MIR MIR1350 User manual

MiR1350 Pallet Lift User Guide
Date: 05/2023
Version: 1.4 (en)
Robot hardware version: 1.0
Top module hardware version:1.0

Copyright and disclaimer
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
Mobile Industrial Robots A/S (MiR) makes no warranties, expressed or implied, in respect of this
document or its contents. In addition, the contents of this 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.
MiR authorizes you to view, copy, print, and distribute materials available in this document
provided that:
lThe materials are used for internal informational purposes only.
lA MiR copyright notice appears on every copy of the material and any portion thereof.
lNo materials or related graphics are modified or altered in any way. Any rights not expressly
granted herein are reserved by MiR.
Copyright © 2021–2023 by Mobile Industrial Robots A/S.
Original instructions (English)
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [email protected]
CVR: 35251235

Table of contents
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 3
Table of contents
Copyright and disclaimer 2
Table of contents 3
1. About this document 7
1.1 Where to find more information 7
1.2 Version history 9
2. Product presentation 14
2.1 Intended use 14
2.2 Specifications 15
2.3 Required space 17
2.4 Compatible products 19
2.5 How MiR Pallet Lift 1350 works 20
2.6 External parts 23
2.7 Internal parts 25
2.8 System overview 30
2.9 Warranty 32
3. Safety 33
3.1 Safety message types 33
3.2 General safety precautions 34
3.3 Warning label 36
3.4 Foreseeable misuse 37
3.5 Residual risks 38
4. Getting started 39
4.1 In the box 39
4.2 Unpacking MiR1350 Pallet Lift 40
5. Usage 45
5.1 Powering up the robot 45
5.2 Shutting down the robot 46

Table of contents
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 4
5.3 Connecting to the robot interface 48
5.4 Connecting the robot to a Wi-Fi network 50
5.5 Control panel 52
5.6 Preventing unauthorized use 54
5.7 Operating the robot 55
5.8 Types of stop 59
5.9 Manual brake release switch 61
5.10 Light indicators and speaker 62
5.11 Enable the MiR1350 Pallet Lift feature 66
5.12 Testing the top module 68
6. Safety-related functions 71
6.1 Safety functions overview 72
6.2 Safety configuration checksum 76
6.3 Emergency stop buttons 79
6.4 Overspeed avoidance 81
6.5 Field switching and Personnel detection 81
6.6 Hold-to-run 89
6.7 MiR Pallet Lift 1350 safety functions 89
7. User training and responsibilities 91
7.1 User responsibilities 91
7.2 User training 92
8. Accessing the internal parts 99
8.1 Accessing the front compartment 99
8.2 Accessing the rear maintenance compartment 100
8.3 Accessing the side compartment 105
8.4 Accessing the top compartments 106
8.5 Accessing the top module 107
9. Maintenance 108
9.1 Weekly cleaning tasks for all users 108
9.2 Maintenance tasks for operators 110

Table of contents
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 5
10. Storage 118
10.1 Preparing the robot for storage 118
10.2 Storage time 118
10.3 Inactive battery modes 119
11. Battery and charging 120
11.1 Connecting the battery 123
11.2 Disconnecting the battery 123
11.3 Swapping out the lithium-ion battery 124
12. Operating hazard zones 126
13. Commissioning overview 127
14. Brake test 129
14.1 Dependent factors 129
14.2 Brake test method 131
15. Demounting the top module 139
16. Electrical interfaces 144
16.1 Left compartment interfaces 144
16.2 Right compartment interfaces 154
16.3 Connector list 162
17. Transportation 164
17.1 Lifting MiR1350 Pallet Lift 164
17.2 Packing the robot for transportation 165
17.3 Transporting the battery 166
18. Disposal 169
19. Payload distribution 170
19.1 Side view 171
19.2 Front view 172

Table of contents
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 6
20. Declaration of conformity example 173
21. Glossary 174

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 7
1. About this document
This user guide explains how to set up and start operating your MiR1350 Pallet Lift robot. This
guide also contains information regarding the external and internal components of MiR1350
Pallet Lift along with instructions for proper maintenance of the robot. You will also find
information regarding safety and specifications needed to commission a safe MiR1350 Pallet Lift
robot application.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
For the full documentation package and translations of manuals for MiR1350 Pallet Lift, go to:
https://www.mobile-industrial-robots.com/product-documents/mir1350-pallet-lift-hw-10-sw-2-
v1/.
For online courses to strengthen your understanding of MiR products, go to MiRAcademy.
If you are looking for more documentation about all MiR products, go to MiRSupportPortal
where we have the following resources:
Documentation
lIntegrator Manuals provide all the information you need to operate and maintain MiR robots.
Integrator Manuals are available in multiple languages. These guides are intended for PCM
(partly completed machinery)robots.
lQuick 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.
lUser 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.
lRisk assessment guide describes how to conduct a risk assessment and provides some risk
assessed use cases.
lCommissioning guide provides examples and guidelines to commission your robot
successfully.

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 8
lOperating guides describe how to set up and use MiR accessories or supported functions that
are mainly hardware-based, such as charging stations.
lGetting started guides describe how to set up MiR accessories that are mainly software-
based, such as MiRFleet.
lInterface guides contain descriptions of all the elements of the robot interface and MiRFleet
interface. Interface guides are available in multiple languages.
lBest practice guides provide helpful information you can use when commissioning or
operating your robot.
lREST API references for MiR robots, MiR Hooks, and MiRFleet. HTTP requests can be used to
control robots, hooks, and MiRFleet.
lMiR network and Wi-Fi guide specifies the performance requirements of your network and
how you must configure it for MiR robots and MiRFleet to operate successfully.
lCybersecurity guide provides important information and instructions to increase the
cybersecurity of your MiR product.
lHow-to guides are short guides providing instruction for maintenance, replacement,
commissioning, and other tasks related to MiRproducts.
lTroubleshooting guides can help you determine the cause of an issue you are experiencing
with your MiR product and how to resolve it.
lRelease notes of new products and hardware updates that describe what has been changed
and why.
lService notes notify of issues identified in MiR products and changes that are applied.
lSpare parts and additional products list all spare parts and accessories you can order for
robots.
lWarranty describes the MiR standard warranty agreement.
lCertificates and declarations for MiR products that prove compliance with standards.
lTechnical guides provide in-depth information about how MiR products work.
Models and drawings
lWiring diagrams are graphic representations of how the components in MiR robots are wired.
lCAD files of the robots that are made to scale can be used to help determine the dimensions
of the robot or for illustrative purposes.

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 9
Resources
lMiRLogAnalytics and MiR Insights are tools you can use to analyze how well your robots or
fleet are performing. MiR Log Analytics is a free tool that lets you analyze recorded
performance from error logs, and MiR Insights requires a paid license, but runs continuously
alongside MiR Fleet to give real-time data on several metrics.
lAprilTag collection can be used instead of generating your own AprilTags.
lSpace calculator determines the approximate amount of space your MiR robot will need to
operate depending on the size of its footprint.
lCommunity is a forum of MiR users with a collection of questions, recommendations,
webinars and other community driven material.
lMarketing and brand portal is a collection of our graphical elements where you can
download color schemes, rendered images of the robots, and icons.
1.2 Version history
This table shows current and previous versions of this document.

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 10
Revision Description
1.4 Date: 2023-06-15
Robot HW: 1.0
Top module HW:1.0
lUpdated for TÜV approval. Includes new nameplates and instructions
for checking the checksum of the safety configuration.
Affects sections:Safety-related functions and interfaces.
lExpanded list of material you can find on MiR Support Portal and
added a link to a documentation package page.
Affects section:Where to find more information.
lAdded information about resetting the lift after Protective stops and
Emergency stops.
Affects section: How MiR Pallet Lift 1350 works.
lAdded warning against using MiR top modules that are not made for
MiR1350.
Affects section: Foreseeable misuse.
lAdded information that the lift must be reset after each time the lift
has been raised and lowered 50 times.
Affects section: How MiR Pallet Lift 1350 works.
lAdded description of effects if maintenance is neglected.
Affects section:Maintenance.
lCorrect illustration of pins for the Power interface.
Affects section:Electrical interfaces.
lAdded sections:Specifications and Space requirements.
lChanged structure and order of content.
1.3 Date: 2023-01-31
Robot HW: 1.0
Top module HW:1.0

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 11
Revision Description
lUpdated copyright.
lUpdated style.
lUpdated references to MiR Robot Reference Guide to
MiRRobotInterfaceGuide.
lAdded information about curvature of the lift plate.
Affects section: Product presentation.
lAdded references to videos showing how to access internal parts.
Affects section:Accessing the internal parts.
lRemoved section about adapter cable to connect a cable charger
directly to the battery.
Affects section: In the box.
lAdded more information about storage of robots and batteries.
New section: Storage.
lAdded information about laser scanner range.
Affects section:Obstacle detection.
lAdded information about camera vertical angle.
Affects section:Obstacle detection.
lHold to run description removed.
Affects section: Safety-related functions and interfaces.
lUpdated status light table.
Affects section:Light indicators and speakers.
lCorrected description of the robot's safety stop function.
Affects section:Safety stop.
lImproved commissioning sections, and added checklists to several
sections.
Affects sections:Creating user groups and users, Creating dashboards,
Updating the software, Creating missions, Positions,Markers, Creating
and configuring maps.
lAdded information about grease for drive wheels.
Affects section:Maintenance.

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 12
Revision Description
1.2 Date: 2022-05-31
Robot HW:1.0
Top module HW:1.0
lImproved description of Power save, Deep sleep, and storing the
battery.
Affects section: Battery storage.
lAdded that localization is disabled while brakes are released manually.
Affects section: Manual brake release.
lAdded lower boundary in camera FoV.
Affects section: Obstacle detection.
lAdded warning not to use two chargers to charge the robot
simultaneously.
Affects section:Charging the robot.
lCorrected payload specifications.
Affects sections:Product presentation and Shelf specifications.
lAdded notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.

1. About this document
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 13
Revision Description
1.1 Date: 2021-10-07
Robot HW:1.0
Top module HW:1.0
lApplied general corrections.
Affects sections:Payload distribution, Footprints, Demounting the top
module, and Nameplate.
lUpdated manual to ensure compliance with radio equipment
directives.
Affects sections:Safety, Connecting to the robot interface, and
Connecting the robot to a Wi-Fi network.
1.0 Date: 2021-08-12
Robot HW:1.0
Top module HW:1.0
First edition.

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 14
2. Product presentation
MiR1350 Pallet Lift is an autonomous mobile robot that can transport loads up to 1200 indoors
within production facilities, warehouses, and other industrial locations where access to the public
is restricted.
MiR1350 Pallet Lift is a MiR1350 robot with a MiR Pallet Lift 1350 top module mounted to it. It is
designed to transport pallets indoors within production facilities, warehouses, and other
industrial locations where access to the public is restricted.
Users operate MiR1350 Pallet Lift via a web-based user interface—see "Connecting to the robot
interface" on page48.
Program missions to send the robot to locations in its work areas. Missions can be initiated on
demand or scheduled to run autonomously using an externalsystem. The robot uses a map of its
work area to plan paths between positions. While operating, the robot automatically avoids
obstacles and personnel and replans its route if its chosen route is blocked.
For more information about how to set up the site, see MiRCommissioning Guide. You
can find this guide on MiR Support Portal.
MiR1350 Pallet Lift transports pallets or loads with any dimensions that do not exceed the
footprint of the robot. The payload capacity is 1 250 kg. The robot uses MiR Pallet Rack as a load
transfer station where it can pick up or place loads autonomously.
2.1 Intended use
MiR1350 Pallet 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
MiR1350 Pallet Lift should operate, see "Specifications" on the next page.
MiR1350 Pallet Lift is intended to be commissioned according to the guidelines in
MiRCommissioning Guide. This is a prerequisite for safe usage of MiR1350 Pallet Lift. You can find
this guide on MiR Support Portal.
MiR1350 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—see "Safety-related functions" on page71.

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 15
MiR1350 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.
MiR1350 Pallet Lift is a completed MiR application that consists of a MiR1350 with a mounted MiR
Pallet Lift 1350. 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 MiR1350 Pallet Lift safely.
NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in MiRCommissioning Guide to ensure a safe system. You can find this
guide on MiR Support Portal.
2.2 Specifications
For a complete list of all the robot specifications, see MiR Support Portal.
Robot specifications
Model MiR1350 Pallet Lift
Maximum speed 1.2m/s
IPrating IP52
Maximum payload 1250kg
Battery
Battery model MiR 48VBattery
Battery type Lithium-ion

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 16
Battery weight 14kg
Battery dimensions 495×210×75mm
Environment
Maximum incline/decline 1% at 1.2 m/s
Maximum traversable gap and sill
tolerance 30mm
Storage temperature (3 month
storage) -20–45°C
Operation temperature 5–40°C
Floor surface condition Clean and dry
Floor to wheel frictional coefficient 0.60–0.80 (recommended)
Material the robots cannot detect
reliably Transparent, translucent, glossy, reflective, and light emitting 1
Optimal light conditions Even and steady lighting (strong directional light can cause the
robot to detect non-existent obstacles)
1We recommend either avoiding these materials, covering them with opaque and matte material the robot can detect, or
ensuring the robot does not operate in areas with these materials.

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 17
2.3 Required space
The required space dimensions for your robot are illustrated in the following images.
For more information about how you can use zones and modified settings to reduce
the space requirements, see MiR600 and MiR1350 Space Requirement Best Practices. If
you modify the footprint of the robot, you can use the Space calculator to determine
an estimate of how much space the robot needs. You can find the guide and
calculator on MiR Support Portal.
Figure 2.1 The required space when the robot drives straight
Figure 2.2 The required space when the robot takes a 90° turn

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 18
Figure 2.3 The required space when the robot drives through a doorway
Figure 2.4 The required space when two robots pass each other

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 19
Figure 2.5 The required space when the robot pivots
2.4 Compatible products
The following accessories are available for MiR1350 Pallet Lift:
lMiRPalletRack
Use a MiRPalletRack with MiRPalletLift1350. The lift places and picks up US standard 40×48
in (1016×1219 mm) pallets from the rack autonomously.
lMiRFleet
MiRFleet offers centralized control of robots throughout all of your facility. MiRFleet is
available as an installation file you can install on a server of your choice or as a computer
server where MiRFleet comes pre-installed.
lMiRCharge48V
MiRCharge48V enable MiR robots to recharge their batteries. Together with MiRFleet,
charging of robots can be fully automated, ensuring that robots never run out of power during
missions.
MiR Pallet Rack
MiR1350 Pallet Lift can be used together with MiR Pallet Rack.
MiR Pallet Rack is a delivery station for heavy loads and pallets with a total payload of up to 1250
kg. MiR1350 Pallet Lift drives autonomously into the MiR Pallet Rack and delivers or picks up loads
safely.

2. Product presentation
MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 20
Figure 2.6 MiR Pallet Rack
WARNING
Pallets may break when placed on a MiR pallet rack if the pallet's load is not
distributed evenly across the pallet.
lDuring commissioning, determine a safe load capacity and distribution for pallets
when they are placed on MiR pallet racks.
lCheck that the pallets used with MiR pallet racks are not damaged or deteriorated
in any way that may compromise their structural integrity.
WARNING
When the robot is docking to a pallet rack, the robot mutes its Protective fields—see
"Field switching and Personnel detection" on page81. Nearby personnel risk injury
from collision or impact if the robot does not detect them.
lEnsure that all personnel are instructed not to stand close to MiR1350 Pallet Lift
when it is docking to a pallet rack and that the docking position is clearly marked
as an operating hazard zone with visible tape or similar.
2.5 How MiR Pallet Lift 1350 works
When MiR1350 Pallet Lift docks to a pallet rack, the lift can either be raised to pick up a pallet or
lowered to place a pallet.
MiR1350 Pallet Lift uses the pallet rack sides as markers to position itself correctly under the
pallet.