MIR MiR100 User manual

Operating guide (en)
Date: 2019/11
Revision: v.1.2

MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 2
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,
express 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 © 2019 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 3
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 8
3.1 External parts 8
3.2 Internal parts 9
4. Getting started 10
4.1 In the box 10
4.2 Mounting the MiR Precision Docking station 10
5. Usage 13
5.1 Enable MiR Precision Docking 13
5.2 Creating a precision docking marker on the map 13
5.3 Creating a precision docking mission 18
6. Maintenance 22
6.1 Regular monthly checks and maintenance tasks 22
7. Troubleshooting 25
7.1 The robot does not dock or undock correctly 25
7.2 The precision docking marker is not available 25
7.3 Other issues 26

1. About this document
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 4
1. About this document
This guide describes how to set up and use MiR Precision Docking. It includes information
regarding safe usage, mounting of the MiR Precision Docking station, how to operate MiR
Precision Docking, and how to create missions that use the precision docking features.
1.1 Where to find more information
At www.mir-robots.com, several additional resources are available. To access more
information, sign in to the Distributor site with your distributor account at
http://www.mobile-industrial-robots.com/en/account/. The following resources are
available:
•Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
This page contains the following resources:
•Quick starts describe how you start operating the robot quickly. This document is in
the box with the robot in the printed format. Quick starts are available in multiple
languages.
•User guides provide all the information you need to operate and maintain the robot.
User guides are available in multiple languages.
•Risk Analysis Guides include guidelines for 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 add-ons, 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 MiRFleet and MiR AI Camera.
•Reference guides contain descriptions of all the elements of the robot and MiRFleet
interface. Reference guides are available in multiple languages.
•REST API references for robots, hooks, and MiRFleet.
•MiR network requirements specify the performance requirements of your network
for MiR robots to operate successfully.

1. About this document
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 5
•Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
This page contains the following resources:
•CAD drawings of MiR products are displayed by selecting Show CAD-files.
•Certificates for the robots are displayed by selecting Show Certificates.
•Software and Product Release Notes for your MiR product are displayed by selecting
your product in the drop-down menu.
•Distributor site > FAQ
https://www.mobile-industrial-robots.com/en/account/faq/
This page contains frequently asked questions regarding MiR products.
•Distributor site > How to
http://www.mobile-industrial-robots.com/en/account/how-to/
This page contains how-to guides that describe how to perform specific tasks with MiR
products.
•Distributor site > Troubleshooting
https://www.mobile-industrial-robots.com/en/account/troubleshooting/
This page contains troubleshooting guides to solve common issues with MiR products.
•MiR Precision Docking product page
http://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir-precision-
docking/
This page contains specifications, pictures, and brochures for MiR Precision Docking.
1.2 Version history
This table shows latest and previous versions of this document and their interrelations with
product software releases.
Revision Release Date Description SW HW
1.0 2019-18-08 First edition 2.7.0 1.0
1.1 2019-27-09 Added chapter Maintenance on
page22.
2.7.0 1.0
1.2 2019-11-13 Small corrections 2.7.0 1.0

2. Safety
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiR Precision
Docking.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR Precision Docking
or its accessories are damaged, changed, or modified in any way. Mobile
Industrial Robots cannot be held responsible for any damages caused to MiR
Precision Docking, accessories, or any other equipment due to programming
errors or malfunctioning of MiR Precision Docking.
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 serious injury or
death.
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.

2. Safety
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 7
2.2 General safety precautions
This section contains general safety precautions.
CAUTION
Risk of injury if a person is standing between MiR100/MiR200 and MiR
Precision Docking station when the robot is docking.
•Ensure that all personnel are instructed not to stand close to a robot
docking to a MiR Precision Docking station, and that the docking position is
clearly marked as a operating hazard zone with visible tape or similar.
CAUTION
Risk of injury if you insert fingers inside the precision mounting holes of MiR
Precision Docking.
•Do not insert your fingers in the precision mounting holes while the robot is
on.

3. Product presentation
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 8
3. Product presentation
MiR Precision Docking is used in cases where high precision is required. It enables a
MiR100/MiR200 to dock with a precision of ±1 mm left and right, and ±1 mm in depth. This
is illustrated in Figure 3.1.
Figure 3.1. A MiR robot can dock with a precision of less than 1 mm in horizontal directions when using MiR
Precision Docking.
The product consists of two parts: a set of precision holes mounted in the robot, known as
the robot part; and a VL-marker station with a pair of precision pins. When the robot docks,
it aligns the precision holes and pins to guarantee a precise docking. When the pins are
inserted in the holes, the robot locks onto the docking station to ensure the robot is not
displaced. When the robot needs to move to another position, the robot releases the pins,
enabling the robot to undock. The pins are also released if you use Manual control to move
the robot from the station.
You can also release the pins manually by pressing the Manual pin release
button located on the side of the robot.
The robot part is already installed in MiR100/MiR200. The station can be placed anywhere
that is accessible by the robot. It is important that free space is available around the station
to ensure the robot is able to dock safely.
3.1 External parts
Figure 3.2 identifies the parts of the robot that are unique to a MiR100/MiR200 robot
installed with MiR Precision Docking.

3. Product presentation
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 9
Figure 3.2. MiR100 installed with robot part.
Label Description Label Description
1 Precision holes 2 Manual pin release button
3.2 Internal parts
The robot part is shown in Figure 3.3. The internal unit is located at the front of the robot
beneath the robot's cover.
Figure 3.3. The robot part before it is installed in MiR100/MiR200.
Label Description Label Description
1 Precision holes 2 Internal unit

4. Getting started
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 10
4. Getting started
This section describes how to mount MiR Precision Docking, and prepare it for use.
4.1 In the box
This section describes the content of the MiR Precision Docking box.
The box contains:
1. MiR Precision Docking station
2. MiR100/MiR200 with MiR Precision Docking robot part
4.2 Mounting the MiR Precision Docking station
MiR Precision Docking consists of two parts: a robot part and a station.
NOTICE
The part mounted to the MiR robot is fitted in the MiR factory and should not
be modified manually.
Figure 4.1 is an illustration of the mountable station with precision pins. There are three
mounting holes that enable you to fix it to walls or other structures.

4. Getting started
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 11
Figure 4.1. Mountable docking station with precision pins.
Label Description Label Description
1 Mounting bar 2 Precision pin block
3 Block axle 4 Precision pin
5 Coil springs 6 Wave springs
7 Mounting hole 8 VL-marker
When mounting the MiR Precision Docking station, it is important that the station is
mounted at the correct height from the floor, so the precision pins align correctly with the
robot part. Figure 4.2 describes the distances between the three mounting holes.
For the MiR robot to dock correctly, the surface the station is mounted to must
be plane and perpendicular to the floor surface the robot drives on.

4. Getting started
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 12
The following steps describe how to mount the station correctly.
Figure 4.2. The red crosses mark the positions of the three mounting holes. The vertical measurement is from
the floor, and the horizontal measurements are the horizontal distances between the holes.
1. Mark the three points shown in Figure 4.2 on the wall, or other vertical surface, that the
station is to be mounted to.
2. Place the station over the marked points, so they are visible through the mounting holes.
Verify that this is the position where you want the station to be mounted.
It is a good idea to check that the height of the precision pins at this
position aligns with the precision holes of the robot.
3. When satisfied, remove the station and drill three holes to fit the mounting holes.
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 station back in the desired mounting position, and screw in three bolts through
the mounting holes to fix the station to the wall.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 13
5. Usage
Before being able to use MiR Precision Docking, you must enable the feature on the robot
with the mounted precision holes. In the map editor, it is then possible to create precision
docking markers that can be used in missions. This section describes how to enable MiR
Precision Docking and then use it in missions.
5.1 Enable MiR Precision Docking
The following steps describe how to enable the use of MiR Precision Docking in the Robot
interface.
1. Go to System > Settings > Features.
2. Under Precision docking select True in the drop down menu.
You have now enabled MiR Precision Docking and can create precision docking markers.
5.2 Creating a precision docking marker on the map
This section explains how to create a precision docking marker on a map.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 14
Before creating the marker, you must ensure that the robot is localized correctly in 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.
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 precision docking marker correctly on
the map using the following steps:
1. Manually drive the robot so its front is facing the MiR Precision Docking station and is
within one meter from it.
2. In the robot interface, go to the map editor for the active map where you want to create
a marker. This is done by going to Setup > Maps and selecting the edit icon next to the
map you want to work on.
3. In the Object-type drop-down menu, select Markers (1), and then select the icon to Draw
a new marker (2).

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 15
4. In the Edit marker dialog box, enter a name for the marker and select Type > Precision
marker.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 16
5. Select Detect marker. The Detect marker function tracks the position of the station using
the VL-marker and automatically sets the X, Y and orientation values in the Edit marker
dialog box, enabling it to dock to the station.
If the robot is too far from the station, a message that the robot failed to
locate the marker is displayed. Try to move the robot closer to the station,
and ensure that the front safety laser scanner is positioned in front of the
VL-marker of the station.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 17
6. Select OK to create the marker. A new marker icon (2) is now visible on the map in front
of the robot (1).
It is unlikely that the marker aligns precisely with the precision pins. It is important to test
how your robot docks to the precision docking station and change the offsets accordingly.
The offsets can be changed by selecting the marker on the map, and then selecting Edit.
CAUTION
The robot will not register if the pins are not aligned with the holes and will
continue to dock to the station, regardless of the pins colliding with the
front of the robot.
•When docking the first time, closely supervise the robot, and stop it
immediately if it becomes clear that the pins and holes will not align in
the docking.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 18
7. There are two offsets within the editor you can modify. Positive values modify the offset
to the left of the robot, and negative values modify to the right.
•Y offset
How far to either side the robot should dock.
•Offset orientation
How much the docking angle should change
Continue to modify these until the precision pins and holes align correctly when the robot
docks to the marker.
8. To test that the docking is correct, check that the robot locks to the pins once docked.
Then send the robot to another position. It must automatically release the pins when
undocking from the station.
9. If the robot does not release itself from the pins, the offsets may require further
adjustment.
5.3 Creating a precision docking mission
This section describes how to create a mission that makes a MiR robot autonomously dock to
a MiR Precision Docking station. The procedure is identical to any other case where the
robot must dock to a marker, the only difference is that a precision docking station is chosen.
This example demonstrates a mission where the robot docks to the MiR Precision Docking
station and waits there for five minutes. Another mission can be listed after this example
mission to send the robot to another position.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 19
1. In the robot interface, create a new mission. This is done by going to Setup > Missions
and selecting Create mission. Name the mission, select the correct site, and select
Create mission.
2. Within the Create mission window, insert the following actions:
a. In the Move menu, select Docking
b. In the Logic menu, select Wait
The mission should look like this:
The next steps describe how to set the parameters of the chosen mission actions. To set
the parameters of each action, open the action dialog box by selecting the gearwheel
icon of the action in question.

5. Usage
MiR Precision Docking Operating guide (en) 2019/11 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 20
3. In the Dock to action dialog box, select the precision docking marker in front of the
docking station that you created on the map. Select Validate and close.
4. In the Wait action dialog box, set the length of time you want the robot to be docked at
the station. In this example, the wait time is set to five minutes.
5. The mission is complete. Select Save to save the mission.
The mission is now visible in the missions list and ready to add to the missions queue.
In this mission example, the robot is set to wait a specified time at the docking station. It is
also possible to use other actions, such as user prompts or output from I/O modules to
determine when the robot must undock.