MIR 1000 Shelf Lift User manual

User Guide (en)
Date: 12/2020
Revision: v.2.1

MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
All rights reserved. No parts of this document 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 document. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2019-2020 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

MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: 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 11
2.1 Main features of MiR1000 Shelf Lift 12
2.2 External parts 14
2.3 Internal parts 20
2.4 Manual brake release switch 28
2.5 How MiR Shelf Lift works 28
3. Warranty 31
4. Accessing the internal parts 32
4.1 Front compartment 32
4.2 Rear compartment 34
4.3 Side compartments 34
4.4 Top compartments 35
4.5 MiR Shelf Lift 36
5. Safety 37
5.1 Safety message types 37
5.2 General safety precautions 38
5.3 Intended use 43
5.4 Users 44
5.5 Foreseeable misuse 45
5.6 Residual risks 46

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6. Getting started 47
6.1 In the box 47
6.2 Unpacking MiR1000 Shelf Lift 49
6.3 Connecting the battery 51
6.4 Powering up the robot 52
6.5 Connecting to the robot interface 54
6.6 Driving the robot in Manual mode 56
6.7 Checking the hardware status 58
6.8 Mounting the nameplate 59
6.9 Enable the MiR1000 Shelf Lift feature 61
6.10 Testing the top module 63
6.11 Shutting down the robot 65
7. Battery and charging 67
7.1 Charging the robot 67
7.2 Disconnecting the battery 68
7.3 Battery storage 68
7.4 Battery disposal 69
8. IT security 70
8.1 Managing users and passwords 70
8.2 Software security patches 70
9. Navigation and control system 72
9.1 System overview 72
9.2 User input 74
9.3 Global planner 74

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9.4 Local planner 76
9.5 Obstacle detection 77
9.6 Localization 83
9.7 Motor controller and motors 86
9.8 Brakes 86
10. Safety system 88
10.1 System overview 88
10.2 Personnel detection 93
10.3 Overspeed avoidance 98
10.4 Stability 98
10.5 Emergency stop buttons 99
10.6 MiR Shelf Lift safety functions 101
10.7 Safety stop 104
10.8 Light indicators and speakers 105
11. Commissioning 109
11.1 Analysis of the work environment 109
11.2 Risk assessment 111
11.3 Shelf specifications 112
11.4 Adjusting the Protective field sets 117
11.5 Lift modifications 119
11.6 Creating and configuring maps 121
11.7 Markers 132
11.8 Positions 135
11.9 Creating missions 136

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11.10 Creating a footprint 140
11.11 Using operating hazard zones 144
11.12 Making a brake test 149
11.13 Creating user groups and users 150
11.14 Creating dashboards 153
11.15 Updating software 155
11.16 Creating backups 155
11.17 System settings 156
12. Usage 164
12.1 Creating markers 164
12.2 Creating positions 169
12.3 Creating a marker type 171
12.4 Creating the mission Prompt user 174
12.5 Creating the mission Try/Catch 179
12.6 Creating the mission Variable docking 185
12.7 Creating the mission Pick up and place shelf 193
12.8 Creating the mission Place shelf at VL-marker 199
12.9 Testing a mission 207
13. Unmounting the top module 209
14. Maintenance 215
14.1 Regular weekly checks and maintenance tasks 215
14.2 Regular checks and replacements 217
14.3 Battery maintenance 220
15. Packing for transportation 221

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15.1 Original packaging 221
15.2 Packing the robot for transportation 222
15.3 Battery 222
16. Payload distribution 223
17. Disposal of robot 224
18. Interface specifications 225
18.1 General purpose interfaces 225
18.2 Safety interfaces 229
19. Error handling 236
19.1 Software errors 236
19.2 Hardware errors 237
19.3 Troubleshooting 238

1. About this document
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR1000 Shelf Lift robot and
provides examples of simple missions you can expand to your purposes. This guide also
contains information regarding the external and internal components of MiR1000 Shelf Lift
along with instructions for proper maintenance of the robot. You will also find information
regarding safety and specifications needed to commission a safe MiR1000 Shelf Lift 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. It comes 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 and
how to set up and use top modules and accessories, such as charging stations, hooks, shelf
lifts, and pallet lifts. User guides are available in multiple languages.
•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 MiR accessories or supported functions
that are mainly hardware-based, such as charging stations and shelf functions.
•Getting started guides describe how to set up MiR accessories 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.
•Best practice guides specify how much space MiR robots need to execute common
maneuvers.
•REST API references for MiR robots, MiR hooks, and MiR Fleet. HTTP requests can be
used to control robots, hooks, and MiR Fleet.
•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
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of this document.
MiR1000 Shelf Lift
Revision Release date Description HW
MiR1000
HW MiR
Shelf
Lift
2.0 2020-12-01 New manual structure.
New sections: Warning label, Mounting
the nameplate, Accessing the internal
parts, Battery and charging, IT security,
Navigation and control system, Safety
system, Usage, Disposal of robot, Error
handling, and Glossary.
The MiR1000 User Guide has been
merged with the MiR Shelf Lift
Operating Guide to provide a complete
application manual.
As a result, the version histories have
been aligned, and the revision number
has changed to version 2.0.
1.0 1.0
2.1 2020-12-04 General improvements throughout the
document.
1.0 1.0

1. About this document
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 10
MiR1000
Revision Release date Description HW
1.0 2019-05-31 First edition. 1.0
1.1 2019-07-11 New sections: Create mission, Mission editor,
Lift modifications
Updated section: Status lights.
1.0
1.2 2019-10-08 New section: Updating MiR1000 software. 1.0
1.3 2020-06-11 New section: IT Security
Added new information about payload
1.0
MiR Shelf Lift
Revision Release date Description HW
1.0 2019-10-20 First edition. 1.0
1.1 2020-06-18 Added new information about payload.
General improvements throughout the
document.
1.0

2. Product presentation
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 11
2. Product presentation
MiR1000 Shelf Lift is an autonomous mobile robot with a top module mounted to it. It is
designed to transport shelves indoors within production facilities, warehouses, and other
industrial locations where access to the public is restricted.
Users operate MiR1000 Shelf Lift via a web-based user interface, which is accessed through
a browser on a PC, smartphone, or tablet. Each robot has its own network—see Connecting
to the robot interface on page 54. The robot can be set up to run a fixed route, be called on
demand, or perform more complex missions.
The robot interface of MiR1000 Shelf Lift can be accessed via Google Chrome, Google
Chromium, 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 control system on page 72. The map can be created or imported
the first time the robot is used. While operating, the robot avoids obstacles that are not
mapped, like people and furniture.
MiR1000 Shelf Lift transports shelves that are designed according to the specifications in
Shelf specifications on page 112. The total payload capacity is 1000 kg, which includes the
weight of MiR Shelf Lift, the shelf, and its load.
Specifications for MiR1000 Shelf Lift are available on the MiR website.

2. Product presentation
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 12
2.1 Main features of MiR1000 Shelf Lift
The main features of MiR1000 Shelf Lift are:
•Driving in a populated workspace
The robot is designed to operate among people and maneuvers safely and efficiently in
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. The total payload of
the robot may not exceed 1000 kg, including the weight of the MiR Shelf Lift top module
and the shelf.
•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 mission Try/Catch
on page 179.
•Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are detected in
front of it.

2. Product presentation
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•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—see Creating and
configuring maps on page 121.

2. Product presentation
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2.2 External parts
This section presents the parts of MiR1000 Shelf Lift that are visible on the outside.
Figure 2.1. MiR1000 Shelf Lift external parts.
Pos. Description Pos. Description
1 Lift plate 2 Lift frame
3 Emergency stop button: four
buttons, two on each side—
see Emergency stop buttons
on page 99
4 Status light: on all four sides
of the robot—see Obstacle
detection on page 77
5 Left side maintenance hatch:
opens to the left side
compartment—see Internal
6 Front safety laser scanner—
see Obstacle detection on
page 77
Table 2.1.
Identification of the external parts in Figure 2.1

2. Product presentation
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 15
Pos. Description Pos. Description
parts on page 20
7 Front maintenance hatch:
opens to the front
compartment—see Internal
parts on page 20
8 3D depth cameras: two pcs,
detect objects in front of the
robot— see Obstacle
detection on page 77
9 Proximity sensors: eight pcs.,
two in each corner behind
the corner covers—see
Obstacle detection on page
77.
10 Right side maintenance
hatch: opens to the right side
compartment—see Internal
parts on page 20
11 Rear safety laser scanner—
see Obstacle detection on
page 77
12 Rear maintenance hatch:
opens to the rear
compartment—see Internal
parts on page 20
13 Signal light: eight pcs., two
on each corner—see Light
indicators and speakers on
page 105
Identification label
MiR1000 Shelf Lift is delivered with identification labels mounted to each product. The
identification labels identify the product, the product serial number, and the hardware
version of the product.
The identification label of MiR1000 is located on the rear-right side of the chassis.

2. Product presentation
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 16
Figure 2.2. Placement of the MiR1000 identification label.
The identification label of MiR Shelf Lift is located on rear of the lift and can only be
accessed when the lift is raised.
Figure 2.3. Placement of the MiR Shelf Lift identification label.
Figure 2.4. Example of a MiR Shelf Lift identification label.

2. Product presentation
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 17
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR1000 Shelf Lift 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 mount the nameplate on the application—see
Mounting the nameplate on page 59.
Figure 2.5. Example of a MiR1000 Shelf Lift nameplate.
Control panel
MiR1000 Shelf Lift has a control panel in the rear-left corner of the robot.

2. Product presentation
MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 18
The control panel buttons
Figure 2.6. The MiR1000 Shelf Lift control panel.
Pos. Description Pos. Description
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Table 2.1.
Identification of items on the control panel in Figure 2.6
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

2. Product presentation
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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.
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.
For more information on operating modes, see Operating modes below.
Operating modes
MiR1000 Shelf Lift has two operating modes: Manual mode and Autonomous mode.

2. Product presentation
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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
56.
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 MiR1000 Shelf Lift are accessed through maintenance hatches that
open to different compartments:
•Front compartment
•Rear compartment
•Side compartments
•Top compartments
To access the compartments correctly, see Accessing the internal parts on page 32.
WARNING
Opening or removing hatches from the robot exposes parts connected to the
power supply, risking damage to the robot from a short circuit and electrical
shock to personnel.
•Before removing any covers, turn off the robot, and disconnect the
battery—see Disconnecting the battery on page 68.