Mir Fleet pc User manual

Getting Started (en)

Date: 01/2021

Revision: v.1.5

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 document. Nevertheless, MiR assumes no responsibility for errors or

omissions or any damages resulting from the use of the information contained.

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

Table of contents

1. About this document 5

1.1 Where to find more information 5

1.2 Version history 6

2. Warranty 8

3. Host and network requirements 9

3.1 Network architecture 9

3.2 Network requirements 10

4. Getting Started 12

4.1 Updating robot software 13

4.2 Exporting a site file 14

4.3 Finding your fleet's IP Address 14

4.4 Signing in for the first time 16

4.5 Installing and activating your fleet 17

5. Commissioning 22

5.1 MiRFleet interface 22

5.2 Adding robots to the fleet 23

5.3 Removing robots from the fleet 28

5.4 Importing a site file 29

5.5 Activating a site 30

5.6 Setting up mission schedules 31

5.7 Creating groups 32

5.8 Setting up elevators 40

5.9 Setting up fleet dashboards 43

5.10 Enabling automatic charging and staging 45

5.11 Enabling Collision avoidance 48

5.12 Using Limit-robots zones 49

5.13 Using Evacuation zones 50

5.14 Resource handling 52

6. MiRFleet API 59

6.1 Authentication 60

7. Maintenance of MiR Fleet PC 62

7.1 Updating MiRFleet 62

7.2 Updating robots 62

1. About this document

This guide describes how to set up MiR Fleet PC and get started with the MiRFleet interface.

MiRFleet is used to organize the operation of multiple robots, ensuring that they are all

executing missions. As a MiR Fleet PC user, you have received the following information to

get started:

•License ID and password

•USBpen with MiRFleet software and this getting started guide

•An Intel® NUC Kit

NOTICE

Save this manual. It contains important setup and operating instructions.

1.1 Where to find more information

At the MiR website, you can find the following resources under the Manuals tab on each

product page:

•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.

1. About this document

•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. User guides are available in multiple languages.

•Operating guides describe how to set up and use MiR accessories or supported functions

that are mainly hardware-based, such as charging stations and shelf functions.

•Getting started guides describe how to set up MiR accessories 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.

•Best practice guides specify how much space MiR robots need to execute common

maneuvers.

•REST API references for MiR robots, MiR hooks, and MiRFleet. HTTP requests can be

used to control robots, hooks, and MiRFleet.

•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.

1.2 Version history

This table shows current and previous versions of this document.

Revision Release Date Description SW

1.0 2019-30-07 First edition 2.5.0 and

higher

1.1 2019-20-12 Second edition 2.7.9 and

higher

1.2 2020-01-12 Small corrections and modifications 2.8.0 and

higher

1.3 2020-01-31 New network requirements section and small

corrections

2.8.0 and

higher

1.4 2020-08-05 Updated for 2.10.0 software 2.10.0

and

higher

1.5 2021-01-15 Added sections: Removing robots from the

fleet and Using Limit-robots zones

Updated section: Using Evacuation zones

2.10.3.1

and

higher

1. About this document

Revision Release Date Description SW

General improvements throughout the

document

2. Warranty

Mobile Industrial Robots offers a standard warranty on all products.

Contact your distributor to see the terms and extent of product coverage.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR Fleet PC or its

accessories are damaged, changed, or modified in any way. Mobile Industrial

Robots cannot be held responsible for any damages caused to MiR Fleet PC,

accessories, or any other equipment due to programming errors or

malfunctioning of MiR Fleet PC.

3. Host and network requirements

The specifications and requirements for running MiR Fleet PC are:

•Installation file size: 3 GB

•MiRFleet update file size:~300 MB

•Server requirements: Dual core processor with minimum 2.1 GHz clock

•RAM: Minimum 8 GB

•HDD: 80 GB

3.1 Network architecture

MiRFleet is able to communicate with MiR robots and with other devices once connected to

the network. Within the network, it is also possible for other devices to connect directly to

the MiR robots through their robot interface. All devices that need to communicate with

MiRFleet must be on the same network as MiRFleet.

Figure 3.1. MiRFleet network architecture.

3. Host and network requirements

NOTICE

We discourage using the robot interface to control robots connected to

MiRFleet. You should only use the robot interface in the following situations:

•The first time you add a robot to MiRFleet. Use the robot interface to

activate the correct site and to position the robot correctly on the map.

•When adding markers or mapping. Use the robot interface to generate new

maps or to detect markers.

3.2 Network requirements

This section describes the network requirements for MiR Fleet PC.

For more details on network requirements, contact your distributor the MiR

Network and WiFi Guide .

MiR robots require a constant, stable network connection for MiR Fleet PC to function. An

unstable connection can lead to missions and resources not being assigned to robots, causing

deadlocks and idle robots.

MiR Fleet PC must be connected to the network through Ethernet and must be in the same

physical location as the connected robots. Geographical distance will cause delay between

the fleet and the robots.

The network should be capable of containing all robots, the fleet, and required devices. If

there are enough IP addresses available for all devices, the network can be used.

Wireless LAN

The requirements for the WLAN are:

•Minimum bandwidth of 1 Mb per robot with a maximum latency of 150 ms. The network

should be monitored over time to see how the bandwidth is affected during normal

working hours.

3. Host and network requirements

•Signal strength not less than -75 dBm and a signal to noise ratio of 20 dB measured from

the robot's perspective. If you experience issues, the signal strength can be measured

using specialized instruments. Any network consultant company will be able to help with

this.

•Full coverage of WiFi signal throughout the traveling path of the robot.

•Roaming happening at the correct time and without any authentication errors. Make sure

that the company network access points are controlled by the same controller.

•Access points set up to communicate and share roaming information.

The robots are able to perform some tasks under poorer network conditions

than those specified in this manual. However, key features such as Collision

avoidance, Auto charging and staging, Limit-robots zones, data synchronization

between robots, and fleet mission execution will not work fully.

Antenna

The small antenna shipped with the MiR robots is used for connecting the robots to your in-

house wireless network. It is designed for 2.4 GHz, and it does not have a powerful gain. If

you experience issues, consider replacing it with an antenna that suits your network.

The placement of the antenna is very important. If you put a metal case on top of the robot,

you must relocate the antenna.

WiFi band

Both 2.4 GHz and 5 GHz have advantages and disadvantages.

2.4 GHz: Has longer range and is better at penetrating metal and concrete, but it is limited

to three main channels and transmits data at lower speeds. Fewer channels result in signal

noise, and most production environments have a very high noise floor on the 2.4 GHz band.

Many technologies can create noise on the 2.4 GHz band, such as USB and Bluetooth.

5.0 GHz: Has shorter range and not as good performance traveling through obstacles as 2.4

GHz, but there are more main channels available, and it transmits data at higher speeds.

The exact number of channels depends on the region you are in.

It is not possible for the robot to select either 2.4 or 5 GHz. This selection is done on the

network side by creating a robot specific SSID with the desired frequency.

4. Getting Started

This section describes how to prepare your robots to join the fleet, start up your MiR Fleet

PC for the first time, and activate your license.

Before activating MiRFleet, you must complete the following actions:

1. Update the fleet robots to software version 2.7.9 or higher. All robots in the fleet must

run the same software version as MiRFleet.

2. Select one robot to be a model robot. After updating the robot, use it to create the entire

site setup you want MiRFleet to use. The model robot must contain all the site data you

need for MiRFleet to run the robots as intended, and all procedures you intend to use the

robots for should be tested on this robot before adding any robots to MiRFleet.

3. Once you have used the model robot to create a complete site, export the site, and save

it on a PC. This site file acts as a backup in case you lose any data when starting up your

MiRFleet.

The following sections describe in greater detail how to update the robot software and

export a site file. For more details on how to create a new site including elements such as

maps, missions, and dashboards, see your robot's user guide and the robot reference guide.

NOTICE

It is important to test your site and all intended uses on a single robot before

integrating it in MiRFleet. It is significantly easier to determine the cause of

any issues before the robot is connected to a fleet.

4. Getting Started

4.1 Updating robot 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.

NOTICE

When updating a MiRrobot with an attached hook, the hook software must be

updated first to ensure that the robot is compatible with the hook when

uploading the software.

Contact your distributor for the latest recommended update file.

Follow the steps below to update your robot software:

1. Connect your computer to the robot you want to update, and sign in to the robot

interface.

2. Go to System > Software versions and select Upload software.

3. Locate and select the downloaded software package. It may take 10-20 minutes for the

package to successfully upload depending on whether or not the software introduces new

security patches.

4. Once the software is uploaded, turn the robot off and then on again.

4. Getting Started

4.2 Exporting a site file

It is always a good idea to export a site file to keep as a backup. To export your site file,

follow these steps:

1. In a robot interface, go to Setup >Maps.

2. Select the site you want to use for the fleet and select Export.

The site file is now downloaded to your device and can be imported to the fleet later.

4.3 Finding your fleet's IP Address

To find the IP address of your MiRFleet, you must access the fleet's Ubuntu operating

system and follow the steps below.

1. Connect the NUC to a power socket, to your network via the Ethernet cable, to a screen,

and to a keyboard. You will be greeted by the following image:

4. Getting Started

2. Sign in as: remote,

With the password: mirremote

3. In the following frame, use the command:

mir_fleet_tool

4. A menu is displayed on a blue background. Choose Display Network connection

information to see your MiRFleet’s IP address.

4. Getting Started

5. Your MiRFleet's IP address is written in the inet addr field and are often in the format

192.168.x.xxx.

NOTICE

We recommend that you use static IP addresses for both MiRFleet and MiR

robots. Assign the IP address to the hardware’s MAC-address. Ask your

distributor for further elaboration.

4.4 Signing in for the first time

You sign in to MiRFleet by typing the fleet’s IP address in a web browser on a computer on

the same physical network as the robots and the fleet.

Figure 4.1. The example fleet IPaddress 192.168.5.167 is written in the browser to access the fleet interface

4. Getting Started

The first time you sign in, you will be asked to provide your License ID and your License key.

Both are provided in the package you received with your MiRFleetPC. To activate your

license, see Installing and activating your fleet below.

4.5 Installing and activating your fleet

You are now ready to activate the MiRFleet interface. It is only necessary to activate your

license the first time you sign in to MiRFleet.

After activation, the license is tied to the hardware of the host and can only

run on that host. If you want to change the host, the license can be deactivated

from its current host and reactivated on a new one. Contact your distributor

for assistance.

You can activate the license both online and offline by following these steps:

1. Go to the MiRFleet sign in page and select Activate license.

4. Getting Started

2. Enter the License ID and password that you have received from MiR.

3. Wait while the system attempts to activate the license.

4. If you work online, you are finished activating your license and can continue to step 9.

If you work offline, the attempt to activate the license will fail, and you are directed to a

page where you can download a request file. If the download does not start

automatically, select the link Download it here.

5. Transfer the request file to a computer with internet access, for example, via a USB pen.

4. Getting Started

6. In a browser, go to the License portal at

https://secure.softwarekey.com/solo/customers/ManualRequest.aspx and upload the

request file. The web page now generates a response file

7. Select Download and save the response file on a USB pen. Then bring it back to

MiRFleet.

4. Getting Started

8. If you are still on the Download page, select Next to go to the Upload page. Upload the

response file to MiRFleet and select Next.

9. Once your MiRFleet license is successfully activated, restart your host device.

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