MIR 1000 EU Pallet Lift User manual

Quick Start (en)
Date: 12/2020
Revision: v.1.0

MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 2
Table of contents
1. Version history 4
2. Safety 5
2.1 Safety message types 5
2.2 General safety precautions 6
2.3 Intended use 11
2.4 Users 11
2.5 Foreseeable misuse 13
2.6 Residual risks 13
2.7 Warning label 14
3. Light indicators and speakers 15
3.1 Status lights 15
3.2 Signal lights 17
3.3 Speakers 17
4. Control panel 19
4.1 The control panel buttons 19
4.2 The Operating mode key 20
5. Accessing the internal parts 21
5.1 Front compartment 21
5.2 Rear compartment 23
5.3 Side compartments 23
5.4 Top compartments 24
5.5 MiR EUPallet Lift 1000 25
6. IT security 26

MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 3
6.1 Managing users and passwords 26
6.2 Software security patches 26
7. Getting started 28
7.1 In the box 28
7.2 Unpacking MiR1000 EU Pallet Lift 29
7.3 Connecting the battery 32
7.4 Connecting to the robot interface 33
7.5 Driving the robot in Manual mode 34
7.6 Checking the hardware status 36
7.7 Mounting the nameplate 37
7.8 Enable the MiR1000 EU Pallet Lift feature 39
7.9 Testing the top module 41
7.10 Shutting down the robot 43
7.11 Charging the robot 44

1. Version history
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 4
1. Version history
This table shows current and previous versions of this document.
MiR1000 EU Pallet Lift
Revision Release date Description HW
MiR1000
HW MiR
EUPallet
Lift 1000
1.0 2020-12-01 First edition. 1.0 1.0

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 5
2. Safety
Read the information in this section before powering up and operating MiR1000 EU Pallet
Lift.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR1000 EU Pallet
Lift or its accessories are damaged, changed, or modified in any way. Mobile
Industrial Robots cannot be held responsible for any damages caused to
MiR1000 EU Pallet Lift, accessories, or any other equipment due to
programming errors or malfunctioning of MiR1000 EU Pallet Lift.
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
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 6
2.2 General safety precautions
This section contains general safety precautions.
WARNING
If the robot 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 the robot is always running the correct software.
WARNING
When the robot is in an operating hazard zone, there is a risk of injury to any
personnel within the zone.
•Ensure that all personnel are instructed to stay clear of operating hazard
zones when the robot is in or approaching the zone.
WARNING
The robot may drive over the feet of personnel, causing injury.
•All personnel must be informed of the side Protective fields of the robot and
be instructed to wear safety shoes near an operating robot.
WARNING
The robot 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.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 7
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.
WARNING
Contact with live electrical parts can cause electric shock.
•Do not touch any internal components of the robot while it is powered.
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 an original MiR charger.
WARNING
Attempting to charge batteries outside the robot can lead to electrical shock
or burns.
•Never charge the batteries outside the robot.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 8
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 an original MiR 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 for anything other than MiR1000 EU Pallet Lift.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 9
WARNING
Load falling or robot overturning if the load on the robot is not positioned or
fastened correctly can cause fall injuries to nearby personnel or damage to
equipment.
•Ensure that the load is positioned according to the specifications and is
fastened correctly—see the user guide of your robot for safe payload
distribution.
WARNING
Personnel standing next to the robot when it is docking to a pallet rack risk
being injured by an impact.
•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 in the hazard zone when the robot is docking.
WARNING
Personnel risk their feet or hands being crushed beneath a pallet if they are
placed beneath the pallet when the robot lowers it.
•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 placing a pallet.
•All personnel must be instructed to wear safety shoes near an operating
robot.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 10
WARNING
Personnel risk serious hand injuries if they reach in between the robot and a
pallet when the robot is picking up the pallet.
•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 picking up a pallet.
WARNING
Ifa load is positioned incorrectly on a pallet, the load may fall off. Nearby
personnel or equipment risk injury or damage.
•Ensure that each load is positioned correctly on the pallet.It is the
responsibility of the commissioner to determine correct and safe methods
of loading pallets.
•Conduct a brake test while the robot is transporting a fully loaded pallet.
WARNING
If the robot transports a pallet with a load that extend the footprint of the
robot, the load may collide with personnel or equipment causing injury or
damage.
•Do not load the pallets with loads that exceed the robot's footprint.
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.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 11
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
MiR1000 EU Pallet Lift is intended to be commissioned and used in indoor industrial
environments where access for the public is restricted.
MiR1000 EU Pallet Lift is intended to be commissioned according to the guidelines in your
robot's user guide. This is a prerequisite for safe usage of MiR1000 EU Pallet Lift.
MiR1000 EU Pallet Lift 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.
MiR1000 EU Pallet Lift is designed for and all risks are considered when it is used to
transport pallets that do not extend the physical footprint of the robot.
MiR1000 EU Pallet Lift is a completed MiR application that consists of a MiR1000 with a
mounted MiR EUPallet Lift 1000. The application is CE marked as long as it is not modified
or altered. However, a CE marked application does not guarantee a CE marked setup. It is
the responsibility of the commissioner to commission MiR1000 EU Pallet Lift safely.
NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in your robot's user guide to ensure a safe system.
2.4 Users
MiR1000 EU Pallet Lift is only intended to be used by personnel that have received training
in their required tasks.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 12
There are three types of intended users for MiR1000 EU Pallet Lift: commissioners,
operators, and direct users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR1000 EU Pallet Lift 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 MiR1000 EU Pallet Lift, and ergonomic loading and unloading
methods if relevant.
•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
Operators
Operators have thorough knowledge of MiR1000 EU Pallet Lift and of the safety precautions
presented in this user guide. Operators have the following main tasks:
•Servicing and maintaining MiR1000 EU Pallet Lift.
•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 MiR1000 EU Pallet Lift.
•Fastening loads to MiR1000 EU Pallet Lift securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR1000 EU Pallet Lift are considered indirect users and
must know how to act when they are close to the robot.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 13
2.5 Foreseeable misuse
Any use of MiR1000 EU Pallet Lift deviating from the intended use is deemed as misuse. This
includes, but is not limited to:
•Using the robot to transport people
•Using the robot on steep surface grades, such as ramps
•Making changes to the SICK configuration
•Driving the robot on cross slopes
•Exceeding the total payload
•Positioning or fastening loads incorrectly according to the specifications
•Using Emergency stop buttons for anything other than emergency stops
•Using the robot in medical and life critical applications
•Operating the robot outside the permissible operating parameters and environmental
specifications
•Using the robot in potentially explosive environments
•Using the robot outdoors
•Using the robot 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 when working with MiR1000
EU Pallet Lift:
•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot
or walk towards the robot 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. The robot only drives 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 the robot 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 docking to a pallet rack.
•You risk being crushed or trapped between the robot and a pallet while the lift is picking
up or placing a pallet. Please notice the safety stickers on the robot.
•You risk being crushed or trapped if the robot places a load outside a designated drop-off
area due to faulty localization.

2. Safety
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 14
•You risk losing control of the robot if it is accessed by unauthorized users. Consider
increasing the IT security of your product—see IT security on page 26.
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
2.7 Warning label
MiR1000 EU Pallet Lift 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.
Figure 2.1. The warning label must be placed on the robot or top module.

3. Light indicators and speakers
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 15
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
LED light bands 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 backward. Front lights are white and rear lights are red. Right and left turns
are indicated by blinking.
Figure 3.1. Indicator lights on MiR1000 EU Pallet Lift.
Pos. Description Pos. Description
1 Status lights 2 Signal lights
Table 3.1.
Identification of indicator lights in Figure 3.1
3.1 Status lights
The LED light bands running all the way around the robot indicate the robot’s current
operational state. Colors may also be used as part of missions, but as standard, status lights
indicate the statuses described in Table 3.2.

3. Light indicators and speakers
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 16
Red Emergency stop
Green Ready for job
Cyan Drives to destination
Purple Goal/Path blocked
White Planning/Calculating
Yellow Mission paused
Yellow wavering Startup signal before PCis active
Yellow fade Shutting down robot
Yellow blinking Relative move, ignoring obstacles
Purple - yellow General error, for example hardware, localization
Blue Manual drive
Blue wavering Mapping
Contracting white Chargingat charging station
White wavering Prompt user / Waiting for user's response
Cyan wavering (robots
connected to MiR Fleet
only)
Waiting for MiR Fleet resource
Table 3.2.
Status light colors
When the robot's battery reaches a critically low level of power (0-1%), the
ends of the status lights flash red.

3. Light indicators and speakers
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 17
When the robot is charging in a charging station, the status lights on the side
of the robot indicate the robot's battery percentage.
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.
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 Protective fields, for example, when docking to a marker,
all signal lights blink yellow.
3.3 Speakers
In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of
the default sounds.
Sounds are used in missions and can be used as alerts: “Please step aside” or to attract
peoples attention, for example, when the robot has arrived at a position.
When the robot drives with muted Protective fields 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.
•Do not disable the sound in the safety system.

3. Light indicators and speakers
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 18
Figure 3.2. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its
Protective fields.
CAUTION
It is the responsibility of the commissioner to ensure that the warning sounds
are audible in the robot's work environment.

4. Control panel
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 19
4. Control panel
MiR1000 EU Pallet Lift has a control panel in the rear-left corner of the robot.
4.1 The control panel buttons
Figure 4.1. The MiR1000 EU Pallet Lift control panel.
Pos. Description Pos. Description
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Table 4.1.
Identification of items on the control panel in Figure 4.1
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.

4. Control panel
MiR1000 EU Pallet Lift Quick Start (en) 12/2020 - v.1.0 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 20
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 changes.
•Lets the robot start operating after powering up.
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.
4.2 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.
•Right position: Manual mode
Puts the robot in Manual mode.