MIR 500 User manual

User guide (en)
Date: 06/2020
Revision: v.1.4

MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: 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 © 2018-2020 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 6
1.1 Where to find more information 6
1.2 Version history 7
2. Safety 8
2.1 Safety message types 8
2.2 General safety precautions 9
2.3 Intended use 10
2.4 Users 11
2.5 Foreseeable misuse 12
2.6 Risk assessment 12
2.7 Residual risks 13
2.8 Safety-related functions and interfaces 13
2.9 Limiting safety-related functions 14
2.10 Safety-related electrical interfaces 15
2.11 Lithium battery 17
3. Getting started 18
3.1 In the box 18
3.2 Unpacking MiR500 19
3. IT security 23
3.3 Managing users and passwords 23
3.4 Software security patches 23
4. Commissioning 25
4.1 Powering up 25

MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 4
4.2 Connecting to the robot interface 27
4.3 Driving the robot in Manual mode 28
4.4 Checking the hardware status 30
4.5 Charging the robot 31
4.6 Shutting down the robot 33
4.7 Creating and configuring a map 33
5. Planning 34
5.1 Analysis of the work environment 34
5.2 MiR500 user roles 36
5.3 Creating an efficient map 39
5.4 Creating efficient missions 44
5.5 Create mission 45
5.6 Mission editor 48
5.7 Error handling 50
5.8 Handover testing 51
6. Product presentation 54
6.1 Main features of MiR500 54
6.2 Identification label 56
6.3 MiR500 control panel 56
6.4 MiR500 operating modes 58
6.5 MiR500 external parts 59
6.6 MiR500 internal parts 62
6.7 Sensor system 69
6.8 Light indicators 75

MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 5
7. Applications 77
7.1 Mounting a top module 77
7.2 Lift modifications 80
8. Maintenance 83
8.1 Regular weekly checks and maintenance tasks 83
8.2 Regular checks and replacements 84
8.3 Packing for transportation 87
9. Payload specifications 90
10. Interface specifications 92
10.1 General purpose interfaces 92
10.2 Safety interfaces 100
10.3 Connector list 103

1. About this document
MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 6
1. About this document
This user guide explains how to set up and start operating your MiR500 and provides
examples of simple missions you can expand to your purposes. This guide also contains
information regarding the external and internal components of MiR500 along with a guide
for proper maintenance of the robot. You will also find information regarding safety and
specifications needed to commission a safe MiR500 robot application.
This guide explains how to set up and start operating your MiR500. You will also find
information regarding safety precautions that must be considered when operating MiR500.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
At www.mobile-industrial-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:
•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.

1. About this document
MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 7
•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 and their interrelations with
hardware releases.
Revision Release
date Description HW
1.0 2018-10-
29
First edition. 1.0
1.1 2019-01-
31
New section: Maintenance.
Updated styles.
1.0
1.2 2019-07-
11
New sections: Create mission, Mission editor, Lift
modifications
Updated status lights
Added notice regarding using smart phones in flight
mode for manual driving
1.0
1.3 2019-10-
08
New section: Updating MiR500 software 1.1
1.4 2020-06-
11
New section: IT security.
Added new information about payload.
1.1

2. Safety
MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 8
2. Safety
Read the information in this section before powering up and operating MiR500.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR500 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR500,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR500.
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
MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 9
2.2 General safety precautions
This section contains general safety precautions.
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
WARNING
Lithium battery packs may get hot, explode or ignite and cause serious injury if
they are abused electrically or mechanically.
Observe the following precautions when handling and using lithium batteries:
•Do not short-circuit, recharge or connect with false polarity.
•Do not expose to temperature 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.
WARNING
Attempting to charge batteries outside the robot can lead to electrical shock
or burns.
•Never charge the batteries outside the robot.

2. Safety
MiR500 User guide (en) 06/2020 - v.1.4 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 10
CAUTION
The robot cannot see staircases going downwards and holes in the floor.
•Mark staircases or holes on maps with Forbidden zones.
•Keep the maps up to date.
CAUTION
Use Flight Mode with smartphone control of the robot. Risk of personal injury
and/or damage to the robot.
•If you use Manual control with a smartphone to drive the robot, make sure
that the phone is set to Flight Mode. An incoming call on the smartphone
will interrupt control of the robot.
2.3 Intended use
MiR500 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
the MiR500 robot should operate, see Technical specifications on our website.
MiR500 is intended to be commissioned according to Commissioning on page25 and
prepared to the environment according to the guidelines. This is a prerequisite for safe
usage of MiR500.
MiR500 is designed and all risks are considered when used with one of the following types of
top applications:
•MiR500Pallet Lift used with MiR Lift Pallet Rack.
•MiR500EUPalletLift used with MiR EU Pallet Rack.
•A custom designed top application (including total payload) designed to fulfill the
following requirements:
•Must not increase the footprint of MiR500 and be within the requirements in Payload
specifications on page90
•Must not have any moving parts