares that MiR Charge 48V meets the requirements of the applicable EC directives. The 8-digit serial number is a unique identifier of the robot. The last four digits form part of the original name of the robot. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 14 4. Getting started 4. Getting started This section describes how to get started with MiR Charge 48V. NOTICE Read Safety on page 6 before powering up MiR Charge 48V. 4.1 In the box This section describes the content of the MiR Charge 48V box. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 15 The box contains: 1. MiR Charge 48V 2. Power cables for different wall outlets: · NEMA L6-15 plug - for use in 230/240 V installations 4. Getting started · NEMA 5-15P plug - for use in 110/120 V installations; (only delivers 50% of the max. rated charging power) · CEE 7/7 plug - for use in 230/240 V installations 3. MiR document folder containing EC Declaration of Conformity. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 16 4. Getting started 4.2 Installing and powering up This section describes how to install and power up MiR Charge 48V. Before installing Before installing, please complete the following: · Place MiR Charge 48V against a wall on a clean, even and dry floor. · Keep the air vents on both sides of the charging station free to avoid overheating. · Install MiR Charge 48V on an electric circuit that is protected by a circuit breaker with current rating 16 A (EU) / 15 A (US). · Make sure there's a suitable wall outlet that supports the necessary power. For national electric codes, consult a licensed electrician. · Make sure that the charger is connected to ground to avoid getting electric shock. If you are in doubt, consult a licensed electrician. Wall fixing is not required, but if the charging station is moved even a few centimeters, the robot will be unable to dock precisely. We therefore recommend fixing it. Figure 4.1 shows the parts of MiR Charge 48V relevant for the installation and powering up. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 17 4. Getting started Figure 4.1. Rear view of MiR Charge 48V. Pos. Description 1 Four M8 mounting holes for fixation to wall (all four corners) 3 Air vents 5 Power button Pos. Description 2 Mounting brackets 4 Power inlet MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 18 4. Getting started Mounting Follow these steps to mount MiR Charge 48V to a wall: 1. Place MiR Charge 48V against the wall where it should be mounted. 2. Mark the position of the four M8 mounting holes on the wall. 3. Remove the charging station and drill four holes of a suitable size for M8 bolts at the marked positions in the previous step. Consider inserting wall plugs to ensure a secure mounting, in which case the drilled holes must accommodate the size of the chosen plugs. 4. Place the MiR Charge 48V against the wall again in the desired position. Ensure that the drilled holes align with the M8 mounting holes. 5. Fasten the charging station securely to the wall by screwing M8 bolts through the bolting holes and into the wall. Powering up NOTICE Read Safety on page 6 before powering up the charging station. Follow these steps to power up the MiR Charge 48V: 1. Insert the power cord into the power inlet, then into the wall power outlet. 2. Press the power button to turn on MiR Charge 48V. 4.3 Mark potentially hazardous floor areas Before taking your MiR Charge 48V into use, it is necessary to mark up the floor in the area where the robot docks to MiR Charge 48V. Why marking is required When docking to a charging station, the robot mutes its personnel detection means temporarily. This includes turning off the protective field sets around the robot. The muting starts when the robot reaches the entry position approximately one meter from the charging station marker. To indicate this to people nearby, the robot slows down and starts blinking yellow, using the eight signal lights on the corners of the robot. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 19 4. Getting started To avoid potentially hazardous situations as a consequence of the muted personnel detection means, you must mark the physical area around MiR Charge 48V with tape or similar marking material. For more information on personnel detection means, see the user guide for your robot. Marking the operating hazard zone The size of the operating hazard zone is based on the robot's path going to the charging station and takes into account that the robot may have to make a turn of up to 90° when docking to the charging station. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 20 4. Getting started Figure 4.2 illustrates where the floor markings should be for a single charging station. Figure 4.2. The floor around MiR Charge 48V must be marked to indicate an operating hazard zone, illustrated by the striped yellow and black line. Multiple charging stations If you have multiple charging stations lined up next to each other, it is important to place the chargers with at least 750 mm between them to ensure a succesfull docking. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 21 5. Usage 5. Usage The most effective way to use MiR Charge 48V is to set up a mission for the robot to dock to the charger and recharge its battery when it is low on power. If you are using MiR Fleet, charging is handled autonomously, and you should not create charging missions. Refer to the MiR Fleet Getting Started Guide to set up MiR Fleet to enable auto charging. This section describes how to do the following tasks: · Setting charging station markers on the map. · Creating the Charge at station mission. The robot docks to a charger and recharges to 40% power. · Creating the Recharge loop mission. A Loop and an If action makes the robot dock to the charger when it is low on power. 5.1 Setting charging station markers on the map Before creating the marker, you must ensure that the robot is localized correctly on an active map. If in doubt, you can check if the red lines representing the laser scanner line match the black lines on the map as shown in Figure 5.1. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 22 5. Usage Figure 5.1. The red lines represent what the laser scanners detect. The robot is correctly localized when they align with the black lines that represent walls. Once the robot is localized, it is possible to insert a charging station marker correctly on the map using the following steps: 1. Manually drive the robot so its front is facing the MiR Charge 48V and is within one meter from it. 2. In the robot interface, enter the map editor of the map where you want to create a marker. This is done by navigating to Setup > Maps and selecting Edit next to the map you would like to work on. 3. In the Object-type drop-down menu, select Markers (1), and then select the icon Draw a new marker (2). MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 23 5. Usage 4. In the Create marker window, enter a name for the marker and select Type > MiRCharge 500/1000. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 24 5. Usage 5. Select Detect marker. The Detect-marker function tracks the position of the charging station using the VL-marker and automatically sets the X, Y and Orientation values in the robot, enabling it to dock to the charging station. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 25 5. Usage 6. Select OK to create the marker. A new marker icon (2) represented by a lightning symbol is now visible on the map in front of the robot (1) and is ready to be used in missions. If the robot is too far from the charging station, a message that the robot failed to locate the marker is displayed. Try to move the robot closer to the charging station, and ensure that the front safety laser scanner is positioned in front of the VL-marker of the charging station. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 26 5. Usage 5.2 Creating the Charge at station mission This section describes how you create the example mission Charge at station. The mission demonstrates how you use docking and charging actions in your mission. To make the example yourself, it is assumed that you completed the following: · Create a MiR Charge 48V marker titled Charger, as described in Setting charging station markers on the map on page 22. The goal of the mission is to make the robot dock to MiR Charge 48V and recharge its battery up to 40%. 1. To create a new mission, go to Setup > Missions and select Create mission. 2. Name the mission Charge at station, and select a mission group and site. Select Create mission when you are done. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 27 3. Select the following actions: · In the Move menu, select Docking. · In the Battery menu, select Charging. · In the Move menu, select Relative move. 5. Usage The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box. When you have set the parameters, select Validate and close. 4. For the Dock to action, under Marker, select Charger. This is the marker you created on the map in front of the charging station. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 28 5. Usage 5. For the Charging action, set the parameters as follows: · Minimum time: Select Ignore value. · Minimum percentage: type 40. In our example, there is no minimum time. When the battery reaches 40%, the charging is completed. To read more about the different Charging action combinations, see Charging action parameters explained on page 37. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 29 5. Usage 6. For the Relative move action, under X, change the value to -2. This will make the robot drive two meters backward after charging. 7. The mission is now ready. Select Save to save your mission. The mission can also be inserted in other missions. In that case, the Relative move action is unnecessary. Testing the mission To test that the robot executes the mission correctly, you can try running the mission. NOTICE Always test missions without payload to minimize potential hazards. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 30 5. Usage 1. Go to Setup > Missions. 2. Select Queue mission next to the mission you just created. The mission is now added to the mission queue. 3. Select Continue to start the mission. 4. Watch the robot execute the mission, and verify that it performs as expected. 5.3 Creating the Recharge loop mission This section describes how you create the example mission Recharge loop. The mission demonstrates how you use a Loop and If action to make the robot dock to a charger when it reaches low power. To make the example yourself, it is assumed that you completed the following: · Created a MiRCharge marker titled Charger, as described in Setting charging station markers on the map on page 22. · Created three robot positions titled Position 1, Position 2 and Position 3. The goal of the mission is to make the robot drive between the three robot positions until it reaches a battery percentage below 20%, where it then docks to MiR Charge 48V and charges its battery up to 50%. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 31 5. Usage 1. To create a new mission, go to Setup > Missions and select Create mission. 2. Name the mission Recharge loop, and select a mission group and site. Select Create mission when you are done. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 32 5. Usage 3. Select the following actions: · In the Logic menu, select Loop. · Select the gray bar that reads Content to embed the next action into the Logic action. · In the Logic menu, select If. · Select the gray bar that reads True to embed the next actions into the If action. · In the Move menu, select Move three times. · Select the gray bar that reads False to embed the next actions into the If action. · In the Move menu, select Move. · In the Battery menu, select Charging. The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box. When you have set the parameters, select Validate and close. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 33 4. For the Loop action, select Endless. 5. Usage 5. For the If action dialog, set the parameters as follows: · Compare: Select Battery Percentage. · Operator: Select >= (greater than or equal to). · Value: Type 20. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 34 5. Usage 6. For the three Move actions, under Position, select one of the robot positions for each of the actions. 7. For the Dock to action, under Marker, select Charger. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 35 8. For the Charging action, set the parameters as follows: · Minimum Time: Select Ignore value. · Minimum Percentage: Type 50. 5. Usage To read more about the different Charging action combinations, see Charging action parameters explained on the next page. 9. The mission is now ready. Select Save to save your mission. Testing the mission To test that the robot executes the mission correctly, you can try running the mission. NOTICE Always test missions without payload to minimize potential hazards. 1. Go to Setup > Missions. 2. Select Queue mission next to the mission you just created. The mission is now added to the mission queue. 3. Select Continue to start the mission. 4. Watch the robot execute the mission, and verify that it performs as expected. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 36 5. Usage 5.4 Charging action parameters explained A charging action can be defined with a minimum time, a minimum percentage, or a combination of those two. This section explains the four options for setting the charging duration. 1. Minimum Time If you want to ensure that the battery stays in the charging station for a minimum amount of time, you can select the Ignore value check box under Minimum Percentage. The robot will then charge for the set minimum amount of time before moving on with the mission. 2. Minimum Percentage If you want to ensure that the battery is charged to a certain percentage, you can select the Ignore value check box under Minimum Time. The robot will then charge the battery up to the set minimum percentage before moving on with the mission. 3. Combination of minimum time and/or minimum percentage When you select neither of the Ignore value check boxes, you combine minimum time and minimum percentage, so the robot stays in the charging station until it fulfills one of the two parameters before initiating the next mission. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 37 5. Usage 4. Charge until new mission in queue You can choose to let the robot stay in the charging station until it receives a new mission by selecting Charge until new mission in queue. This is useful, for example when the charging action is not followed by other actions, or the charging action is not included in a looped mission in which case the robot will continue after the set charging time or percentage is fulfilled. Topping up cycle If the battery reaches 100% while the robot is waiting for a new mission, the charger disconnects and lets the battery discharge until it has dropped to 90%. It then connects again and tops up until the battery is back to 100%. This may mean that even if the robot has been in the charging station overnight, you might find it with a battery level just above 90% the next morning depending on where it is in the topping up cycle. MiR Charge 48V Operating Guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 38madbuild