MIR 500 User manual

Operating guide (en)
Date: 10/2019
Revision: v.1.3

MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: 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,
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 © 20162019 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

MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 3
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. Getting started 12
3.1 In the box 12
3.2 Mounting MiR500EUPalletLift 12
3.3 Testing MiR500EUPalletLift 20
4. Product presentation 22
4.1 How the lift works 22
4.2 MiREUPallet Rack 23
4.3 Mark potentially hazardous floor area 24
5. Usage 26
5.1 Enable MiR500EUPalletLift feature 26
5.2 Set entry and pallet rack positions 27
5.3 Lower lift mission 28
5.4 Raise lift mission 30
5.5 Pick up pallet mission 32
5.6 Test the mission 34
5.7 Put down pallet mission 34

MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 4
5.8 Test the mission 36

1. About this document
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 5
1. About this document
This document contains the following information:
•How to install MiR500EUPalletLift and take precautions for safe use.
•How to create missions with MiR500EUPalletLift.
•Product presentation.
1.1 Where to find more information
At www.mir-robots.com, several additional resources are available. To access more
information, sign in to the Distributor site with your distributor account at
http://www.mobile-industrial-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:
-MiR500 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.
-MiR500 User guide
The user guide of the robot. Available in multiple languages.
-MiR Robot Reference guide
The reference guide that describes the elements of the robot interface. Available in
multiple languages.
-MiR500 REST API reference.
The REST API reference for MiR100/MiR200the 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.

1. About this document
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 6
•Distributor site > Troubleshooting
https://www.mobile-industrial-robots.com/en/account/troubleshooting/
This page contains troubleshooting guides to solve common issues with MiR products.
•MiR500EUPalletLift product page
http://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir500-eu-pallet-lift/
This page contains specifications, pictures, and brochures for MiR500EUPalletLift.
•Universal Robots:
http://www.universal-robots.com/support
1.2 Document history
This table shows the latest and previous versions of this document and their interrelations
with product software releases, when applicable.
Revision
Release
date Description SW HW
1.0 2019-01-25 First edition. 2.5.0 1.0
1.1 2019-03-19 General small
corrections.
1.2 2019-09-04 Added section: Mounting
MiR500EUPalletLift on
page12
Small corrections.
New layout.
1.3 2019-10-30 Added reset section.
Safety corrections.
General corrections.
Revision Release date Description
1.0 2016-09-26 First edition.
2.0 2018-11-01 Second edition.

1. About this document
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 7
Revision Release date Description
3.0 2019-09-09 Third edition. Added UR+ func-
tionality allows the MiR robots
to be controlled from the UR
Interface.
3.1 2019-10-30 Added reset section. Safety
corrections. General
corrections.

2. Safety
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 8
2. Safety
Read the information in this section before powering up and operating
MiR500EUPalletLift.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR500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
MiR500EUPalletLift, accessories or any other equipment due to
programming errors or malfunctioning of MiR500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.
•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
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 9
2.2 General safety precautions
This section contains general safety precautions.
(missing or bad snippet)
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
WARNING
Make sure the UR Robot Arm is properly and securely bolted in place.
Unstable mounting can lead to accidents.
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
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 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
MiR500EUPalletLift is a partly completed machine as defined in the EU machinery
directive and does not have a CE mark. A correctly installed MiR500EUPalletLift is covered
by the CE mark of MiR500. However, a CE marked product does not guarantee a CE marked
setup. It is the responsibility of the integrator to safely commission MiR500EUPalletLift.
MiR500EUPalletLift is designed for MiR500. MiR500EUPalletLift is only intended to be
used as described in this operating guidetransport pallets that do not extend the footprint of
MiR500 and loaded according to the Payload Specifications defined in the MiR500
Userguide.
NOTICE
A safe machine does not guarantee a safe system. Follow the Commissioning
guide to ensure safe commissioning.

2. Safety
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 11
MiR500EUPalletLift 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.
NOTICE
Before commissioning MiR500EUPalletLift, it is important to make a risk
assessment. All risks and foreseeable misuses relevant to MiR500 also apply to
MiR500EUPalletLift. Refer to the MiR500 User guide for more information.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 12
3. Getting started
This section describes how to get started with MiR500EUPalletLift.
3.1 In the box
This section describes the content of the MiR500EUPalletLift box.
The box contains:
1. MiR500EUPalletLift
2. A MiR500EUPalletLift document folder containing the following printed documents:
•MiR500EUPalletLift
•CE declaration of conformity
In the box
This section describes the content of the MiR500EUPalletLift box.
The box contains:
1. MiR500EUPalletLift
2. A MiR500EUPalletLift document folder containing the following printed documents:
•MiR500EUPalletLift
•CE declaration of conformity
3.2 Mounting MiR500EUPalletLift
This section describes how to mount MiR500EUPalletLift to MiR500. Before mounting, turn
off the robot and read section Safety on page8.
For another description of mounting the MiR500EUPalletLift, see the How to
guide on the Distributor site titled How to Mount the EU Pallet Lift on MiR500.
CAUTION
Before mounting MiR500EUPalletLift to MiR500 read Safety on page8.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 13
Connecting the cables
When mounting MiR500EUPalletLift, it is important to place each lifting device on the
correct side of MiR500. The lifting device with the green board must be mounted on the left
side of the robot.
3.1. Top view of MiR500EUPalletLift with MiR500EUPalletLift
Number Description Number Description
1 Left-side lifting device 3 Right-side lifting device
2 Left-side middle com-
partment plate
4 Right-side middle com-
partment plate
1. Remove the two middle compartment plates on the top cover of MiR500.
2. Place the right-side lifting device on top of the right side of the robot, and vice versa with
the left-side lifting device.
3. Pull the cables through the hole in the right-side lifting device. Do this for the left-side
device also.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 14
4. Connect the two plugs from the right-side device for power (2) and GPIO(1)
When connecting the plugs, make sure to turn the plug to the left to open
the plug and to the right to close it once connected to its socket. The plugs
only fit with one socket each, so it is not possible to connect them incor-
rectly.
5. Pull the cables with the white connectors from the left-side lifting device through the left
compartment over to the right.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 15
6. Connect the white connectors from the right and left lifting devices. The connector with
two legs and the connector with three legs connect with each other.
Each pair of connectors are color and number coded. Cables with a match-
ing color and number tags should be connected.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 16
7. Connect the two pairs of connectors so the cables labeled 1are connected together and
the cables labeled 2are connected together.
NOTICE
While handling the cables, hold them in the areas indicated in the image
below. Handling the cables in any other areas may damage them. Be espe-
cially aware that twisting the union nut positioned before the allowed hand-
ling area will loosen the internal cable connections.
Once the two connectors are correctly aligned, lock the connection by twisting the union
nut until the connectors are tightly fastened together.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 17
8. Connect the final two plugs from the right lifting device to the matching sockets within
the right compartment.
When connecting the plugs, make sure to turn the plug to the left to open
the plug and to the right to close it once connected to its socket. The plugs
only fit with one socket each, so it is not possible to connect them incor-
rectly.
Fixing MiR500EUPalletLift to MiR500
When fixing MiR500EUPalletLift to MiR500, it is important to check that no cables are
pinched between the devices. To avoid this, use cable ties to keep the cables collected.
1. Place the lifting devices above the M10 mounting holes of MiR500. An overview of the
mounting holes can be seen in the MiR500 User guide.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 18
2. Screw in an M10 bolt in one end of the lifting device without tightening it completely.
3. Adjust the lifting device in the other end and screw in another bolt. Tighten both bolts
completely to ensure a secure mounting.
4. Repeat the previous steps with the other lifting device.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 19
5. Place the covers on the lifting devices. Adjust the covers and ensure that there are no
pinched cables. It is recommended to use suction cups when placing the covers onto the
devices.
6. Screw in all screws to fix the cover to the lifting devices.
If you are having difficulty screwing in the short screws, start by using a
long screw to make the others easier to screw in.Remember to replace
the long screw with a short one when you are finished.
Reset Lift when turning on robot
When you turn on the robot, you must reset the MiR500EUPalletLift before it can operate.

3. Getting started
MiR500EUPalletLift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S. 20
1. Go to Setup > I/O modules. Input 0 and input 2 will be high (green).
2. Set output 0 or 2 to high (green) for five seconds before turning it back. The Lift will now
reset. It takes approximately 13 seconds and can be monitored in Monitoring > System
log.
3.3 Testing MiR500EUPalletLift
The following steps must be used to test that the lift is correctly mounted. Be sure to verify
that the lift performs as expected in each step.
1. Turn on the robot.
2. Connect to the robot interface using a PC, tablet or phone.