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

MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 5
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

MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 6
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

MiR250 Shelf Carrier User Guide (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S. 7
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.