Mir Fleet User manual

Getting Started (en)

Date: 08/2020

Revision: v.1.4

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 manual. Nevertheless, MiR assumes no responsibility for errors or

omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mobile-industrial-robots.com

Phone: +45 20 377 577

Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 5

1.1 Where to find more information 5

1.2 Version history 6

2. Host and network requirements 7

2.1 Network architecture 7

2.2 Network requirements 8

3. Getting Started 10

3.1 Updating robot software 11

3.2 Exporting a site file 12

3.3 Finding your fleet's IP Address 12

3.4 Signing in for the first time 14

3.5 Installing and activating your fleet 15

4. Commissioning 20

4.1 MiR Fleet interface 20

4.2 Adding robots to the fleet 21

4.3 Importing a site file 24

4.4 Activating a site 25

4.5 Setting up mission schedules 26

4.6 Groups 27

4.7 Setting up elevators 35

4.8 Setting up fleet dashboards 39

4.9 Setting up the fleet robots for automatic charging and staging 40

4.10 Setting up the fleet robots for collision avoidance 43

4.11 Evacuation zones 44

5. MiR Fleet API 45

5.1 Authentication 46

6. Maintenance of MiR Fleet PC 48

6.1 Updating MiR Fleet 48

6.2 Updating robots 48

1. About this document

This guide describes how to set up MiR Fleet PC and get started with the MiR Fleet interface.

MiR Fleet is used to orchestrate the operations of multiple robots, ensuring that they are all

executing missions. As a MiR Fleet PC user, you have received the following information to

get started:

•License ID and password

•USBpen with MiR Fleet software and this getting started guide.

•An Intel® NUC Kit

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. This document is 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.

User guides are available in multiple languages.

1. About this document

•Risk Analysis Guides include guidelines on how to create a risk assessment of your robot

solution.

•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 top modules and accessories, such as

charging stations, hooks, shelf lifts, and pallet lifts.

•Getting started guides describe how to set up products 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.

•REST API references for MiR robots, MiR hooks, and MiR Fleet.

•The 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.

1.2 Version history

This table shows current and previous versions of this document and their interrelations with

software releases.

Revision Release Date Description SW

1.0 2019-30-07 First edition 2.5.0 and

higher

1.1 2019-20-12 Second edition 2.7.9 and

higher

1.2 2020-01-12 Small corrections and modifications 2.8.0 and

higher

1.3 2020-01-31 New network requirements section and small

corrections

2.8.0 and

higher

1.4 2020-08-05 Updated for 2.10.0 2.10.0 and

higher

2. Host and network requirements

The specifications and requirements for running MiR Fleet PC are:

•Installation file size: 3 GB

•MiR Fleet update file size:~300 MB

•Server requirements: Dual core processor with minimum 2.1 GHz clock

•RAM: Minimum 8 GB

•HDD: 80 GB

•Virtualization software: Docker CE/EE 18.09.01

2.1 Network architecture

MiR Fleet is able to communicate with MiR robots and with existing computer devices once

connected to the network. Within the network it is also possible for other computer devices

to connect directly to the MiR robots through their robot interface. All devices that need to

communicate with MiR Fleet must be on the same network and subnet as MiR Fleet.

Figure 2.1. MiR Fleet network architecture

2. Host and network requirements

NOTICE

We discourage using the robot interface to control robots connected to MiR

Fleet. You should only use the robot interface in the following situations:

•The first time you add the robot to MiR Fleet. Use the robot interface to

activate the correct site and to position the robot correctly on the map.

•When adding markers or mapping. Use the robot interface to generate new

maps or to detect markers.

2.2 Network requirements

This section describes the network requirements for MiR Fleet PC.

See the MiR Network and WiFi Guide on the distributor site for more details on

network requirements.

MiR robots require a constant, stable network connection for MiR Fleet PC to function. An

unstable connection can lead to missions and resources not being assigned to robots, causing

deadlocks and idle robots.

MiR Fleet PC must be connected to the network through Ethernet and must be in the same

physical location as the robot. Geographical distance will cause delay between the fleet and

the robots.

The network should be capable of containing all robots, the fleet, and required devices on

the same subnet. If there are enough IP addresses available for all devices, the network can

be used.

Wireless LAN

The requirements for the WLAN are:

•Minimum bandwidth of 1 Mbit per robot with a maximum latency of 150 mS. The

network should be monitored over time to see how the bandwidth is affected during

normal working hours.

2. Host and network requirements

•Signal strength not less than -75 dBm. Signal to noise level 20 dB. measured from the

robot's perspective. If you experience issues, the signal strength can be measured using

specialized instruments. Any network consultant company will be able to help with this.

•Full coverage of WiFi signal throughout the traveling path of the robot.

•Roaming happening at the correct time and without any authentication errors. Make sure

that the company network access points are controlled by the same controller.

•Access points set up to communicate and share roaming information.

The robots are able to perform some tasks under worse network conditions

than those specified in this manual. However, key features such as collision

detection, auto charging and staging, Limit-robots zones, data synchronization

between robots, and fleet mission execution will not work fully.

Antenna

The small antenna shipped with the MiR robots is used for connecting the robots to your in-

house wireless network. It is designed for 2.4 GHz, and it does not have a powerful gain. If

you experience issues, consider replacing it with an antenna that suits your network.

The placement of the antenna is very important. If you put a metal case on top of the robot,

you must relocate the antenna.

Which WiFi band?

Both 2.4 GHz and 5 GHz have advantages and disadvantages, but we recommend using 5

GHz if possible.

2.4 GHz: Has longer range and is better at penetrating metal and concrete, but it is limited

to three main channels. Fewer channels result in signal noise, and most production

environments have a very high noise floor on the 2.4 GHz band. Many technologies can

create noise on the 2.4 GHz band, such as USB and Bluetooth.

5.0 GHz: Has shorter range and not as good performance in penetrating metal and concrete

as 2.4 GHz, but there are 25 main channels available. 5 GHz is always preferred if the signal

can reach the robot.

It is not possible for the robot to select either 2.4 or 5 GHz. This selection is done on the

network side by creating a robot specific SSID with the desired frequency.

3. Getting Started

This section describes how to prepare your robots to join the fleet, start up your MiR Fleet

PC for the first time, and activate your license.

Before activating MiR Fleet, you must complete the following actions:

1. Update the fleet robots to software version 2.7.9 or newer. All robots in the fleet must

run the same software version as MiR Fleet.

2. Select one robot to be a model robot. After updating the robot, use it to create the entire

site setup you want MiR Fleet to use. The model robot must contain all the site data you

need for MiR Fleet to run the robots as intended, and all procedures you intend to use the

robots for should be tested on this robot before adding any robots to MiR Fleet.

3. Once you have used the model robot to create a complete site, export the site, and save

it on a PC. This site file acts as a backup in case you lose any data when starting up your

MiR Fleet.

The following sections describe in greater detail how to update the robot software and

export a site file. For more details on how to create a new site including elements such as

maps, missions, and dashboards, see your robot's user guide and the robot interface

reference guide.

NOTICE

It is important to test your site and all intended uses on a single robot before

integrating it in MiR Fleet. It is significantly easier to determine the cause of

any issues before the robot is connected to a fleet.

3. Getting Started

3.1 Updating robot software

MiR continuously updates the software the robots use, either to fix issues, to improve

existing features, or to introduce new features. Each software release is issued with a

release note explaining the content of the update and its target audience.

NOTICE

When updating a MiRrobot with an attached hook, the hook software must be

updated first to ensure that the robot is compatible with the hook when

uploading the software.

Contact your distributor for the latest update file.

Follow the steps below to update your robot software:

1. Connect your computer to the WiFi of the robot you want to update, and sign in to the

robot interface.

2. Go to System > Software versions and select Upload software.

3. Locate and select the downloaded software package. It may take a few minutes for the

package to successfully upload.

4. Once the software is uploaded, turn the robot off and then on again.

3. Getting Started

3.2 Exporting a site file

It is always a good idea to export a site file to keep as a backup. Follow these steps to export

your site file:

1. In a robot interface, go to Setup >Maps.

2. Select the site you want to use for the fleet and select Export.

The site file is now downloaded to your device and can be imported to the fleet later.

3.3 Finding your fleet's IP Address

To find the IP address of your MiR Fleet, you must access the fleet's Ubuntu operating

system and follow the steps below.

1. Connect the NUC to a power socket, to your network via the Ethernet cable, to a screen,

and to a keyboard. You will be greeted by the following image:

3. Getting Started

2. Sign in as: remote,

With the password: mirremote

3. In the following frame, use the command:

mir_fleet_tool

4. A menu is displayed on a blue background. Choose Display Network connection

information to see your MiR Fleet’s IP address.

3. Getting Started

5. Your MiR Fleet's IP address is written in the inet addr field, and are often in the format

192.168.x.xxx.

NOTICE

We recommend that you use static IP addresses for both MiR Fleet and MiR

robots. Assign the IP address to the hardware’s MAC-address. Ask your

distributor for further elaboration.

3.4 Signing in for the first time

You sign in to MiR Fleet by typing the fleet’s IP address in a web browser on a computer on

the same physical network as the robots and the fleet.

Figure 3.1. The example fleet IPaddress 192.168.5.167 is written in the browser to access the fleet interface

3. Getting Started

The first time you sign in, you will be asked to provide your License ID and your License key.

Both are provided in package you received with your MiR Fleet PC. To activate your license

see Installing and activating your fleet below.

3.5 Installing and activating your fleet

You are now ready to activate the MiR Fleet interface. It is only necessary to activate your

license the first time you sign in to MiR Fleet.

After activation, the license is tied to the hardware of the host and can only

run on that host. If you want to change the host, the license can be deactivated

from its current host and re-activated on a new one. Please contact MiR

Support for assistance.

You can activate the license both online and offline by following these steps:

1. Go to the MiR Fleet sign in page, and select Activate license.

3. Getting Started

2. Enter the License ID and password that you have received from MiR.

3. Wait while the system attempts to activate the license.

4. If you work online, you are finished activating your license, and can continue to step 8.

If you work offline, the attempt to activate the license will fail, and you are directed to a

page where you can download a request file. If the download does not start

automatically, select the link Download it here.

3. Getting Started

5. Transfer the request file to a computer with internet access, for example via a USB pen.

In a browser, go to the License portal at

https://secure.softwarekey.com/solo/customers/ManualRequest.aspx and upload the

request file. The web page now generates a response file

6. Select Download and save the response file on a USB pen. Then bring it back to MiR

Fleet.

3. Getting Started

7. If you are still on the Download page, select Next to go to the Upload page. Upload the

response file to MiR Fleet and select Next.

8. Once your MiR Fleet license is successfully activated, restart your host device.

3. Getting Started

9. Once MiR Fleet has started up, open a web browser, and go to the sign in page by

inserting the IPaddress of your MiR Fleet in the address bar.

10. Enter a username and password. The default usernames and passwords are the same as

for robots. You can find the default usernames and passwords in the MiR folder you

received with the MiR Fleet USB pen.

4. Commissioning

This section describes how you connect robots to MiR Fleet through the MiR Fleet interface

and how you set up the parameters that will get your fleet up and running.

4.1 MiR Fleet interface

The MiR Fleet interface is very similar to the robot interface. Figure 4.1 shows what is

synchronized between fleet and robots in the Setup menu (green frame) and what is not

synchronized (red frame). The items in the red frame are fleet specific and must be set up in

the fleet interface.

Figure 4.1. The items that are boxed in green are synchronized between the robots through the fleet. The items

boxed in red are not synchronized and are specific to the fleet.

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