MIR 1000 Lift User manual

Operating guide (en)
Date: 2019/09
Revision: v.1.0

MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 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 © 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

Table of contents
1. About this document 4
1.1. Where to find more information 4
1.2. Document history 5
2. Safety 6
2.1. Safety message types 6
2.2. General safety precautions 7
2.3. Intended use 8
3. Getting started 10
3.1. In the box 10
3.2. Mounting MiR1000 Lift 10
3.3. Testing MiR1000 Lift 20
3.4. Lift modifications 22
4. Product presentation 24
4.1. How the lift works 24
4.2. MiRLift Pallet Rack 25
4.3. Mark potentially hazardous floor area 26
5. Usage 28
5.1. Enable MiR1000 Lift feature 28
5.2. Set entry and pallet rack positions 29
5.3. Lower lift mission 30
5.4. Raise lift mission 32
5.5. Pick up pallet mission 35
5.6. Test the mission 37
5.7. Put down pallet mission 37
5.8. Test the mission 39

1. About this document
MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 4
1. About this document
This document contains the following information:
•How to install MiR1000 Lift and take precautions for safe use.
•How to create mission with MiR1000 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:
-MiR1000 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.
-MiR1000 User Guide
The user guide of the robot. Available in multiple languages.
-MiR Robot Interface 2.0 Reference Guide
The reference that describes the elements of the robot interface. Available in multiple
languages.
-MiR1000 REST API reference.
The REST API reference for the 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
MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 5
•Distributor site > Troubleshooting
This page contains troubleshooting guides to solve common issues with MiR products.
•MiR1000 Lift product page
https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir1000-lift/
This page contains specifications, pictures, and brochures for MiR1000 Lift.
1.2. Document history
This table shows the latest and previous versions of this document and their interrelations
with product software releases.
Revision Release date Description SW HW
1.0 2019-09-04 First edition. 2.5.0 1.0

2. Safety
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2. Safety
Read the information in this section before powering up and operating MiR1000 Lift.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR1000 Lift or its
accessories are damaged, changed or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR1000 Lift,
accessories or any other equipment due to programming errors or
malfunctioning of MiR1000 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
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2.2. General safety precautions
This section contains general safety precautions.
WARNING
If the load on the robot is not positioned or fastened correctly, the load may
fall or the robot may overturn.
•Ensure that the load is positioned according to the specifications and
fastened correctly. Refer to the User guide of your robot for payload spe-
cifications.
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
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
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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
MiR1000 Lift is a partly completed machine as defined in the EU machinery directive and
does not have a CE mark. A correctly installed MiR1000 Lift is covered by the CE mark of
MiR1000. However, a CE marked product does not guarantee a CE marked setup. It is the
responsibility of the integrator to safely commission MiR1000 Lift.
MiR1000 Lift is designed for MiR1000. MiR1000 Lift is only intended to transport pallets that
do not extend the footprint of MiR1000 and loaded according to the Payload Specifications
defined in the MiR1000 Userguide.
NOTICE
A safe machine does not guarantee a safe system. Follow the Commissioning
guide to ensure safe commissioning.
MiR1000 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.

2. Safety
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NOTICE
Before commissioning MiR1000 Lift, it is important to make a risk assessment.
All risks and foreseeable misuses relevant to MiR1000 also apply to MiR1000
Lift. Refer to the MiR1000 User guide for more information.

3. Getting started
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3. Getting started
This section describes how to get started with MiR1000 Lift.
3.1. In the box
This section describes the content of the MiR1000 Lift box.
The box contains:
1. MiR1000 Lift
2. A MiR1000 Lift document folder containing the following printed documents:
•MiR1000 Lift
•CE declaration of conformity
3.2. Mounting MiR1000 Lift
This section describes how to mount MiR1000 Lift to MiR1000. Before mounting, turn off the
robot and read section Safety on page6.
The images in this guide feature MiR500, but the procedure is the same for MiR1000.
For another description of mounting the MiR1000 Lift, see the How to guide on
the Distributor site titled How to Mount the MiR500 Lift.
CAUTION
Before mounting MiR1000 Lift to MiR1000 read Safety on page6.
Connecting the cables
When mounting MiR1000 Lift, it is important that the end with the six screw holes is placed
at the front end of the robot.

3. Getting started
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3.1. The side with the six screw holes (circled with red) must be placed at the front end of the robot.
3.2. Top view of MiR1000
Number Description Number Description
1 Left-side middle com-
partment plate
2 Right-side middle com-
partment plate

3. Getting started
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1. Remove the two middle compartment plates on the top cover of MiR1000.
2. Unscrew the four bolts from the lifting device.

3. Getting started
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3. Screw in four lifting eye bolts in the holes where you just removed the four bolts.
4. Use a crane to move the lifting device to the robot. Leave some space between the robot
and the lifting device, so you can connect the cables.

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5. Remove the cables from the bag. Notice that there are two cables for the right side and
two cables for the left side of the lifting device. Feed the right-side cables through the
hole on the right side and vice versa with the left side.
6. Connect the plugs of the right-side cables with the socket in the right-side compartment
of MiR1000. These are the power (1) and GPIO (2)connections. Repeat the process for
the plugs and sockets on the left side.
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.

3. Getting started
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Fixing MiR1000 Lift to MiR1000
When fixing MiR1000 Lift to MiR1000, 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. Lower the lift onto the robot.
2. Dismount the crane, remove the lifting eye bolts and remove the crane.

3. Getting started
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3. Screw in one of the four M12 bolts without tightening it completely.
4. Adjust the lift until the M12 mounting holes are correctly aligned, and screw in the
remaining bolts. Ensure that all bolts are tightened completely.

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5. Screw in the four bolts that were removed for the eye bolts.

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6. Put the lift cover on the lifting device using suction cups.
7. Screw in all twenty screws to fix the cover to the lifting device. Ensure the screws are
plane with the lift cover.
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.

3. Getting started
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8. Put on the four safety stickers.

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9. Put the anti-slip paper on the sides as shown in the image.
10. Four additional square pieces of anti-slip paper are included with the lift. It is optional to
place these on the cover of the lift.
3.3. Testing MiR1000 Lift
The following steps can 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.