MIR 250 User manual

User Guide (en)
Date: 07/2020
Revision: v.1.1

MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 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,
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 manual. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2020 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
the MiR website
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 8
1.1 Where to find more information 8
1.2 Version history 9
2. Product presentation 10
2.1 Main features of MiR250 Shelf Carrier 11
2.2 External parts 13
2.3 Internal parts 19
2.4 How MiR250 Shelf Carrier works 28
3. Accessing the internal parts 30
3.1 Front compartment 30
3.2 Rear compartment 31
3.3 Side compartments 33
3.4 MiR Shelf Carrier 250 33
4. Safety 35
4.1 Safety message types 35
4.2 General safety precautions 36
4.3 Intended use 41
4.4 Users 42
4.5 Foreseeable misuse 43
4.6 Warning label 43
4.7 Residual risks 44
5. Getting started 45
5.1 In the box 45

MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 4
5.2 Unpacking MiR250 Shelf Carrier 46
5.3 Connecting the battery and powering up 49
5.4 Connecting to the robot interface 52
5.5 Driving the robot in Manual mode 54
5.6 Moving the robot by hand 56
5.7 Checking the hardware status 58
5.8 Mounting the nameplate 59
5.9 Enable MiR250 Shelf Carrier feature 60
5.10 Testing the top application 62
5.11 Shutting down the robot 64
6. Battery and charging 66
6.1 Charging the robot 66
6.2 Enabling fast swap and swapping out the lithium-ion battery 67
6.3 Battery storage and disposal 71
7. IT security 73
7.1 Managing users and passwords 73
7.2 Software security patches 73
7. Navigation and control system 75
7.3 System overview 75
7.4 User input 77
7.5 Global planner 77
7.6 Local planner 79
7.7 Obstacle detection 80
7.8 Localization 85

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7.9 Motor controller and motors 88
7.10 Brakes 88
7. Safety system 90
7.11 System overview 90
7.12 Collision avoidance 94
7.13 Overspeed avoidance 99
7.14 Stability 100
7.15 Emergency stop buttons 100
7.16 MiR Shelf Carrier 250 safety functions 101
7.17 Light indicators and speakers 102
8. Commissioning 106
8.1 Analysis of the work environment 106
8.2 Risk assessment 108
8.3 Shelf specifications 109
8.4 Creating and configuring a map 112
8.5 Creating markers and positions 126
8.6 Creating a mission 135
8.7 Creating a footprint 139
8.8 Operating hazard zones 143
8.9 Brake test 147
8.10 Creating user groups and users 148
8.11 Creating dashboards 151
8.12 Creating a marker type 153
8.13 Updating MiR250 Shelf Carrier software 156

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8.14 Creating backups 157
8.15 System settings 157
9. Usage 164
9.1 Creating the Prompt user mission 164
9.2 Creating the Try/Catch mission 169
9.3 Creating the Variable footprint mission 175
9.4 Creating the 80 cm doorway mission 178
9.5 Creating the Pick up and place shelf mission 185
9.6 Creating the Place shelf at VL-marker mission 190
9.7 Testing a mission 196
10. Unmounting the top module 197
11. Maintenance 201
11.1 Regular weekly checks and maintenance tasks 201
11.2 Regular checks and replacements 202
11.3 Battery maintenance 206
12. Packing for transportation 207
12.1 Original packaging 207
12.2 Packing the robot for transportation 208
12.3 Battery 209
13. Disposal of robot 210
14. Payload specifications 211
15. Interface specifications 212
15.1 Left side interfaces 212
15.2 Right side interfaces 214

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16. Error handling 219
16.1 Software errors 219
16.2 Hardware errors 220

1. About this document
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR250 Shelf Carrier and
provides examples of simple missions you can expand to your purposes. This guide also
contains information regarding the external and internal components of MiR250 Shelf
Carrier along with a guide for proper maintenance of the robot. You will also find
information regarding safety and specifications needed to commission a safe MiR250 Shelf
Carrier robot application.
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. About this document
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of this document.
Revision Release date Description HW
1.0 2020-06-26 First edition 1.0
1.1 2020-07-01 Minor corrections throughout manual. 1.0

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 10
2. Product presentation
MiR250 Shelf Carrier is an autonomous mobile robot with a top module mounted to it. It is
designed to transport wheeled shelves indoors within production facilities, warehouses, and
other industrial locations where access to the public is restricted.
Users operate MiR250 Shelf Carrier via a web-based user interface, which is accessed via a
browser on a PC, smartphone, or tablet. Each robot has its own network—see Connecting to
the robot interface on page52. The robot can be set up to run a fixed route, be called on
demand, or perform more complex missions.
The robot interface of MiR250 Shelf Carrier can be accessed via Google Chrome, Apple
Safari, Mozilla Firefox, and Microsoft Edge browsers.
The robot uses a map of its work area to navigate and can move to any position on the
map—see Navigation and robot system on page1 - REF-FAIL. The map can be created or
imported the first time the robot is used. While operating, the robot avoids obstacles, like
people and furniture, that are not mapped.
MiR250 Shelf Carrier is available both in an ESD approved version, which is black, and a non-
ESD approved version, which is gray.
MiR250 Shelf Carrier transports shelves that are designed according to the specifications in
Shelf specifications on page109. To ensure that the robot has enough traction to pull a
payload of up to 300 kg, a traction kit is installed within the robot.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 11
The payload includes both the weight of the shelf itself and the load on the
shelf.
Specifications for MiR250 Shelf Carrier are available on the MiR website.
2.1 Main features of MiR250 Shelf Carrier
The main features of the MiR250 Shelf Carrier are:
•Driving in a populated workspace
The robot is designed to operate among people and maneuvers safely and efficiently in
even highly dynamic environments.
•Overall route planning and local adjustments
The robot navigates autonomously to find the most efficient paths to its destinations. The
robot adjusts the path when it encounters obstacles that are not on the map, like
personnel and vehicles.
•Efficient transportation of shelves
The robot is designed to automate transportation of loaded shelves with a weight of up to
300 kg.
•Sound and light signals
The robot continuously signals with light and sounds indicating where it will drive and its
current status, for example waiting for a mission, driving to a destination, or destination
reached.
•User-friendly and flexible
The web-based user interface, accessed from a PC, tablet, or smartphone, gives easy
access to operation and monitoring of the robot and can be programmed without any
prior experience. Different user group levels and tailored dashboards can be set up to suit
different users.
•Alert for 'lost'
If the robot enters a situation where it is unable to find a path to its destination, it stops,
turns on the yellow-purple running error light, and a custom defined Try/Catch action
may be used to alert personnel or take other actions—see Creating the Try/Catch mission
on page169.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 12
•Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are detected in
front of it.
•Internal map
The robot can either use a floor plan from a CAD drawing, or a map can be created by
manually driving the robot around the entire site in which the robot is going to operate.
When the robot is mapping, the robot’s sensors detect walls, doors, furniture, and other
obstacles, and the robot then creates a map based on these input. After you've finished
mapping, you can add positions and other features in the map editor.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 13
2.2 External parts
This section presents the parts of MiR250 Shelf Carrier that are visible on the outside.
Pos. Description Pos. Description
1 Corner bumper: four pcs, one
on each corner
2 Front cover: opens to front
compartment—see Internal
parts on page19
3 Swivel wheel with foot guard:
four pcs, one in each corner
4 3D depth camera: two pcs,
both in the front
5 Nanoscan3 safety laser
scanner: two pcs, in opposite
corners
6 Status light: on all four sides
of the robot—see Light
indicators and speakers on
page102
7 Side cover: opens to side 8 Control panel—see Control

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 14
Pos. Description Pos. Description
compartment—see Internal
parts on page19
panel on page15
9 Manual brake release
switch—see Control panel on
the next page
10 Rear cover: opens to rear
compartment—see Internal
parts on page19
11 Signal light: eight pcs, two on
each corner—see Light
indicators and speakers on
page102
12 Proximity sensor: eight pcs,
two in each corner behind
corner covers—see (linked
document is not in XML
format) REF-FAIL
13 Emergency stop button 14 Rear carrier pin
15 Front carrier pin
Identification label
MiR250 Shelf Carrier is delivered with an identification label mounted to the product. The
identification label identifies the product, the product serial number, and the hardware
version of the product.
The identification label of MiR250 is located on the rear cover next to the battery, and the
identification label of MiR Shelf Carrier 250 is located on the frame beneath its cover.
Figure 2.1. Example of a MiR250 Shelf Carrier identification label.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 15
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR250 Shelf Carrier identifies the application model and serial number and
includes the CE mark, the technical specifications, and the address of Mobile Industrial
Robots. The nameplate identifies the complete MiR application, for example, a robot with a
top module.
It is the responsibility of the commissioner to place the nameplate on the application—see
Mounting the nameplate on page59.
Figure 2.2. Example of a MiR250 Shelf Carrier nameplate.
Control panel
MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot.
The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode
Puts the robot in Autonomous mode.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 16
•Middle position: Locked
Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot
manually.
•Right position: Manual mode
Puts the robot in Manual mode.
For more information on operating modes—see Operating modes on page19.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 17
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
Manual stop
Pressing this button stops the robot. After pressing this button, you must press the Resume
button to let the robot continue operating.
Color indication:
•Red: It is possible to engage the Manual stop.
Resume
Pressing this button:
•Clears the Emergency stop state.
•Lets the robot continue operating after the Manual stop button was pressed or after the
operating mode change.
•Lets the robot start operating after powering up.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 18
Color indication:
•Blinking blue: The robot is waiting for a user action (clear the Emergency stop state,
acknowledge the change of operating mode).
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
•Blue: The robot is off.
•Blinking green: The robot is starting up.
•Green: Normal operation.
•Blinking red: The battery level is too low to start without additional charging or the robot
is shutting down.
Manual brake release switch
The manual brake release switch is located below the control panel and releases the
mechanical brakes on MiR250 Shelf Carrier. You release the brakes by turning the Manual
brake release switch clockwise.
The mechanical brakes require electrical power to be released, so if the robot is without
power, the mechanical brakes cannot be released.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 19
When driving in Autonomous mode, the robot engages and releases the mechanical brakes
automatically.
The robot cannot operate while the mechanical brakes are released.
Operating modes
MiR250 Shelf Carrier has two operating modes: Manual mode and Autonomous mode.
Manual mode
In this mode, you can drive the robot manually using the joystick in the robot interface. Only
one person can control the robot manually at a time. To ensure that nobody else takes
control of the robot, the robot issues a token to the device on which you activate the Manual
mode.
For information about activating this mode—see Driving the robot in Manual mode on
page54.
Autonomous mode
In this mode, the robot executes the programmed missions. After switching the key to this
mode, you can remove the key, and the robot will continue driving autonomously. In
autonomous mode, the joystick is disabled in the robot interface.
2.3 Internal parts
Most internal parts of MiR250 Shelf Carrier are accessed through covers that open to
different compartments:
•Front compartment
•Rear compartment
•Side compartments
•Top compartments

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 20
CAUTION
Removing covers from the robot exposes parts connected to the power supply,
risking damage to the robot from a short circuit and electrical shock to
personnel.
•Disconnect the battery by turning the Battery disconnect switch.
Front compartment
The front compartment holds several electronic components, such as the robot computer
and the carrier board.
To open the front compartment, see Accessing the internal parts on page30.
Front compartment components
The front compartment contains the following components:
Pos. Description Pos. Description
1 Loudspeaker 2 Carrier board with motor
controller controlling the left-