MIR 1000 User manual

Quick Start (en)
Date: 12/2020
Revision: v.1.2

MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: 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 12
2.5 Foreseeable misuse 13
2.6 Residual risks 14
2.7 Warning label 15
3. Light indicators and speakers 16
3.1 Status lights 16
3.2 Signal lights 18
3.3 Speakers 18
4. Control panel 20
4.1 The control panel buttons 20
4.2 The Operating mode key 21
5. Accessing the internal parts 23
5.1 Front compartment 23
5.2 Rear compartment 25
5.3 Side compartments 25
5.4 Top compartments 26
5.5 MiR Shelf Lift 27
6. IT security 28

MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 3
6.1 Managing users and passwords 28
6.2 Software security patches 28
7. Getting started 30
7.1 In the box 30
7.2 Unpacking MiR1000 Shelf Lift 32
7.3 Connecting the battery 36
7.4 Powering up the robot 37
7.5 Connecting to the robot interface 39
7.6 Driving the robot in Manual mode 42
7.7 Checking the hardware status 44
7.8 Mounting the nameplate 44
7.9 Enable the MiR1000 Shelf Lift feature 46
7.10 Testing the top module 48
7.11 Shutting down the robot 50
7.12 Charging the robot 51

1. Version history
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 4
1. Version history
This table shows current and previous versions of this document.
Revision Release date Description HW
MiR1000
HW MiR
Shelf
Lift
1.2 2021-07-05 General improvements throughout the
document.
1.0 1.0
1.1 2020-12-04 General improvements throughout the
document.
1.0 1.0
1.0 2020-12-01 First edition. 1.0 1.0
MiR1000 Shelf Lift

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 5
2. Safety
Read the information in this section before powering up and operating MiR1000 Shelf Lift.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR1000 Shelf 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 Shelf Lift, accessories, or any other equipment due to programming
errors or malfunctioning of MiR1000 Shelf 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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: 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 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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: 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 burns.
•Never charge the batteries outside the robot.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: 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.
•In case of fire, use water to put out the fire. There is no need for special
extinguishing media. An ambient fire can be fought with class D
extinguishing media.
•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 Shelf Lift.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: 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 shelf 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 shelf if they are
placed beneath the shelf 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 shelf.
•All personnel must be instructed to wear safety shoes near an operating
robot.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 10
WARNING
Personnel risk serious hand injuries if they reach in between the robot and a
shelf when the robot is picking up the shelf.
•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 shelf.
WARNING
The robot risks damage and mechanical failure if it is used to transport pallets
or anything other than safely commissioned shelves. Nearby equipment and
personnel risk damage or injury if payloads fall from the robot.
•Only use the robot to transport safely commissioned shelves—see the
specifications of MiR supported shelves in your robot's user guide.
WARNING
Personnel standing in the blind spot of the robot when it is pivoting with a shelf
risk being struck and injured.
•Ensure that all nearby personnel are instructed not to stand close to the
robot when it is pivoting.
•Inform personnel that the signal lights indicate when the robot is intending
to turn or pivot—see Light indicators and speakers on page16.
WARNING
Ifa load is positioned incorrectly on a shelf, the load may fall off. Nearby
personnel or equipment risk injury or damage.
•Ensure that each load is positioned correctly on the shelf.It is the
responsibility of the commissioner to determine correct and safe methods
of loading shelves.
•Conduct a brake test while the robot is transporting a fully loaded shelf.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 11
WARNING
If the robot drives on a slope and looses grip of the attached shelf, the shelf or
its load may collide with personnel or equipment causing injury or damage.
•Do not operate MiR1000 Shelf Lift on slopes.
WARNING
If the robot transports a shelf with a load that extends the footprint of the
robot, the load may collide with personnel or equipment causing injury or
damage.
•Do not load the shelves 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.
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 Shelf Lift 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 MiR1000 Shelf Lift should operate, see specifications for MiR1000 Shelf
Lift on the MiR website.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 12
MiR1000 Shelf 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 Shelf Lift.
MiR1000 Shelf 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 Shelf Lift is designed for and all risks are considered when it is used to transport
shelves that fulfill the specification and design requirement described in the robot's user
guide.
MiR1000 Shelf Lift is a completed MiR application that consists of a MiR1000 with a
mounted MiR Shelf Lift. 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 Shelf 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 Shelf Lift is only intended to be used by personnel that have received training in
their required tasks.
There are three types of intended users for MiR1000 Shelf Lift: commissioners, operators,
and direct users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR1000 Shelf 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.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 13
•Determining the payload limit, weight distribution, safe fastening methods, safe loading
and unloading of loads on MiR1000 Shelf Lift, and ergonomic loading and unloading
methods if relevant.
•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
•Marking operating hazard zones.
Operators
Operators have thorough knowledge of MiR1000 Shelf Lift and of the safety precautions
presented in this user guide. Operators have the following main tasks:
•Servicing and maintaining MiR1000 Shelf 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 Shelf Lift.
•Fastening loads to MiR1000 Shelf Lift securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR1000 Shelf Lift are considered indirect users and must
know how to act when they are close to the robot. For example, they must be aware that
visibly marked operating hazard zones must be respected.
2.5 Foreseeable misuse
Any use of MiR1000 Shelf 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
•Using the robot on inclines
•Making changes to the SICK configuration
•Driving the robot on cross slopes

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 14
•Exceeding the total payload
•Positioning or fastening loads incorrectly according to the specifications
•Using Emergency stop buttons for anything other than emergency stops
•Driving the robot with anything other than safely commissioned shelves
•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
Shelf 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 shelf.
•You risk being crushed or trapped between the robot and a shelf while the lift is picking
up a shelf. 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.
•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28.

2. Safety
MiR1000 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 15
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
2.7 Warning label
MiR1000 Shelf 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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 16
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 Shelf Lift.
Pos. Description Pos. Description
1 Signal lights 2 Status 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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 17
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 or for another MiR robot to
move
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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 18
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
charging station, 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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 19
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 Shelf Lift Quick Start (en) 12/2020 - v.1.2 ©Copyright 2019-2021: Mobile Industrial Robots A/S. 20
4. Control panel
MiR1000 Shelf Lift has a control panel in the rear-left corner of the robot.
4.1 The control panel buttons
Figure 4.1. 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 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.