MIR 100 User manual

User guide (en)
Date: 09/2019
Revision: v.1.4

MiR100 User guide (en) 09/2019 - v.1.4 ©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 © 20162017-2019 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

MiR100 User guide (en) 09/2019 - v.1.4 ©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 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

MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 4
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
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 5
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
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 6
•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
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 7
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
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 8
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
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 9
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
MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S. 10
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: