MIR 250 User manual

Quick Start (en)
Date: 07/2020
Revision: v.1.1

MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 2
Table of contents
1. About this document 4
1.1 Where to find more information 4
1.2 Version history 4
2. Safety 6
2.1 Safety message types 6
2.2 General safety precautions 7
2.3 Intended use 12
2.4 Users 13
2.5 Foreseeable misuse 14
2.6 Residual risks 14
2.7 Warning label 15
3. Light indicators and speakers 16
3.1 Status lights 17
3.2 Signal lights 17
3.3 Speakers 18
4. Control panel 19
4.1 The Operating mode key 19
4.2 The control panel buttons 20
5. Accessing the internal parts 23
5.1 Front compartment 23
5.2 Rear compartment 24
5.3 Side compartments 26
5.4 MiR Shelf Carrier 250 26

MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 3
6. IT security 28
6.1 Managing users and passwords 28
6.2 Software security patches 28
7. Getting started 30
7.1 In the box 30
7.2 Unpacking MiR250 Shelf Carrier 31
7.3 Connecting the battery and powering up 34
7.4 Connecting to the robot interface 37
7.5 Driving the robot in Manual mode 39
7.6 Checking the hardware status 41
7.7 Mounting the nameplate 42
7.8 Enable MiR250 Shelf Carrier feature 43
7.9 Testing the top application 45
7.10 Shutting down the robot 47

1. About this document
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 4
1. About this document
This guide explains how to set up and start operating your MiR250 Shelf Carrier. You will
also find information regarding safety precautions that must be considered when operating
MiR250 Shelf Carrier.
NOTICE
Save this manual. It contains important safety 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. This document is in
print in the box with the robots. Quick starts are available in multiple languages.
•User guides provide all the information you need to operate and maintain MiR robots.
User guides are available in multiple languages.
•Risk Analysis Guides include guidelines on how to create a risk assessment of your robot
solution.
•Commissioning guides describe how to commission your robot safely and prepare it to
operate in the workplace.
•Operating guides describe how to set up and use top modules and accessories, such as
charging stations, hooks, shelf lifts, and pallet lifts.
•Getting started guides describe how to set up products that are mainly software-based,
such as MiR Fleet.
•Reference guides contain descriptions of all the elements of the robot interface and MiR
Fleet interface. Reference guides are available in multiple languages.
•REST API references for MiR robots, MiR hooks, and MiR Fleet.
•The MiR network and WiFi guide specifies the performance requirements of your
network and how you must configure it for MiR robots and MiR Fleet to operate
successfully.
1.2 Version history
This table shows current and previous versions of this document.

1. About this document
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 5
Revision Release date Description HW
1.0 2020-06-11 First edition 1.0
1.1 2020-07-01 Minor corrections throughout manual. 1.0

2. Safety
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiR250 Shelf Carrier.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR250 Shelf Carrier
or its accessories are damaged, changed, or modified in any way. Mobile
Industrial Robots cannot be held responsible for any damages caused to
MiR250 Shelf Carrier, accessories, or any other equipment due to
programming errors or malfunctioning of MiR250 Shelf Carrier.
2.1 Safety message types
This document uses the following safety message types.
WARNING
Indicates a potentially hazardous situation that could result in death or serious
injury. Carefully read the message that follows to prevent death or serious
injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or
moderate injury. Alerts against unsafe practices. Carefully read the message
that follows to prevent minor or moderate injury.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.

2. Safety
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2.2 General safety precautions
This section contains general safety precautions.
WARNING
If MiR250 Shelf Carrier is not running the correct software and is therefore
not functioning properly, the robot may collide with personnel or equipment
causing injury or damage.
•Ensure that MiR250 Shelf Carrier is always running the correct software.
WARNING
MiR250 Shelf Carrier risks damage and mechanical failure if it is used to
transport pallets or anything other than safely commissioned shelves. Nearby
equipment and personnel risk damage or injury if payloads fall from the robot.
•Only use MiR250 Shelf Carrier to transport safely commissioned shelves.
WARNING
Using a charging device different from the one supplied by the manufacturer
can cause a fire and thereby burn injuries to nearby personnel and damage to
the robot and equipment.
•Only use the original charger.
WARNING
MiR250 Shelf Carrier may drive over the feet of personnel, causing injury.
•All personnel must be informed of the side protective fields of MiR250 Shelf
Carrier and be instructed to wear safety shoes near an operating robot.

2. Safety
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WARNING
Contact with live electrical parts can cause electric shock.
•Do not touch any internal components of MiR250 Shelf Carrier while it is
powered.
WARNING
Personnel standing in the blind spot of MiR250 Shelf Carrier when it is pivoting
with a shelf risk being struck and injured.
•Ensure that all nearby personnel are instructed not to stand close to
MiR250 Shelf Carrier when it is pivoting.
•Inform personnel that the signal lights indicate when the robot is intending
to turn or pivot—see Light indicators and speakers on page16.
WARNING
MiR250 Shelf Carrier may drive into a ladder, scaffold, or similar equipment
that has a person standing on it. Personnel risk fall injuries and equipment
may be damaged.
•Don't place ladders, scaffolds, or similar equipment in the robot's work
environment.
WARNING
The robot may drive down staircases or holes in the floor and cause serious
injury to personnel and damage to the robot and to equipment.
•Mark descending staircases and holes as forbidden zones on maps.
•Keep the maps up to date.
•Inform personnel that the robot cannot detect descending staircases and
holes in the floor in time to stop.

2. Safety
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WARNING
Personnel that are within an operating hazard zone intended for placing and
picking up shelves risk colliding with the robot and thereby injury if the robot is
operating within the zone.
•Ensure that all nearby personnel are instructed to stay clear of operating
hazard zones when MiR250 Shelf Carrier is in the zone.
WARNING
Ifa load is positioned incorrectly on a shelf, the load may fall off. Nearby
personnel or equipment risk injury or damage.
•Ensure that each load is positioned correctly on the shelf.It is the
responsibility of the commissioner to determine correct and safe methods
of loading shelves.
•Conduct a brake test while the robot is transporting a fully loaded shelf.
WARNING
If the robot attempts to dock to a shelf and the carrier pins are raised or the
robot is misplaced, the robot may push the shelf. The shelf may collide with
personnel or equipment, resulting in injury or damage.
•Ensure that docking positions are clearly marked as operating hazard zones
with visible tape or similar marking, and that all personnel are instructed
not to stand close to the robot when it is docking to a shelf.

2. Safety
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WARNING
If the robot does not attach to the shelf correctly due to pins being offset from
their correct positions, the shelf can detach at any time. Uncertain control of
the shelf may result in the shelf or its load colliding with personnel or
equipment resulting in injury or damage.
•Ensure the shelf is designed according to specifications—see the MiR250
User guide.The laser scanners will then be able to detect if the shelf is
incorrectly positioned and will enter Protective stop before operating with
the shelf.
WARNING
If the robot drives on a slope and looses grip of the attached shelf, the shelf or
its load may collide with personnel or equipment causing injury or damage.
•Do not operate MiR250 Shelf Carrier on slopes.
WARNING
If a shelf operates with loads that extend the footprint of the robot, the load
may collide with personnel or equipment causing injury or damage.
•Do not load the shelves with loads that exceeds the robot footprint.

2. Safety
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WARNING
Lithium battery packs may get hot, explode, or ignite and cause serious injury
if they are misused electrically or mechanically.
Observe the following precautions when handling and using lithium-ion
batteries:
•Do not short-circuit, recharge, or connect with false polarity.
•Do not expose to temperatures beyond the specified temperature range or
incinerate the battery.
•Do not crush, puncture, or disassemble the battery. The battery contains
safety and protection devices, which, if damaged, may cause the battery to
generate heat, explode, or ignite.
•Do not allow the battery to get wet.
•In the event the battery leaks and the fluid gets into one’s eye, do not rub
the eye. Rinse well with water and immediately seek medical care. If left
untreated, the battery fluid could cause damage to the eye.
•Use only the original charger (cable charger or charging station) and
always follow the instructions from the battery manufacturer.
•Do not touch damaged batteries with bare hands. Only personnel using
suitable Personal Protection Equipment (PPE) and tools should handle
damaged batteries.
•Isolate the battery and keep clear if the following conditions are observed:
•The battery exhibits abnormally high temperatures.
•The battery emits abnormal odors.
•The battery changes colors.
•The battery case is deformed or otherwise differs from the normal
electrical or mechanical condition.
•Modifications or manipulations of the battery may lead to considerable
safety risks and are therefore prohibited.
•Do not use the battery on anything other than MiR250 Shelf Carrier.

2. Safety
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 12
CAUTION
Robot malfunctions can cause an electrical fire, causing damage and injury to
equipment and personnel.
•Personnel operating near the robot must be informed on how to use an ABC
fire extinguisher to put out an electrical fire should the robot malfunction
and catch on fire.
CAUTION
Risk of trapping or injury to personnel if robots malfunction or if personnel
enter operating hazard zones.
•Personnel operating near the robot must be informed on how to engage the
robot's Emergency stop function in emergency situations.
2.3 Intended use
MiR250 Shelf Carrier is intended to be commissioned and used in indoor industrial
environments where access for the public is restricted. For details about the environmental
conditions in which MiR250 Shelf Carrier should operate, see specifications for MiR250 Shelf
Carrier on our website.
MiR250 Shelf Carrier is intended to be commissioned according to the guidelines in the user
guide. This is a prerequisite for safe usage of MiR250 Shelf Carrier.
MiR250 Shelf Carrier is equipped with safety-related features that are purposely designed
for collaborative operation where the robot operates without a safety enclosure or together
with people.
NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in the user guide to ensure a safe system.

2. Safety
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2.4 Users
MiR250 Shelf Carrier is only intended to be used by personnel that have received training in
their required tasks.
There are three types of intended users for MiR250 Shelf Carrier: commissioners, operators,
and direct users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR250 Shelf Carrier and have the following main tasks:
•Commissioning of the product. This includes creating maps and restricting the user
interface for other users and making brake tests with a full payload.
•Conducting the risk assessment.
•Determining the payload limit, weight distribution, safe fastening methods, safe loading
and unloading of loads on MiR250 Shelf Carrier, and ergonomic loading and unloading
methods if relevant.
•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
•Marking operating hazard zones.
Operators
Operators have thorough knowledge of MiR250 Shelf Carrier and of the safety precautions
presented in this User guide. Operators have the following main tasks:
•Servicing and maintaining MiR250 Shelf Carrier.
•Creating and changing missions and map features in the robot interface.
Direct users
Direct users are familiar with the safety precautions in this quick start and have the
following main tasks:
•Assigning missions to MiR250 Shelf Carrier.
•Fastening loads to MiR250 Shelf Carrier securely.
•Loading and unloading from a paused robot.

2. Safety
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 14
All other persons in the vicinity of MiR250 Shelf Carrier 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.
2.5 Foreseeable misuse
Any use of MiR250 Shelf Carrier deviating from the intended use is deemed as misuse. This
includes, but is not limited to:
•Using MiR250 Shelf Carrier to transport people
•Using MiR250 Shelf Carrier on steep surface grades, such as ramps
•Using the wrong SICK configuration
•Driving MiR250 Shelf Carrier on cross slopes
•Exceeding the total payload
•Using the Emergency stop button for anything other than emergency stops
•Positioning or fastening loads incorrectly according to the specifications
•Driving MiR250 Shelf Carrier with anything other than safely commissioned shelves
•Using MiR250 Shelf Carrier in medical and life critical applications
•Operating MiR250 Shelf Carrier outside the permissible operating parameters and
environmental specifications
•Using MiR250 Shelf Carrier in potentially explosive environments
•Using MiR250 Shelf Carrier outdoors
•Using MiR250 Shelf Carrier in hygiene zones
2.6 Residual risks
Mobile Industrial Robots has identified the following potential hazards that commissioners
must inform personnel about and take all precautions to avoid:
•You risk being run over, drawn in, trapped, or struck if you stand in the path of MiR250
Shelf Carrier or walk towards MiR250 Shelf Carrier or its intended path while it is in
motion.
•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot
or walk towards it while it is driving in reverse. It will only drive in reverse when
undocking from a marker such as a charging station or load transfer station.
•You risk being crushed or trapped if you touch MiR250 Shelf Carrier while it is in motion.
•You risk being run over, drawn in, trapped, or struck if you stand in the path of MiR250
Shelf Carrier or walk towards it while it is docking to a shelf.

2. Safety
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•You risk being crushed, run over, drawn in, or trapped if the robot places a load outside a
designated drop-off area due to faulty localization.
•You risk losing control of MiR250 Shelf Carrier if it is accessed by unauthorized users.
Consider increasing the IT security of your product.
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
2.7 Warning label
MiR250 Shelf Carrier is supplied with a warning label that specifies that it is strictly
prohibited to ride on the robot.
The label must be placed on the robot or top module so that it is clearly visible.

3. Light indicators and speakers
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 16
3. Light indicators and speakers
The robot uses two types of light indicators to let people in the environment know what the
robot is currently doing or planning to do.
•Status lights
An LED light band on all four sides of the robot uses colors and light motion patterns to
signal the current status of the robot.
•Signal lights
The signal lights at the front and back of the robot show if the robot is about to turn a
corner or go backwards. Front lights are white and rear lights are red. Right and left turns
are indicated by blinking.
Pos. Description Pos. Description
1 Status lights 2 Signal lights

3. Light indicators and speakers
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 17
3.1 Status lights
The LED light band running all the way around the robot indicates the robot’s current
operational state. Colors may also be used as part of missions, but as standard, the robot is
delivered with the following setup.
NOTICE
When the robot's battery reaches a critically low level of power (0-1%), the
ends of the status lights flash red.
3.2 Signal lights
Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-
backwards-braking and left-right turns.

3. Light indicators and speakers
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 18
The signal lights work similarly to lights used on cars; white at the front, red at the back, and
indicating a left or right turn by blinking.
When the robot drives with muted personnel detection means, for example when docking to
a marker, all signal lights blink yellow.
3.3 Speakers
When the robot drives with muted personnel detection means it emits a warning sound. In
System > Settings > Safety system, you can choose which sound the robot makes and the
volume of the sound.
CAUTION
Changing the safety system can cause the robot to not comply with safety
standards.
NOTICE
It is the responsibility of the commissioner that the warning sounds are audible
in the robot's work environment.

4. Control panel
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4. Control panel
MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot.
4.1 The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode
Puts the robot in Autonomous mode.
•Middle position: Locked
Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot
manually.

4. Control panel
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•Right position: Manual mode
Puts the robot in Manual mode.
4.2 The control panel buttons
The following table identifies the three buttons on the control panel.
Pos. Description Pos. Description
1 Manual stop 2 Resume
3 Power