MIR 200 User manual

Operating guide (en)
Date: 2019/08
Revision: v.2.0

MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 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,
express 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 © 2019 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

Table of contents
1. About this document 5
1.1. Where to find more information 5
1.2. Document history 6
2. Safety 8
2.1. Safety message types 8
2.2. General safety precautions 9
2.3. Intended use 10
3. Product presentation 12
3.1. Main features of MiRHook 200 12
3.2. MiRHook 200 external parts 14
4. Getting started 15
4.1. In the box 15
4.2. Unpacking MiRHook 200 16
4.3. Mounting MiRHook 200 17
5. Commissioning 21
5.1. Cart specifications 21
5.2. Modifying the gripper 22
5.3. Space requirements 23
5.4. Safety precautions when operating with carts 28
5.5. QR markers 29
5.6. Connecting to the interface 30
6. Planning 33
6.1. Overall cart type 33
6.2. Calibrate cart 34
6.3. Specific cart type 36
6.4. Setting cart positions in the map 37
6.5. Creating a cart mission 38
7. Maintenance 41

7.1. Regular weekly checks and maintenance tasks 41
7.2. Regular checks and replacements 41
8. Updating MiRHook 200 software 44

1. About this document
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 5
1. About this document
This document contains the following information:
•How to install MiRHook 200 and take precautions for safe use
•Product presentation
1.1. Where to find more information
At www.mir-robots.com, several additional resources are available. To access more inform-
ation, sign in to the Distributor site with your distributor account at http://www.mobile-indus-
trial-robots.com/en/account/. The following relevant resources are available:
•Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
This page contains the following resources:
-MiR200 Quick Start
The short guide that lets you start operating the robot quickly. This document is in the
box with the robot in the printed format. Available in multiple languages.
-MiR200 User Guide
The user guide of the robot. Available in multiple languages.
-MiR Robot Interface 2.0 Reference Guide
The reference that describes the elements of the robot interface. Available in multiple
languages.
-MiR200 REST API reference.
The REST API reference for the robot.
•Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
This page contains the following resources:
-CAD drawings.
Select Show CAD-files to see the list of available CAD drawings.
-Certificates.
Select Show Certificates to see the list of certificates for the robot.
•Distributor site > How to
http://www.mobile-industrial-robots.com/en/account/how-to/
This page contains how-to articles that describe how to perform specific tasks with MiR
products.
•Distributor site > Troubleshooting
This page contains troubleshooting guides to solve common issues with MiR products.

1. About this document
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 6
•MiRHook 200 product page
http://www.mobile-industrial-robots.com/en/products/mirhook200/http://www.mobile-
industrial-robots.com/en/products/mir-add-ons/mir-precision-docking/
This page contains specifications, pictures, and brochures for MiRHook 200.
1.2. Document history
This table shows the latest and previous versions of this document and their interrelations
with product software releases.
Revision Release
date Description SW HW
1.0 2016-02-
01
First edition.
1.1 2016-02-
04
General small corrections.
Reworked section Commissioning on
page21.
1.2 2016-04-
10
Major update throughout the manual.
1.3 2016-05-
02
Added space requirements for pick-up and
reverse parking.
1.4 2016-09-
20
Updated for software release 1.7.
Configuration of hook missions made sim-
pler.
1.7
1.5 2016-10-
11
Updated illustration for 4.1 and 4.3.
1.6 2016-10-
24
Appendix added: Updating the MiRHook 200
software.
Chapter 1: Notice added about require-
ments for light in the operation envir-
onment.
1.7 2016-11-
10
Description of driving space requirements
changed

1. About this document
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 7
Revision Release
date Description SW HW
1.8 2017-01-
06
Updated for software release 1.8.
Cart specifications changed.
New section: Modifying the gripper on
page22
1.8
1.9 2019-02-
22
New version for MiR Robot Interface 2.0.
Major update throughout manual.
Includes both MiRHook 100 and MiRHook
200.
MiRHook
100 1.3
and
MiRHook
200 1.2.
2.0 2019-08-
27
Updated for hardware release 1.3. MiRHook
200 1.3

2. Safety
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 8
2. Safety
Read the information in this section before powering up and operating MiRHook 200.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiRHook 200 or its
accessories are damaged, changed or modified in any way. Mobile Industrial
Robots can not be held responsible for any damages caused to MiRHook 200,
accessories or any other equipment due to programming errors or mal-
functioning of MiRHook 200.
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.
•Take proper precautions to avoid damage or injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or mod-
erate injury. Alerts against unsafe practices.
•Take proper precautions to avoid damage or injury.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.

2. Safety
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 9
2.2. General safety precautions
This section contains general safety precautions.
WARNING
If the load on the robot is not positioned or fastened correctly, the load may
fall or the robot may overturn.
•Ensure that the load is positioned according to the specifications and
fastened correctly. Refer to the User guide of your robot for payload spe-
cifications.
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
CAUTION
The robot can not see staircases going downwards and holes in the floor.
•Mark staircases or holes on maps with Forbidden zones.
•Keep the maps up to date.
CAUTION
Use Flight Mode with smartphone control of the robot. Risk of personal injury
and/or damage to the robot.
•If you use Manual control with a smartphone to drive the robot, make sure
that the phone is set to Flight Mode. An incoming call on the smartphone
will interrupt control of the robot.

2. Safety
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 10
WARNING
Lithium battery packs may get hot, explode or ignite and cause serious injury if
they are abused electrically or mechanically.
Observe the following precautions when handling and using lithium batteries:
•Do not short-circuit, recharge or connect with false polarity.
•Do not expose to temperature 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 the original charger (cable charger or charging station) and
always follow the instructions from the battery manufacturer.
2.3. Intended use
MiRHook 200 is a partly completed machine as defined in the EU machinery directive and
does not have a CE mark. A correctly installed MiRHook 200 is covered by the CE mark of
MiR200. However, a CE marked product does not guarantee a CE marked setup. It is the
responsibility of the integrator to safely commission MiRHook 200.
MiRHook 200 is designed for MiR200. MiRHook 200 is only intended to tow carts fulfilling
the technical requirements found in Cart specifications on page21 and is commissioned
according to the guidelines found in Commissioning on page21
NOTICE
A safe machine does not guarantee a safe system. Follow the Commissioning
guide to ensure safe commissioning.
MiRHook 200 is intended to be commissioned indoor in a light industrial environment where
public access is restricted. For detailed description of the environment in which the robot
should operate, see Technical specifications on our website.

2. Safety
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 11
NOTICE
Before commissioning MiRHook 200, it is important to make a risk assess-
ment. Refer to the MiR200 User guide for more information.

3. Product presentation
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 12
3. Product presentation
MiRHook 200 is an add-on for our autonomous mobile robot MiR200 that handles fully auto-
mated pick-up and towing of carts with loads up to 500 kg indoors within production facil-
ities, warehouses, and other industrial locations.
The MiRHook 200 robot identifies carts by QR markers and autonomously transports them as
you define. MiRHook 200 can be incorporated into a fleet of MiR robots, and can be easily
redeployed to meet changing requirements.
Users operate MiRHook 200 via a web-based user interface, which is accessed via a browser
on a PC, smartphone or tablet. The robot with a hook mounted can be set up to run a fixed
route, be called on demand, or perform more complex operations (missions).
The robot with MiRHook 200 performs localization and navigation via a map, which can be
created or imported the first time the robot is used. The internal map contains defined loc-
ations (office, product delivery, production hall etc.) that are used for logistical planning.
While operating, the safety laser scanners ensure that the robot avoids dynamic obstacles
(people, furniture) that are not mapped.
With the MiRHook 200, you must provide the measurements of the carts as described in
Overall cart type on page33. MiRHook 200 is then ready to autonomously transport the
defined carts. Built-in sensors, cameras and sophisticated software enable the robot with the
MiRHook 200 and a cart to safely maneuver around people and obstacles, and can even
drive up ramps.
3.1. Main features of MiRHook 200
The main features of the MiRHook 200 are:
•Increase the efficiency of internal transportation tasks
MiRHook 200 is ideal for a wide range of towing jobs, such as efficiently moving heavy
products between locations in a manufacturing facility or warehouse, or moving linen and
food carts in hospitals. This provides exciting new internal logistics options for weighty or
unwieldy cargos.
•Fully automated pick-up and towing of carts
MiRHook 200 identifies carts by QR markers and autonomously transports them as you
define. MiRHook 200 can be incorporated into a fleet of MiR robots and can easily be
redeployed to meet changing requirements.

3. Product presentation
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 13
•Efficient transportation of heavy loads
The hook is designed to automate transportation of loads up to 500 kg across industries,
allowing employees to focus on higher value activities.
•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 with a hook and can be programmed
without any prior experience. Different user group levels and tailored dashboards can be
set up to suit the different users.
•Safely maneuvers among people
With MiRHook 200, you simply measure your cart and feed the data into the software.
Built-in sensors, cameras and sophisticated software mean the robot with MiRHook 200
and a cart can safely maneuver around people and obstacles, and can even drive up
ramps.
To read more about MiRHook 200, go to www.mir-robots.com.

3. Product presentation
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 14
3.2. MiRHook 200 external parts
This section presents the parts of MiRHook 200 that are visible on the outside.
3.1. MiRHook 200 external parts
1. 3D camera Reads QR codes on carts.
2. Gripper Attaches to the gripper bar on the cart
to enable towing.
3. Emergency stop Disarms the robot when
pressed.Beneath is the button to
rearm the robot.

4. Getting started
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 15
4. Getting started
This section describes how to get started with MiRHook 200.
4.1. In the box
This section describes the content of the MiRHook 200 box.
The box contains:
1. The MiRHook 200.
2. 4 hex key bolts for mounting.
3. MiRHook 200 document folder containing the printed documents.
4. Printed documents:
•MiRHook 200 Mounting guide.
•CE declaration of incorporation.

4. Getting started
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 16
4.2. Unpacking MiRHook 200
This section describes how to unpack MiRHook 200.
Keep the original packaging for future transportation of the hook.
1. Remove the pallet lid.
2. Remove the shield and cut the cord that holds the hook attached to the pallet.
3. Loosen the two highlighted screws and remove the four weights.
4. Remove the two screws in the front of the hook.

4. Getting started
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 17
5. Remove the two screws on the back of the hook.
6. Remove the hook from the pallet.
4.3. Mounting MiRHook 200
The photos illustrate how to mount a MiRHook 200 (2) to a MiR200 (1).
1. Remove the hook cover and lift the hook onto the robot fitting the frame holes above the
four mooring holes on the robot.

4. Getting started
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 18
2. Mount the frame with the four bolts. Tighten the bolts with a torque of 47 (Nm) / [34.5 ft-
lb].

4. Getting started
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 19
3. Connect cables and mount the antenna:
1. Network cable (from robot to hook PC)
2. Application hardware cable
3. Emergency stop cable
4. USB cable for top camera
5. Antenna connector
4. Place the cover on top of the hook frame. The cover is held in place with magnets.

4. Getting started
MiRHook 200 Operating guide (en) 2019/08 - v.2.0 ©Copyright: Mobile Industrial 20
5. The hook is now mounted on the robot.