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MIR 1000 User Manual

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User Guide (en)
Date: 12/2020
Revision: v.1.4

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  • Page 1 User Guide (en) Date: 12/2020 Revision: v.1.4...
  • Page 2 All rights reserved. No parts of this document 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.

  • Page 3: Table Of Contents

    Table of contents 1. About this document 1.1 Where to find more information 1.2 Version history 2. Product presentation 2.1 Main features of MiR1000 2.2 Top modules 2.3 External parts 2.4 Internal parts 2.5 Manual brake release switch 3. Warranty 4.
  • Page 4 6.1 In the box 6.2 Unpacking MiR1000 6.3 Connecting the battery 6.4 Powering up the robot 6.5 Connecting to the robot interface 6.6 Driving the robot in Manual mode 6.7 Checking the hardware status 6.8 Mounting the nameplate 6.9 Shutting down the robot 7.
  • Page 5 9.7 Motor controller and motors 9.8 Brakes 10. Safety system 10.1 System overview 10.2 Personnel detection 10.3 Overspeed avoidance 10.4 Stability 10.5 Emergency stop buttons 10.6 Emergency stop circuit 10.7 Safeguarded stop 10.8 Locomotion 10.9 Shared emergency stop 10.10 Reduced speed 10.11 Safety stop 10.12 Light indicators and speakers 11.
  • Page 6 11.9 Making a brake test 11.10 Creating user groups and users 11.11 Creating dashboards 11.12 Updating MiR1000 software 11.13 Creating backups 11.14 System settings 12. Usage 12.1 Creating markers 12.2 Creating positions 12.3 Creating the mission Prompt user 12.4 Creating the mission Try/Catch 12.5 Creating the mission Variable docking 12.6 Testing a mission 13.
  • Page 7 17. Disposal of robot 18. Interface specifications 18.1 General purpose interfaces 18.2 Safety interfaces 18.3 Connector list 19. Error handling 19.1 Software errors 19.2 Hardware errors MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 8: About This Document

    • Quick starts describe how you start operating MiR robots quickly. It comes 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 and how to set up and use top modules and accessories, such as charging stations, hooks, shelf lifts, and pallet lifts.

  • Page 9: Version History

    1. About this document 1.2 Version history This table shows current and previous versions of this document. MiR1000 Revision Release date Description 2019-05-31 First edition. 2019-07-11 New sections: Create mission, Mission editor, Lift modifications Updated section: Status lights. 2019-10-08 New section: Updating MiR1000 software. 2020-06-11 New section: IT Security Added new information about payload...

  • Page 10: Product Presentation

    2. Product presentation 2. Product presentation MiR1000 is an autonomous mobile robot that can transport loads up to 1000 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. Users operate MiR1000 via a web-based user interface, which is accessed through a browser on a PC, smartphone, or tablet.

  • Page 11: Main Features Of Mir1000

    • Efficient transportation of heavy loads The robot is designed to automate transportation of loads up to 1000 kg. • Sound and light signals The robot continuously signals with light and sounds, indicating where it will drive and its current status, for example, waiting for a mission, driving to a destination, or destination reached.

  • Page 12: Top Modules

    A pallet lift for EU pallets may be mounted on MiR1000 enabling it to automate the internal transport of EU pallets. • MiR Pallet Rack Use a MiR Pallet Rack with MiR Pallet Lift 1000. The lift places and picks up US standard 40 x 48 in (1016 x 1219 mm) pallets from the rack autonomously. • MiR EU Pallet Rack Use a MiR EU Pallet Rack with MiR EU Pallet Lift 1000.

  • Page 13: External Parts

    2. Product presentation 2.3 External parts This section presents the parts of MiR1000 that are visible on the outside. Figure 2.1. MiR1000 external parts. Table 2.1. Identification of the external parts in Figure 2.1 Pos. Description Pos. Description Left cover plate: access to Right cover plate: access to Power interface, GPIO Aux.
  • Page 14 2. Product presentation Pos. Description Pos. Description Rear safety laser scanner— Right side maintenance Obstacle detection on hatch: opens to the right side page 66 compartment—see Internal parts on page 19 Emergency stop button: four Proximity sensors: eight pcs., buttons, two on each side— two in each corner behind Emergency stop circuit the corner covers—see...
  • Page 15 2. Product presentation Figure 2.2. Placement of the identification label. Figure 2.3. Example of a MiR1000 identification label. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 16 2. Product presentation Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR1000 identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots. The nameplate identifies the complete MiR application, for example, a robot with a top module.
  • Page 17 2. Product presentation The control panel buttons Figure 2.5. The MiR1000 control panel. Table 2.1. Identification of items on the control panel in Figure 2.5 Pos. Description Pos. Description Manual stop button Resume button Power button Operating mode key Manual stop Pressing this button stops the robot.
  • Page 18 2. Product presentation operating mode changes. • Lets the robot start operating after powering up. Color indication: • Blinking blue: The robot is waiting for a user action (clear the Emergency stop state, acknowledge the change of operating mode). Power Pressing this button for three seconds turns the robot on or shuts it off.

  • Page 19: Internal Parts

    2. Product presentation Manual mode In this mode, you can drive the robot manually using the joystick in the robot interface. Only one person can control the robot manually at a time. To ensure that nobody else takes control of the robot, the robot issues a token to the device on which you activate the Manual mode.
  • Page 20 2. Product presentation Figure 2.6. Internal parts of the front compartment. Table 2.1. Identification of internal parts in Figure 2.6 Pos. Description Pos. Description Cable chain: contains a group of Safe Torque Off contactors: cuts cables that connect with robot power to the robot's motor when components outside of the front the robot enters Protective or...
  • Page 21 2. Product presentation Pos. Description Pos. Description Motor controller carrier board: Safety PLC: controls the safety contains the motor controllers system—see Safety system on and the controller for proximity page sensors and light indicators. Rear compartment The rear compartment holds the robot’s battery, Battery disconnect switch, and charging interface.
  • Page 22 Manual brake release switch on page Charging connection interface: Battery with connector: main for external MiR cable charger. power to the robot. Connection interface for MiR Controller: connect a MiR controller to drive the robot with a joystick.
  • Page 23 2. Product presentation Side compartment components The left and right side compartment components are listed in Table 2.3. Figure 2.8. Internal parts of the MiR1000 left and right side compartments. Table 2.3. Identification of internal parts in Figure 2.8 Pos. Description Pos.
  • Page 24 2. Product presentation Figure 2.9. The top compartments on the robot. Top compartment components The top compartments interfaces are listed in Table 2.4. For detailed information on electrical interfaces, see Interface specifications on page 190. Figure 2.10. Interfaces in the top compartments. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 25: Manual Brake Release Switch

    2. Product presentation Table 2.4. Identification of interfaces in Figure 2.10 Pos. Description Pos. Description Ethernet GPIO: General purpose I/O Power Auxiliary Emergency stop Auxiliary safety functions 2.5 Manual brake release switch The Manual brake release switch is located in the rear maintenance hatch below the Battery disconnect switch.

  • Page 26: Warranty

    3. Warranty 3. Warranty Mobile Industrial Robots offers a standard warranty on all products. Contact your distributor to see the terms and extend of product coverage. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1000 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1000, accessories, or any other equipment due to programming errors or malfunctioning of MiR1000.

  • Page 27: Accessing The Internal Parts

    4. Accessing the internal parts 4. Accessing the internal parts Most internal parts of MiR1000 are accessed through maintenance hatches that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments 4.1 Front compartment To open the front compartment, follow these steps: Push the two white buttons and pull the hatch.
  • Page 28 4. Accessing the internal parts Turn the two levers 180°. Pull out the compartment drawer while holding underneath it and lifting slightly. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 29: Rear Compartment

    4. Accessing the internal parts 4.2 Rear compartment To open the rear compartment, push the two white buttons at the same time and pull the hatch. 4.3 Side compartments To open a side hatch, turn the two screws 90° with a flat-head screwdriver, and pull open the hatch.

  • Page 30: Top Compartments

    4. Accessing the internal parts 4.4 Top compartments To open a top compartment, remove the four screws and lift off the top cover. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 31: Safety

    5. Safety 5. Safety Read the information in this section before powering up and operating MiR1000. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1000 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1000, accessories, or any other equipment due to programming errors or malfunctioning of MiR1000.

  • Page 32: General Safety Precautions

    5. Safety 5.2 General safety precautions This section contains general safety precautions. WARNING If the robot is not running the correct software and is therefore not functioning properly, the robot may collide with personnel or equipment causing injury or damage. •...
  • Page 33 • Only use an original MiR charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns.
  • Page 34 Rinse well with water, and immediately seek medical care. If left untreated, the battery fluid could cause damage to the eye. • Use only an original MiR charger (cable charger or charging station) and always follow the instructions from the battery manufacturer. •...

  • Page 35: Intended Use

    5. Safety WARNING Load falling or robot overturning if the load on the robot is not positioned or fastened correctly can cause fall injuries to nearby personnel or damage to equipment. • Ensure that the load is positioned according to the specifications and is fastened correctly—see Payload distribution on page 182.
  • Page 36 • MiR Pallet Lift 1000 used with MiR Lift Pallet Rack. • MiR EU Pallet Lift 1000 used with MiR EU Pallet Rack. • MiR Shelf Lift to transport MiR supported shelves. MiR1000 can be used as a partly complete machine as defined in the EU machinery directive, with top modules that do not meet the above limitations.

  • Page 37: Users

    5. Safety 5.4 Users MiR1000 is only intended to be used by personnel that have received training in their required tasks. There are three types of intended users for MiR1000: commissioners, operators, and direct users. Commissioners Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and maintenance of MiR1000 and have the following main tasks: •...

  • Page 38: Foreseeable Misuse

    5. Safety All other persons in the vicinity of MiR1000 are considered indirect users and must know how to act when they are close to the robot. For example, they must be aware that visibly marked operating hazard zones must be respected. 5.5 Foreseeable misuse Any use of MiR1000 deviating from the intended use is deemed as misuse.
  • Page 39 5. Safety • You risk losing control of the robot if it is accessed by unauthorized users. Consider increasing the IT security of your product—see IT security on page NOTICE Other significant hazards may be present in a specific robot installation and must be identified during commissioning.

  • Page 40: Getting Started

    Read Safety on page 31 before powering up MiR1000. In some images in this section, the robot is shown with a MiR EU Pallet Lift 1000 top module. 6.1 In the box This section describes the contents of the MiR1000 box.

  • Page 41: Unpacking Mir1000

    The USB flash drive in the document folder has the following content: • MiR1000 User Guide • MiR1000 Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference • Getting the robot online •...
  • Page 42 6. Getting started Remove the screws that attach the walls of the box to the box lid and the base of the box. Remove the lid from the box. Take the folder with the printed documents and the USB flash drive out of the box. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 43 6. Getting started Remove the walls of the box and the protective foam blocks. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 44 6. Getting started Cut the protective straps. For increased visibility, you can add the supplied high visibility stickers to the four corners of the robot. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 45: Connecting The Battery

    6. Getting started Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush with the base of the box. Remove the wheel stop board from the pallet to let the robot drive on the ramp. 6.3 Connecting the battery To connect the battery to the robot, you need to open the rear compartment—see Accessing...

  • Page 46: Powering Up The Robot

    6. Getting started Once you have accessed the rear compartment, turn the Battery disconnect switch to the On position. The battery is now connected, and you can close the rear maintenance hatch. 6.4 Powering up the robot To power up the robot, follow these steps: Ensure that all four Emergency stop buttons are in the released state.
  • Page 47 6. Getting started Press the Power button for five seconds. The robot turns on the red signal lights and starts the software initialization process. When the initialization process ends, the robot goes into Protective stop. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 48: Connecting To The Robot Interface

    6. Getting started Press the Resume button to clear the Protective stop. The robot is now ready for operation. 6.5 Connecting to the robot interface When the robot is turned on, it enables the connection to its WiFi access point. The name of the access point appears in the list of available connections on your PC, tablet, or phone.
  • Page 49 MiR_20XXXXXXX. The access point name is derived from the robot application's model serial number. In a browser, go to the address mir.com and sign in. Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in Manual mode on the next page.

  • Page 50: Driving The Robot In Manual Mode

    6. Getting started 6.6 Driving the robot in Manual mode CAUTION When driving the robot in Manual mode, it is possible to mute the Protective fields and drive the robot into Forbidden zones and Unpreferred zones on the map. This means that the robot will only stop when it is very close to an obstacle and will not respond to zones on the map.
  • Page 51 6. Getting started In the robot interface, select the joystick icon. The joystick control appears. Drive the robot off the ramp using the joystick. Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping.

  • Page 52: Checking The Hardware Status

    6. Getting started 6.7 Checking the hardware status To check that all hardware components work as intended, follow these steps: Sign in to the robot interface—see Connecting to the robot interface on page Go to Monitoring > Hardware health. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 53: Mounting The Nameplate

    Check that all elements on the page have the status and that they have green dots on the left. For more information, see Hardware health in MiR Robot Reference Guide on the MiR website. 6.8 Mounting the nameplate Before using MiR1000, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see...
  • Page 54 6. Getting started To mount the nameplate correctly, follow these steps: Locate the right side hatch—see External parts on page Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 55: Shutting Down The Robot

    6. Getting started 6.9 Shutting down the robot To shut down MiR1000, follow these steps: Ensure that the robot is not moving or executing an action. Press the Power button for three seconds. The robot starts the shutdown process. The status lights waver yellow, and the Power button blinks red.

  • Page 56: Battery And Charging

    7. Battery and charging 7. Battery and charging The robot is powered by a lithium battery that can be charged with a MiR cable charger or a MiR Charge 48V charging station. 7.1 Charging the robot This section describes how to charge MiR1000 using a MiR cable charger.

  • Page 57: Disconnecting The Battery

    7. Battery and charging Use only an original MiR cable charger. For information about the charging time, see specifications on the MiR website. 7.2 Disconnecting the battery Whenever the robot is to be transported, undergo maintenance, or stored for long periods of time, you should always disconnect the battery.

  • Page 58: Battery Disposal

    7. Battery and charging Charge the battery before storage to preserve the service life of the battery. To preserve the battery, disconnect the battery from the robot before storing the robot. 7.4 Battery disposal Return unserviceable batteries to relevant facilities in accordance with local statutory regulations.

  • Page 59: Security

    MiR1000 communicates all data over the network that it is connected to. It is the responsibility of the commissioner to ensure that it is connected to a secure network. MiR recommends conducting an IT-security risk assessment before commissioning the robot.
  • Page 60 Security patches are included from software version 2.8.3 and higher. Understanding MiR software versions MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1 means that the software is based on the second major release, the eighth minor release of the major version, the first patch release of the minor version, and, in this example, a single hot fix is included too.

  • Page 61: Navigation And Control System

    9. Navigation and control system 9. Navigation and control system The navigation and control system is responsible for driving the robot to a goal position while avoiding obstacles. This section describes the processes and components involved in the robot's navigation and control system. 9.1 System overview The purpose of the navigation and control system is to guide the robot from one position on a map to another position.
  • Page 62 9. Navigation and control system Figure 9.1. Flow chart of the navigation and control system. The user provides the necessary input for the robot to generate a path to the goal position. The robot executes the steps in the navigation loop until it reaches the goal position and stops by engaging the brakes.

  • Page 63: User Input

    9. Navigation and control system 9.2 User input To enable the robot to navigate autonomously, you must provide the following: • A map of the area, either from a .png file or created with the robot using the mapping function—see Creating and configuring maps on page 102.
  • Page 64 9. Navigation and control system Figure 9.3. The global path is shown with the blue dotted line that leads from the start to the goal position. The global path is created only at the start of a move action or if the robot has failed to reach the goal position and needs to create a new path.

  • Page 65: Local Planner

    9. Navigation and control system 9.4 Local planner The local planner is used continuously while the robot is driving to guide it around obstacles while still following the global path. Figure 9.5. The global path is indicated with the dotted blue line and is visible on the map. The local path is indicated with the blue arrow, showing the robot driving around a dynamic obstacle.

  • Page 66: Obstacle Detection

    9. Navigation and control system Figure 9.6. The local planner usually follows the global planner, but as soon as an obstacle gets in the way, the local planner determines which immediate path will get the robot around the obstacle. In this case, it will likely choose the path indicated with a green arrow.
  • Page 67 9. Navigation and control system Table 9.1. Description of how the robot sees obstacles with its sensors What the laser scanners What a human sees What the 3D cameras see A chair placed in the In the robot interface, the The 3D cameras detect corner of a room is red lines on a map are...
  • Page 68 9. Navigation and control system Figure 9.7. The two safety laser scanners together provide a full 360° view around the robot. When mapping, the safety laser scanners' view is reduced to 20 m to ensure that maps get the highest possible quality. The laser scanners have the following limitations: •...
  • Page 69 9. Navigation and control system 3D cameras Two 3D cameras positioned on the front of the robot detect objects in front of the robot. The 3D cameras detect objects: • Vertically up to 1700 mm at a distance of 950 mm in front of the robot. •...
  • Page 70 9. Navigation and control system Figure 9.9. The two 3D cameras have a horizontal field of view of 114°. The 3D cameras have the following limitations: • They can only detect objects in front of the robot, unlike the full 360° view of the laser scanners.
  • Page 71 9. Navigation and control system • The cameras are not reliable at determining depth when viewing structures with repetitive patterns. • The cameras may detect phantom obstacles if they are exposed to strong direct light. Proximity sensors Proximity sensors placed in all four corners of the robot detect objects close to the floor that cannot be detected by the safety laser scanners.

  • Page 72: Localization

    9. Navigation and control system 9.6 Localization The goal of the localization process is for the robot to determine where it is currently located on its map. The robot has three inputs for determining where it is: • The initial position of the robot. This is used as a reference point for the methods used to determine the robot position.
  • Page 73 9. Navigation and control system Failed localization Successful localization Figure 9.11. In a failed localization, the robot cannot determine a position where the red lines (laser scanner data) align with the black lines on the map. When the robot can localize itself, it determines a cluster of likely positions, indicated in the images above as blue dots.
  • Page 74 9. Navigation and control system • The robot must be able to detect the static landmarks that are marked on the map to be able to approximate its current position. Make sure there are not too many dynamic obstacles around the robot so that it cannot detect any static landmarks. Cannot detect any static landmarks Can detect enough static landmarks •...

  • Page 75: Motor Controller And Motors

    9. Navigation and control system • The robot does not compare the laser scanner data with the entire map, but only around the area that it expects to be close to based on the IMU and encoder data and its initial position.
  • Page 76 9. Navigation and control system Once the robot has stopped, the mechanical brakes are enabled. These brakes are used to keep the robot in place once it has stopped. You can compare the mechanical brakes with the parking brake or hand brake in a car. The mechanical brakes are only used to stop the robot when it is in motion in emergency situations triggered by the safety system.

  • Page 77: Safety System

    10. Safety system 10. Safety system The robot's safety system is designed to mitigate significant hazards which could lead to injury, for example, stopping the robot if a person is in its path. MiR1000 is equipped with a range of built-in safety-related functions as well as safety- related electrical interfaces designed for integration with a top module.
  • Page 78 10. Safety system Operational stop The robot is in Operational stop when it is stopped through the robot interface either through a mission action or by pausing the mission. The top module and all moving parts are still connected to a power supply. Protective stop The robot enters Protective stop automatically to ensure the safety of nearby personnel.
  • Page 79 10. Safety system When the robot is in Emergency stop, the status lights of the robot turn red, and you are not able to move the robot or send it on missions until you bring the robot out of the Emergency stop.
  • Page 80 10. Safety system Figure 10.2. The Stop button is the left-most button on the control panel. Safety-related functions The following functions are integrated within the robot itself and cannot be modified or used with other applications. The following list introduces the main safety-related functions integrated in MiR1000: •...
  • Page 81 The reduced speed function can be connected to a top module, enabling it to make the robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the robot does not drive fast when the lift is raised.

  • Page 82: Personnel Detection

    10. Safety system Figure 10.3. Overview of components involved in each safety function and interface. When a safety function is triggered, the safety PLC switches the STO and brake contactors so the brakes, motors, and power supply to the top module no longer receive power. 10.2 Personnel detection The Personnel detection safety function prevents the robot from colliding with personnel or obstacles by stopping it before it collides with any detected obstacles.
  • Page 83 10. Safety system Drives when the area is clear Stops when an obstacle is detected Figure 10.4. Personnel detection ensures that the robot drives when its path is clear and stops if an obstacle is detected within its Protective field. The safety laser scanners are programmed with two sets of Protective fields. One field set is used when the robot is driving forward and the other when it is driving backward.
  • Page 84 10. Safety system WARNING The Protective field sets are configured to comply with the safety standards of MiR1000. Modifications may prevent the robot from stopping in time to avoid collision with personnel and equipment. Any modifications of the SICK configuration requires a new CE certification of the robot and compliance to all safety standards listed in the specification of the application and in other way declared.
  • Page 85 10. Safety system Field set when driving forward The following table shows speeds and the field range when driving forward. The table describes the length of the Protective field in front of the robot in different cases. Each case is defined by a speed interval that the robot may operate at. The colors and cases in Table 10.1 correspond to the field set shown in Figure 10.5.
  • Page 86 10. Safety system Table 10.2. Range of the robot's Protective fields within its backward speed interval cases. Case Speed Protective field range Comments -0.10 to 0.0 m/s 0-350 mm When pivoting -0.30 to -0.10 m/s 0-400 mm -0.60 to -0.30 m/s 0-600 mm -0.90 to -0.60 m/s 0-850 mm...

  • Page 87: Overspeed Avoidance

    10. Safety system CAUTION When the robot has muted Protective fields, it may not stop in time to avoid collisions with obstacles or personnel in its path. • Mark areas where the robot mutes its Protective fields as operating hazard zones, and inform personnel not to enter the zone while the robot is operating in it.

  • Page 88: Emergency Stop Buttons

    10. Safety system If the robot detects instability, it is immediately brought into Protective stop. This ensures that the robot cannot drive if it has lost control of the speed of each drive wheel. 10.5 Emergency stop buttons There are four Emergency stop buttons on MiR1000. When one of the buttons is pressed, it breaks the Emergency stop circuit, triggering an Emergency stop.

  • Page 89: Emergency Stop Circuit

    10. Safety system Table 10.1. Identification of parts in Figure 10.7 Pos. Description Pos. Description Front-right Emergency stop Auxiliary emergency stop button interface Rear-right Emergency stop Rear-left Emergency stop button button Safety PLC Front-left Emergency stop button 10.6 Emergency stop circuit The Emergency stop circuit goes through the four Emergency stop buttons in the robot—see Emergency stop buttons on the previous page—and then through the Auxiliary emergency...

  • Page 90: Safeguarded Stop

    10. Safety system Emergency stop button Emergency stop button Emergency stop circuit released pushed faulty Figure 10.8. If the input pins deliver 24 V to the robot, it can operate. When you push a connected Emergency stop button, both pins deliver 0 V, and the robot enters Emergency stop. If the pins do not deliver the same input, the robot enters Protective stop until the circuits are fixed.

  • Page 91: Locomotion

    10. Safety system Signal to enable Signal to enter Protective Signal to enter Protective operation stop stop Figure 10.9. If both pins deliver 24 V to the robot, it can operate. If either or both of the pins deliver 0 V, the robot enters Protective stop.

  • Page 92: Shared Emergency Stop

    10. Safety system Signal when driving Signal when stopped Figure 10.10. When the robot is driving, the safety PLC sends a 0 V signal to the top module through the Auxiliary safety function interface. When the robot is stopped, the signal becomes 24 V. Pins 5 and 6 in the Auxiliary safety function interface are used for the Locomotion function.
  • Page 93 10. Safety system Not in Emergency stop Shared emergency stop inputs are 0 V Emergency stop button on robot is Shared emergency stop inputs are pressed unequal Figure 10.11. There are four cases described above. They illustrate respectively: 1. the robot is not in Emergency stop so the output is 24 V, 2.

  • Page 94: Reduced Speed

    10. Safety system In the Auxiliary safety function interface, pins 7 and 8 are used for the output and pins 9 and 10 are used for the input of the Shared emergency stop function. 10.10 Reduced speed The Reduced speed interface is used to signal to the robot that it must drive at a reduced speed of 0.3 m/s. This is the same speed used when the robot mutes its Protective fields.

  • Page 95: Light Indicators And Speakers

    10. Safety system The safety PLC first turns off the STO contactors so power is cut from the motors. To ensure that the STO contactors switch states as expected, there is a feedback circuit that connects to the safety PLC to verify that the contactors switch to the correct state.
  • Page 96 10. Safety system Figure 10.13. Indicator lights on MiR1000. Table 10.1. Identification of indicator lights in Figure 10.13 Pos. Description Pos. Description Status lights Signal lights Status lights The LED light bands running all the way around the robot indicate the robot’s current operational state.
  • Page 97 Prompt user / Waiting for user's response Cyan wavering (robots connected to MiR Fleet Waiting for MiR Fleet resource only) When the robot's battery reaches a critically low level of power (0-1%), the ends of the status lights flash red.
  • Page 98 10. Safety system Speakers Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of the default sounds. Sounds are used in missions and can be used as alerts: “Please step aside” or to attract peoples attention, for example, when the robot has arrived at a position.

  • Page 99: Commissioning

    11. Commissioning 11. Commissioning This section describes how to commission MiR1000. Commissioning should be done without any load on the robot, except when doing brake tests where the robot should have a load equaling the heaviest load it will be driving with. Only persons assigned with the commissioning task should be present during commissioning.
  • Page 100 Temperature and humidity Temperatures outside of the approved temperature range can affect the performance and durability of the robot—see specifications on the MiR website. This is especially relevant for the robot's battery—see Battery storage on page...

  • Page 101: Risk Assessment

    Make sure the environment MiR1000 operates in is suitable for its IP rating—see specifications on the MiR website. Static landmarks and dynamic obstacles The robot uses static landmarks to navigate by.

  • Page 102: Creating And Configuring Maps

    11. Commissioning • 1.7.1 Information and warning on the machinery • 1.7.2 Warning of residual risks • 1.7.3 Marking of the machinery • 1.7.4 Instructions The risk assessment will lead to new instructions that shall be written by the party who draw up the CE marking.
  • Page 103 11. Commissioning Figure 11.1. Example of a map without any added zones, positions, or markers. The robot must have a map for every area that it operates in. It is important to create robust and reliable maps for the robot to perform effectively and safely. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 104 MiR Fleet. • If you are using ramps, connect the maps using transitions—see MiR Robot Reference Guide, or ask your distributor for the guide How to set up transitions between maps. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 105 11. Commissioning Each site also includes other elements in the interface, such as missions. For the full list of what is included in a site, see MiR Robot Reference Guide on the MiR website or in the Help section of the robot interface.
  • Page 106 11. Commissioning Cleaning up a map The robot navigates best when using a clean map with as little noise as possible. Figure 11.3 is an example of what a map can look like after the mapping process but where it still needs further editing.
  • Page 107 11. Commissioning There are several tools in the robot interface that you can use to improve your map: • Erase uploaded or recorded data when editing walls to remove walls that were created around dynamic obstacles and noise on the map. Noise refers to recorded data that originates from interfering elements.
  • Page 108 For more information about what each zone does, see MiR Robot Reference Guide on the MiR website, or ask your distributor for the guide How to use zones on a map.
  • Page 109 11. Commissioning For more examples, contact your distributor for the guide How to use zones on a map. Descending staircases Issue: The robot sensors cannot detect descending staircases. Marking a staircase as a wall on the map will only confuse the robot as it will try to navigate from a wall that is not there. Solution: Mark staircases and areas surrounding staircases or holes in the floor as Forbidden zones on the map.
  • Page 110 11. Commissioning Highly dynamic areas A highly dynamic area is an area where objects are moved frequently. This could be a production area where pallets and boxes are often moved back and forth. Issue: The robot will stop if a person steps out in front of it. In a transient work flow area, the robot will stop and reassess its paths many times a day, thereby wasting valuable time.
  • Page 111 11. Commissioning Doorways Going through narrow doorways can cause problems for the robot's global planner since the robot must drive closer to wall edges than it usually would. It can also be hazardous for the people working near the robot, as they might not see the robot coming. Issue: The robot does not plan its global path through narrow doorways, since this will bring the robot too close to a known obstacle.
  • Page 112 11. Commissioning Shelves Shelves are often placed in a certain height above the floor on four (or more) posts and will often appear as dots on a map for the robot. This may cause the robot to believe that there is enough space (if the posts are far enough apart) below the shelves to pass through.
  • Page 113 If there isn't enough space for robots to pass each other, you can use a Limit-robots zone to specify that only one robot may drive down the corridor at a time. To use Limit-robots zones, your robots must be connected to MiR Fleet. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 114: Markers

    Figure 11.8. A VL-marker with its entry position. There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers. V-marker is a small, V-shaped marker that is designed for the robot to either dock to so its front or its rear is facing the marker.
  • Page 115 11. Commissioning robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm. Figure 11.9. The icon used for V-markers in the interface and an illustration of how robots can dock to the marker.
  • Page 116 11. Commissioning can be on any side of the robot. The marker is shaped liked an L with a defined angle of 90˚ and the dimensions 400 mm x 600 mm. Figure 11.11. The icon used for L-markers in the interface and an illustration of how robots can dock to the marker.

  • Page 117: Positions

    There are different types of positions depending on whether the robot is part of a fleet or drives with top modules, but the standard position that is available in all MiR applications is the Robot position. This position has no special features, it simply marks a location where you want to be able to send the robot to.

  • Page 118: Creating Missions

    11. Commissioning 11.6 Creating missions MiR robots function through missions that you create. A mission is made up of actions, such as: move actions, logic actions, docking actions, and sounds, which can be put together to form a mission with as many actions as needed. Missions themselves can also be embedded into other missions.
  • Page 119 How to use variables in missions. To create efficient missions, you should first familiarize yourself with the available actions in MiR Robot Interface—see the MiR Robot Reference Guide— and then consider: • Which tasks do I want the robot to perform? •...
  • Page 120 155. For more information on building robust missions, see the Mission robustness videos in MiR Academy on the MiR website. Contact your distributor for access to MiR Academy. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 121: Creating A Footprint

    For more information on creating missions, see MiR Robot Reference Guide and the Making your first missions-course in MiR Academy on the MiR website. Contact your distributor for access to MiR Academy. 11.7 Creating a footprint The footprint specifies how much space the robot occupies, including any loads or top modules.
  • Page 122 11. Commissioning Default footprint Larger footprint Figure 11.16. Examples of the default robot footprint and an extended footprint. The values displayed along each line is the length of the edge in meters. The number of footprints you need to define depends on: •...
  • Page 123 For a more thorough guide to creating footprints, contact your distributor for the guide How to change the robot footprint. For more information about the footprint editor, see MiR Robot Reference Guide on the MiR website. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 124 11. Commissioning If you want to change the footprint in a mission, use the Set footprint action found under the Move action group. This is used to change the footprint when the robot picks up a load that extends the footprint or places a load and the footprint returns to the default. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 125: Using Operating Hazard Zones

    11. Commissioning If you want to edit the default footprint of the robot, for example if the mounted top module is larger than the robot, go to System > Settings > Planner, and select a new footprint under Robot footprint. 11.8 Using operating hazard zones Operating hazard zones are areas that must be visibly marked to comply with safety standards in EN 1525 and ISO 3691-4.
  • Page 126 Sound and light zones can be used to add acoustic and visual warnings when the robot drives into the zones. For more information about zones, see the MiR Robot Reference Guide. Docking to a marker If the robot needs to dock very close to a marker or another object, you can choose to make the robot mute its Protective fields temporarily—see...

  • Page 127: Making A Brake Test

    11. Commissioning Figure 11.17. The striped black and yellow line identifies the required operating hazard zone around the marker. The robot is placed on the Entry position to the marker.  You must mark the floor area one meter around the docking marker and the robot when it is at the entry position.

  • Page 128: Creating User Groups And Users

    The decline of the surface the robot drives on Because of this, it is not possible to predetermine the exact braking distance of MiR robots. The distance has to be determined in the environment and under the driving conditions the robot will be operating in.
  • Page 129 11. Commissioning For more details on users and dashboards, see MiR Robot Reference Guide on the MiR website. Create user groups Setup > User groups, you can create specific user groups with specific access to different parts of the robot interface.
  • Page 130 11. Commissioning Figure 11.19. You can select the specific parts of the robot interface that the user group has access to. Create users Setup > Users, you can create new users and select: • Which user group they belong in. •...

  • Page 131: Creating Dashboards

    11. Commissioning Figure 11.20. When you create a user, you must fill out the fields shown in this image. Table 11.1. Examples of which users MiR recommends should be able to edit which features Feature User group Controlling the robot manually...
  • Page 132 11. Commissioning For more details on how to use and create dashboards, see MiR Robot Reference Guide on the MiR website. A dashboard is made up of a number of widgets, each representing a feature in the system, for example a particular mission, the map the robot is operating on, or the current mission queue.

  • Page 133: Updating Mir1000 Software

    Try to include only the necessary widgets. 11.12 Updating MiR1000 software MiR continuously updates the software the robots use, either to fix issues, to improve existing features, or to introduce new features. Each software release is issued with a release note explaining the content of the update and its target audience.

  • Page 134: Creating Backups

    Backups take up some of your robot's memory space. It is a good idea to remove any old backups you are certain you will not need in the future. For more information on how to create, roll back, and delete backups, see MiR Robot Reference Guide on the website.
  • Page 135 11. Commissioning Figure 11.22. Under System > Settings, there are several menus where you can edit your robot's settings. Remember to restart the robot if you have made any changes to the system settings. Planner In the Planner section, you set the basic parameters for driving the robot. This section refers to the local and global planner functions.
  • Page 136 11. Commissioning Figure 11.23. You set basic parameters for driving the robot in the Planner section. Robot height defines the height of the robot including top modules. Use this setting if your robot operates permanently with a top module that makes the combined robot application higher than the robot itself.
  • Page 137 11. Commissioning Maximum planning time defines the maximum time allowed for planning a path. By default, this parameter is disabled, meaning the robot will always try to finish planning a global path no matter how long it takes. If you want the robot to report an error after a set time period instead, enter the maximum amount of time in seconds that the robot can spend planning a path before it reports an error.
  • Page 138 11. Commissioning Line-following disabled Line-following enabled Figure 11.24. Example of where the robot might benefit from using a Line-following configuration. When there isn't enough space for the robot to go around an obstacle, it will often spend more time trying to maneuver around the obstacle and correct its trajectory afterward than it would have just waiting for the obstacle to move out of the way.
  • Page 139 11. Commissioning Figure 11.25. Change the parameters regarding docking to and from markers in the Docking section. Undock from markers, you can select if the robot should undock from a marker before it starts moving from a docked position. It is usually best to set this setting to True to prevent the robot from going into Protective stop when moving away from markers.
  • Page 140 11. Commissioning Safety system In the Safety system section, you can change which warning sound the robot should emit when it mutes its Protective fields and how loud the sound should play. Figure 11.26. In the Safety system section, you can change the robot's warning sound. Select Muted protective fields sound to change the warning sound that is played when the...
  • Page 141 Enable this feature if the robot drives with an application from Universal Robots. Fleet makes the robot visible for MiR Fleet. Enable this feature if the robot is part of a fleet. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 142 I/O modules. This can be used for setting PLC registers and trigger missions. Enable this feature if the robot uses I/O modules, for example, when any MiR top module is mounted to the robot. Mute protective fields enables an action to mute the robot's Protective fields from missions.

  • Page 143: Usage

    12. Usage 12. Usage The main way to use MiR1000 is through missions that you create. In the following sections you will find practical examples of how missions can be tailored to different tasks. The examples include: • Setting markers and positions on the map. •...
  • Page 144 • For L-markers, the following values apply: • A: 1000 mm ±50 mm B: 200 mm ±50 mm • For all other markers, the robot must be positioned approximately one meter directly in front of the marker.
  • Page 145 12. Usage Go to Setup > Maps, and select Edit for the active map. Within the editor, select Markers in the Object-type drop-down menu, and then select Draw new marker in the editor tools. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 146 12. Usage In the Create marker dialog box, name the marker. Under Type, select your marker type. In this case, a VL-marker is used. Then select Detect marker. The X, Y, and orientation values will automatically be filled out with the current position of the robot.
  • Page 147 12. Usage • To change where the robot stops relative to the marker, you can adjust the offsets. These are valued in meters and are based on the centerpoint of the robot towards the marker. • The X-offset moves the robot closer to or further from the marker in meters. •...

  • Page 148: Creating Positions

    12. Usage Select to create the marker. The marker is now visible on the map. You can make the robot dock to the marker by selecting it on the map and selecting The marker can also be used in missions. 12.2 Creating positions The following steps describe how to create a position on a map.
  • Page 149 12. Usage In the Object-type drop-down menu, select Positions, and then select Draw a new position Select where on the map you want the position to be, and choose in which direction you want it to face. Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position.

  • Page 150: Creating The Mission Prompt User

    12. Usage Select to create the position. The position is now visible on the map. You can send the robot to the position by selecting it on the map and selecting to. The position can also be used in missions. 12.3 Creating the mission Prompt user Prompt user actions are used for prompting the user with a question on how the robot should proceed.
  • Page 151 12. Usage To create the mission, follow the steps below: Go to Setup > Missions. Select Create Mission. Name the mission Prompt user. Select the group and site you want it to belong to. Select Create mission. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 152 12. Usage Select the following actions: • In the Logic menu, select Prompt user. • In the Move menu, select Move. • In the Move menu, select Move. 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.
  • Page 153 12. Usage In the Prompt user action, drag a Move to action under the box and a Move to action under the box. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 154 12. Usage In the first Move to action, under Position, select p1. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 155: Creating The Mission Try/Catch

    12. Usage In the second Move to action, under Position, select p2. The mission should look like this: Select Save to save the mission. 12.4 Creating the mission Try/Catch Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you can define what the robot should do if, at any point, it fails to execute its main mission.
  • Page 156 12. Usage providing an alternative course of action if the main mission fails. Try/Catch is a mission example where the robot runs the mission Prompt user created in Creating the mission Prompt user on page 150, and if the robot for some reason fails to complete the mission, the robot plays a sound.
  • Page 157 12. Usage Select the following actions: • In the Error handling menu, select Try/Catch. • Select the Prompt user mission you have made. The mission menu you have saved the mission under will figure as a menu in the mission editor. The menus contain both missions and actions.
  • Page 158 12. 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.
  • Page 159 12. Usage Drag the Play sound action under the Catch box under Try/Catch. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 160 12. Usage In the Play sound action, set the parameters as follows: • Sound: Select Beep. • Volume: Enter the value 80. This is approximately 64 dB. • Mode: Select Custom length so you can enter the duration of time the sound is played.

  • Page 161: Creating The Mission Variable Docking

    12. Usage 12.5 Creating the mission Variable docking All mission actions that require the user to specify the value of a parameter when they choose to use the mission have the option of defining a variable. If you use a variable in a mission when you add the mission to the mission queue or embed it inside another mission, you must select a value for the parameter where the variable is used.
  • Page 162 12. Usage To create the mission, follow these steps: Go to Setup > Missions. Select Create Mission. Name the mission Variable docking. Select the group and site you want it to belong to. Select Create mission. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 163 12. Usage Select the following actions: • In the Move menu, select Move. • In the Safety system menu, select Mute protective fields. • In the Move menu, select Docking. • In the Logic menu, select Wait. • In the Move menu, select Relative move.
  • Page 164 12. Usage In the Move action, make the parameter Position a variable that can be set each time you use the mission. The following steps describe how to create a variable: • Under Position, select Variables • Select Create variable in the upper-right corner.
  • Page 165 12. Usage • Under Position type, select Entry. This will make the robot move to the entry position of the marker. If the parameter Position type does not show up at first, select Validate close, and then open the action dialog box again. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 166 12. Usage In the Mute protective fields action, set the parameters as follows: • Sound: Select Default • Front: Create a variable titled Mute front. • Rear: Create a variable titled Mute rear. • Sides: Create a variable titled Mute sides. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 167 12. Usage Drag the Docking action into the Mute protective fields action, and under Marker position, create another variable titled Marker. If two variables share the same name, the value you select for that variable will be applied both places. In this case, by using the variable Markers in two places, you ensure that the robot docks to the same marker that it moved to in the first action.
  • Page 168 12. Usage Drag the Wait action into the Mute protective fields action, and under Time, create another variable titled Time. Drag the Relative move action into the Mute protective fields action, and under X, enter -2. This will make the robot move two meters back to undock from the marker. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 169: Testing A Mission

    12. Usage Select Save to save the mission. 12.6 Testing a mission After you create a mission, always run the mission to test that the robot executes it correctly. NOTICE Always test missions without load to minimize potential hazards. To run a mission, follow these steps: Go to Setup > Missions.
  • Page 170 12. Usage We recommend running the mission 5-10 times to ensure that it runs smoothly. If something interrupts the mission, use a Try/Catch action in that step of the mission and decide what the robot has to do if a mission action fails.

  • Page 171: Applications

    You can install top modules on top of MiR1000 for specific applications. For more information about top modules, see the MiR website. Top modules from MiR are delivered with Operating guides with instructions on how to mount them on and operate them with the robot.
  • Page 172 13. Applications Figure 13.1. Mounting holes on the top of MiR1000. Certain top modules may require the installation of an extra Emergency stop button. Perform a risk assessment according to standard ISO 12100—see Risk assessment on page 101. CAUTION Certain top modules may lead to new hazards and increased risks that cannot be eliminated or reduced by the risk reduction measures applied by Mobile Industrial Robots.
  • Page 173 13. Applications CAUTION MiR1000 may tip over if weight and payload specifications are not met, risking damage to equipment or injury to nearby personnel. • Stay within the specifications for weight and the total payload’s center of gravity—see Payload distribution on page 182.

  • Page 174: Maintenance

    14. Maintenance 14. Maintenance The following maintenance schedules give an overview of regular cleaning and parts replacement procedures. It is the responsibility of the operator to perform all maintenance tasks on the robot. The stated intervals are meant as guidelines and depend on the operating environment and frequency of usage of the robot.
  • Page 175 14. Maintenance Table 14.1. Regular weekly checks and maintenance tasks Parts Maintenance tasks Robot top cover Clean the robot on the outside with a damp cloth. Do not use compressed air to clean the robot. Laser scanners Clean the optics covers of the scanners for optimum performance.

  • Page 176: Regular Checks And Replacements

    14. Maintenance 14.2 Regular checks and replacements Before starting replacement tasks that involve removal of the top cover or side hatches: • Shut down the robot—see Shutting down the robot on page • Disconnect the battery—see Disconnecting the battery on page Table 14.2 contains the parts that you should check and how often you should do that.
  • Page 177 14. Maintenance Part Maintenance Interval Loudspeaker Check that all visual and auditory Check monthly, and replace as and signal warnings function. needed. lights Swivel wheels Check bearings and tighten, and Check weekly, and replace as (the four check the wheels for wear and needed.
  • Page 178 14. Maintenance Part Maintenance Interval charging that each connector moves up station and down freely. terminals 3D cameras Check for visual defects, for Check monthly, and replace as example cracks and scratches. needed. Proximity Check for dust or dirt, and clean Check weekly.

  • Page 179: Battery Maintenance

    14. Maintenance 14.3 Battery maintenance The battery is generally maintenance-free but should be cleaned if it gets very dirty. Before cleaning, the battery must be removed from any power source. Only use a dry and soft cloth to clean the housing of the battery, and do not use abrasives or solvents. For storage of the battery, see Battery storage on page For disposal of the battery, see...

  • Page 180: Packing For Transportation

    15. Packing for transportation 15. Packing for transportation This section describes how to pack the robot for transportation. 15.1 Original packaging Use the original packaging materials when transporting the robot. Figure 15.1. The packing materials. The packaging materials are: • The bottom of the box (the pallet) •...

  • Page 181: Packing The Robot For Transportation

    15. Packing for transportation 15.2 Packing the robot for transportation Before packing the robot for transportation: • Shut down the robot—see Shutting down the robot on page • Disconnect the battery—see Disconnecting the battery on page To pack the robot, repeat the steps in Unpacking MiR1000 on page 41 in the reverse order.

  • Page 182: Payload Distribution

    If the friction coefficient is not in this range, the commissioner must take additional measures to ensure a safe operation. The specifications apply to total payloads of up to 1000 kg. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 183 16. Payload distribution Side view 750 kg MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 184 16. Payload distribution Front view 750 kg MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 185 16. Payload distribution Top view 750 kg MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 186 16. Payload distribution Side view 1000 kg MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 187 16. Payload distribution Front view 1000 kg MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 188 16. Payload distribution Top view 1000 kg MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 189: Disposal Of Robot

    17. Disposal of robot 17. Disposal of robot MiR1000 robots must be disposed of in accordance with the applicable national laws, regulations, and standards. Fee for disposal and handling of electronic waste of Mobile Industrial Robots A/S robots sold on the Danish market is prepaid to DPA-system by Mobile Industrial Robots A/S. Importers in countries covered by the European WEEE Directive 2012/19/EU must make their own registration to the national WEEE register of their country.

  • Page 190: Interface Specifications

    18. Interface specifications 18. Interface specifications This section describes the specifications of the top application interfaces. NOTICE Read Safety on page 31 before using the electrical interface. MiR1000 has five electrical interfaces divided into two groups: • General purpose interfaces: •...
  • Page 191 18. Interface specifications Power Figure 18.1. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). Table 18.1 contains the description of the pins of the Power interface. The maximum current across pins 1 and 3 combined is 20 A. You cannot draw 20 A from both of them at the same time.
  • Page 192 18. Interface specifications Signal Max. Description number name current instead. Intended for high power loads like motors or actuators. Ground. 20 A Turns off in case of a Protective or Emergency stop. SafePWR This output is controlled by the internal safety PLC and the STO contactor, to ensure that power is always disconnected from this pin in case of a protective or emergency stop.
  • Page 193 18. Interface specifications GPIO Figure 18.2. Pin numbers: male connector viewed from the front (left) and wiring diagram (right). MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 194 The pallet lift and shelf features use a different kind of communication that is specific to the MiR top modules. Outputs (O0, O1, O2, O3) can be toggled on and off by the robot in a Set I/O module mission action or manually in Setup > I/O...
  • Page 195 18. Interface specifications Inputs (I0, I1, I2, I3) can be used by the top application to send inputs to the robot. When 24 V is connected to the input pin, the robot registers the input as active. Figure 18.4. Example of I2 registered as high by the robot. Output pins must be connected to RTN pins, and input pins must be connected to 24V pins.
  • Page 196 Various protocols are supported, such as Modbus. For more information on how to use Modbus, ask your distributor for the guide How to use Modbus with MiR robots. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 197: Safety Interfaces

    18. Interface specifications Table 18.3 contains the description of the pins of the Ethernet interface. Table 18.3. Description of the pins in the Ethernet interface Pin number Signal name 18.2 Safety interfaces This section describes the safety interfaces located in the right side top compartment of MiR1000.
  • Page 198 18. Interface specifications Table 18.4 contains the description of the pins of the Auxiliary emergency stop interface. Table 18.4. Description of the pins in the Auxiliary emergency stop interface Signal Type Description number name Test output Output 24 V output signal from the safety PLC for the Emergency stop circuit.
  • Page 199 18. Interface specifications Auxiliary safety functions Figure 18.7. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). The Auxiliary safety functions interface is designed to support safety functions that can trigger a Protective stop—see Safety system on page Table 18.5 contains the description of the pins of the Auxiliary safety functions interface.
  • Page 200 18. Interface specifications Signal Type Description number name Safeguarded Input When inactive, the robot enters Protective stop. stop 2 If pins are unequally set for a period greater than three seconds, the robot must be restarted. Locomotion Output Active when the robot is standing still. Locomotion Output Active when the robot is standing still.

  • Page 201: Connector List

    18. Interface specifications 18.3 Connector list Table 18.6 describes the connectors for the different interfaces that we recommend using. Table 18.6. Description of the connectors used for the interfaces Connector name Connector type Phoenix Contact Dimensions Power M23 6p CA-06P1N8A8008S See Figure 18.8.
  • Page 202 18. Interface specifications Figure 18.9. Connector dimensions for GPIO, Auxiliary emergency stop, and Auxiliary safety functions connectors. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

  • Page 203: Error Handling

    19. Error handling 19. Error handling The robot enters an error state when it can't solve a problem on its own. Errors include: • Hardware faults • Failed localization • Failure to reach destination • Unexpected events in the system An error triggers a Protective stop.

  • Page 204: Hardware Errors

    Creating and configuring maps on page 102. To clear an error, select the red warning indicator in the interface, and select Reset. For more details on setting up missions and error handling, see MiR Robot Reference Guide on the MiR website. 19.2 Hardware errors If the error is a fault in the hardware, either you will not be able to clear it, or the error will return until the fault is fixed.
  • Page 205 For further troubleshooting, contact your distributor for specific MiR troubleshooting guides or assistance from MiR Technical Support. For a full list of MiR error codes, contact your distributor for the document Error codes and solutions. MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 206 Auto charging enables MiR Fleet to send robots to charging stations autonomously when their battery percentage is low. Auto staging Auto staging enables MiR Fleet to send idle robots to staging positions automatically. Autonomous mode Mode in which the robot drives autonomously based on the missions you assign to it.
  • Page 207 Direct user Direct users are familiar with the safety precautions in the user guide and have the following main tasks: assigning missions to MiR1000 and fastening loads to MiR1000 properly. Docker Docker is a software platform that enables users to run applications in isolated environments called containers.
  • Page 208 A MiR application is either a single MiR product or a combination of MiR products that is able to execute certain tasks. A MiR application is often a MiR base robot MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
  • Page 209 MiR top module. If a custom top module is used, the CE mark on the nameplate of the base robot does not extend to the top module. MiR Fleet interface The MiR Fleet interface is the web-based interface that enables you to communicate with your MiR Fleet.
  • Page 210 Noise With MiR robots, noise in maps refers to recorded data that originates from interfering elements. This can be physical obstacles that make the robot record walls where there are none or more subtle interferences that can make recorded walls appear pixelated.
  • Page 211 Manual mode and Autonomous mode, if the safety system detects a fault, or if the motor control system detects a discrepancy. REST API REST API is used by MiR Fleet and MiR robots to communicate status data and orders. Robot group Robot groups are used to organize your robots into various groups.

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