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
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 7
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
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 8
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
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 9
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
MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 10
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.