Mir 100 User manual

User guide (en)

Date: 09/2019

Revision: v.1.4

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.

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mir-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. Safety 8

2.1 Safety message types 8

2.2 General safety precautions 8

2.3 Intended use 10

2.4 Users 11

Commissioners 11

Operators 12

Direct users 12

2.5 Foreseeable misuse 12

2.6 Risk assessment 12

2.7 Residual risks 13

2.8 Safety-related functions and interfaces 14

2.9 Limiting safety-related functions 14

2.10 Lithium battery 15

3. Getting started 16

3.1 In the box 16

3.2 Unpacking MiR100 17

4. Commissioning 19

4.1 Powering up 19

4.2 Connecting to the robot interface 23

4.3 Driving the robot in manual mode 24

4.4 Checking the hardware status 25

4.5 Charging the robot 26

4.6 Shutting down the robot 29

5. Product presentation 30

5.1 Main features of MiR100 30

5.2 Identification label 32

5.3 MiR100 external parts 32

5.4 MiR100 internal parts 33

5.5 Sensor system 35

5.6 Light indicators 42

6. Maintenance 43

6.1 Regular weekly checks and maintenance tasks 43

6.2 Regular checks and replacements 44

6.3 Packing for transportation 47

7. Applications 49

7.1 Mounting a top module 49

8. Payload specifications 51

9. Interface specifications 54

9.1 Application interface 54

9.2 Emergency stop 54

10. Updating MiR100 software 56

1. About this document

This document contains the following information:

•How to start up and operate MiR100.

•Product presentation.

•Typical applications.

•Guidelines for proper maintenance of the robot.

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 resources are

available:

•Distributor site > Manuals

http://www.mobile-industrial-robots.com/en/account/manuals/

This page contains the following resources:

•Quick starts describe how you start operating the robot quickly. This document is in

the box with the robot in the printed format. Available in multiple languages.

•User guides provide all the information you need to operate and maintain the robot.

Available in multiple languages.

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

robot solution.

•Commissioning guides describe how to safely commission your robot, and prepare it

to operate in the workplace.

•Operating guides describes how to set up and use add-ons, 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 MiRFleet and MiR AI Camera.

•MiR RobotMiRFleet Reference guide contains description of all the elements of the

robotMiRFleet interface. Available in multiple languages.

•REST API references for the robots, hooks, and MiRFleet.

•MiR network requirements specify the performance requirements of your network

for MiR robotsMiRFleet to operate successfully.

1. About this document

•Distributor site > Download

http://www.mobile-industrial-robots.com/en/account/download/

This page contains the following resources:

•CAD drawings of MiR products are displayed by selecting Show CAD-files.

•Certificates for the robots are displayed by selecting Show Certificates.

•Software and Product Release Notes for your MiR product is displayed by selecting

your product in the drop-down menu.

•Distributor site > FAQ

https://www.mobile-industrial-robots.com/en/account/faq/

This page contains frequently asked questions regarding MiR products.

•Distributor site > How to

http://www.mobile-industrial-robots.com/en/account/how-to/

This page contains how-to guides that describe how to perform specific tasks with MiR

products.

•Distributor site > Troubleshooting

https://www.mobile-industrial-robots.com/en/account/troubleshooting/

This page contains troubleshooting guides to solve common issues with MiR products.

•MiR100 product page

http://www.mobile-industrial-robots.com/en/products/mir100/

This page contains specifications, pictures, and brochures for MiR100.

•Universal Robots:

http://www.universal-robots.com/support

1.2 Version history

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

product software releases.

Revision Release date Description SW HW

1.0 2017-11-27 First edition. 2.0.2 1.0

1.1 2018-08-17 Updated for hardware release 2.1

Updates and improvements throughout the

manual

2.2.0

and

higher

2.1

1. About this document

Revision Release date Description SW HW

1.2 2019-01-04 Updated for hardware release 3.0

Updates and improvements throughout the

manual

2.3.0

and

higher

3.0

1.3 2019-06-26 Updated for hardware release 4.0

Updates and improvements throughout the

manual

2.6.0

and

higher

4.0

1.4 2019-08-20 Updated for hardware release 5.0

Updates and improvements throughout the

manual

2.7.6

and

higher

5.0

2. Safety

Read the information in this section before powering up and operating MiR100.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR100 or its

accessories are damaged, changed, or modified in any way. Mobile Industrial

Robots cannot be held responsible for any damages caused to MiR100,

accessories, or any other equipment due to programming errors or

malfunctioning of MiR100.

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 serious injury or

death.

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.

2.2 General safety precautions

This section contains general safety precautions.

2. Safety

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.

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. Safety

CAUTION

The robot cannot 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

Removing the top cover from the robot exposes parts connected to the power

supply.

•Turn off the main power relay to avoid a short circuit. To see the location of

the power relay, refer to Product presentation on page30

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.

2.3 Intended use

MiR100 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

the MiR500/MiR1000 robot should operate, see Technical specifications on our website.

MiR100 is intended to be commissioned according to Commissioning on page19 and

prepared to the environment according to the guidelines. This is a prerequisite for safe

usage of MiR100.

MiR100 is designed and all risks are considered when used with one of the following types of

top applications:

2. Safety

•MiRHook 100 to tow trailers.

•A custom designed top application (including payload) designed to fulfill the following

requirements:

•Must not increase the footprint of MiR100 and be within the requirements in Payload

specifications

•Must not have any moving parts

MiR100 can be used as a partly complete machine as defined in the EU machinery directive,

with top applications that do not meet above limitations. Those who design, manufacture or

commission a system that does not meet the limitations of use of MiR100, carry the

obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.

Guidelines outlined in this manual are not sufficient. Examples of top applications, which are

not intended use of MiR100, but not limited to, are:

•Shelf on supporting legs (with or without wheels)

•Top applications (including payload) which increase the footprint of MiR100

•Conveyers (power and non-powered)

•Industrial robot arm

•Customized load transfer station

2.4 Users

MiR100 is only intended to be used by personnel that have received training in their

required tasks.

There are three types of intended users for MiR100:

Commissioners

Commissioners have received extensive training in the full use of MiR100 and have the

following main tasks:

1. Commissioning the product. This includes creating maps and restricting the user

interface for other users.

2. Making the risk assessment.

3. Determine the payload limit, weight distribution and fastening method of loads on

MiR100, that ensures the safety of nearby personnel When the robot is accelerating,

braking, and maneuvering.

2. Safety

Operators

Operators can service and maintain MiR100 and create and change missions and positions in

the robot interface. They have thorough knowledge of MiR100 and of the safety precautions

presented in the User guide of MiRHook 100MiR100 and Operating guide of MiR100.

Direct users

Direct users can assign missions to MiR100 and must be familiar with the safety precautions

in the Operating guide. They are instructed in how to fasten loads to MiR100 properly.

All other persons in proximity of MiR100 are considered indirect users and must know how

to act when close to the robot. For example, they must be aware that visibly marked safety

zones must be respected.

2.5 Foreseeable misuse

Any use or application deviating from the intended use is deemed as misuse. This includes,

but is not limited to:

•Using MiR100 to transport people.

•Using on steep surface grades, such as ramps

•Exceeding the maximum payload

•Positioning or fastening load incorrectly according to the specifications

Refer to Payload specifications on page51

•Failing to make a risk assessment of the full installation

Refer to Risk assessment below.

•Failing to follow the guidelines for commissioning

Refer to Commissioning on page19.

•Using in medical and life critical applications

•Operating outside the permissible operating rating parameters and environmental

specifications

•Using in potentially explosive environments

•Using outdoors.

•Using in hygiene zones

2.6 Risk assessment

You must make a risk assessment to achieve a safe installation. The risk assessment is the

responsibility of the individuals who are commissioning MiR100 in the environment it will be

used in.

2. Safety

The risk assessment must cover not only MiR100 itself, but also take into account potential

load transfer stations, work cells, and the work environment. MiR does not take any

responsibility for the creation of the risk assessment, but we provide information and

guidelines that may be used in the MiR100 and MiR200 Risk Analysis found on the

Distributor Site under Manuals.

It is recommended that the integrator follows the guidelines in ISO 12100, EN 1525, ANSI

B56.5, or other relevant standards to conduct the risk assessment.

In EN 1525, clause 4, there is a list of significant hazards, hazardous situations, and events

that can be used for inspiration.

The risk assessment must be written and saved as part of the technical file.

2.7 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners

must warn personnel about and take all precautions to avoid:

•Risk of being run over, drawn in, trapped, or impacted when a person stands in the path

of MiR100 or walks towards MiR100 while it is driving in reverse. The MiR100 will only

drive in reverse when parking or picking up a cart or undocking from a marker such as

MiRCharge 24V.

•Risk of crushing or trapping when user touches MiR100.

•Risk of being crushed, drawn in, or trapped at pallet racks or other load transfer stations,

work cells, or charging stations.

NOTICE

Other significant hazards may be present in a specific robot installation and

must be identified during commissioning.

NOTICE

All risks and foreseeable misuses relevant to MiRHook 100 also apply to

MiR100. Refer to the MiRHook 100 User guide for more information.

2. Safety

2.8 Safety-related functions and interfaces

MiR100 is equipped with a range of built-in safety-related functions as well as safety-related

electrical interfaces designed for integration with a top module and/or top manipulator.

Each safety function and interface is designed according to the standard ISO 13849-1.

The safety-related functions and interfaces are selected to support compliance with EN

1525.

2.9 Limiting safety-related functions

MiR100 has several built-in safety-related functions that are used to ensure safe operation in

the environment it is designed to be used in.

Advanced control software ensures that locomotion and the drive pattern are within safety

related limits and thereby avoid triggering a safety function. Violations of limits will hence

only occur in exceptional cases. Nevertheless, if a limit is violated, the safety system issues a

category 0 stop (stopping by “immediate removal of power to the machine actuators

according to IEC 60204-1”) followed by a controlled brake which brings MiR100 to a stop.

See Technical specifications on our website for more details.

Collision avoidance

The collision avoidance safety function ensures that the robot will come to a stop before it

collides with a human or object.

The function measures the speed on the two driving wheels and switches between the

predefined protective fields accordingly. The faster the speed, the larger the protective

fields will be.

This ensures that the robot will be brought to a stop in case a human or object is detected

within the active protective field.

Collision avoidance is automatically deactivated two seconds after the protective field is

free.

Overspeed avoidance

The safety system monitors if the speed of each motor is above limits for maximum rated

speed and hence an indication of speed control is lost for any reason.

The overspeed avoidance safety function must be manually deactivated by activation of the

restart button.

2. Safety

Emergency stop

MiR100 has one emergency stop device.

The emergency stop is only intended to be used in case of an emergency and shall not be

used for operational stop.

Emergency stop must be manually deactivated by activation of the restart button.

2.10 Lithium battery

This section contains safety precautions related to lithium batteries in MiR robots.

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.

3. Getting started

This section describes how to get started with MiR100.

3.1 In the box

This section describes the content of the MiR100 box.

The box contains:

1. The MiR100 robot

2. MiR100 Kit

•Emergency stop box, external antenna and 4 pcs. M10x40 bolts

•One charging cable

•One external charger, 24VDC, 10A

3. MiR100 document folder containing the printed documents and the USB flash drive.

4. Printed documents:

•MiR100Quick Start

•MiR username and passwords

•CE declaration of conformity

3. Getting started

5. USB flash drive with the following content:

•MiR100User Guide

•MiR Robot Interface 2.0 Reference guide

•MiR robot REST API reference

•MiR username and passwords

•CE declaration of conformity

3.2 Unpacking MiR100

This section describes how to unpack MiR100.

Keep the original packaging for the future transportation of the robot.

1. Remove pallet lid and take out the box with the MiR100 kit. Keep the original packaging

for future transportation of the robot.

3. Getting started

2. Remove the top foam, foam blocks on the sides and the pallet frames.

3. Place the pallet cover as a ramp at the robot's rear end.

4. Commissioning

This section describes how to get started with MiR100.

NOTICE

Read Safety on page8 before powering up the robot.

4.1 Powering up

Follow these steps to power up MiR100.

1. Grab the two rounded corners and carefully lift off the cover.

2. Connect one of the two battery cables to the plug on top of the battery box. The second

cable is for an extra battery.

4. Commissioning

3. Switch on the three relays placed in the corner by the front laser scanner. Start with 32A

main power, i.e. from the outer frame in.

4. Ensure that the battery disconnect switch is on (the two yellow indicators pointing to On).

5. Put the cover back on making sure to fit it correctly over the connector openings.

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