MIR 1000 User manual

User Guide (en)
Date: 12/2020
Revision: v.1.4

MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
All rights reserved. No parts of this document may be reproduced in any form without the
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 document. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2019-2020 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 8
1.1 Where to find more information 8
1.2 Version history 9
2. Product presentation 10
2.1 Main features of MiR1000 11
2.2 Top modules 12
2.3 External parts 13
2.4 Internal parts 19
2.5 Manual brake release switch 25
3. Warranty 26
4. Accessing the internal parts 27
4.1 Front compartment 27
4.2 Rear compartment 29
4.3 Side compartments 29
4.4 Top compartments 30
5. Safety 31
5.1 Safety message types 31
5.2 General safety precautions 32
5.3 Intended use 35
5.4 Users 37
5.5 Foreseeable misuse 38
5.6 Residual risks 38
6. Getting started 40

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6.1 In the box 40
6.2 Unpacking MiR1000 41
6.3 Connecting the battery 45
6.4 Powering up the robot 46
6.5 Connecting to the robot interface 48
6.6 Driving the robot in Manual mode 50
6.7 Checking the hardware status 52
6.8 Mounting the nameplate 53
6.9 Shutting down the robot 55
7. Battery and charging 56
7.1 Charging the robot 56
7.2 Disconnecting the battery 57
7.3 Battery storage 57
7.4 Battery disposal 58
8. IT security 59
8.1 Managing users and passwords 59
8.2 Software security patches 59
9. Navigation and control system 61
9.1 System overview 61
9.2 User input 63
9.3 Global planner 63
9.4 Local planner 65
9.5 Obstacle detection 66
9.6 Localization 72

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9.7 Motor controller and motors 75
9.8 Brakes 75
10. Safety system 77
10.1 System overview 77
10.2 Personnel detection 82
10.3 Overspeed avoidance 87
10.4 Stability 87
10.5 Emergency stop buttons 88
10.6 Emergency stop circuit 89
10.7 Safeguarded stop 90
10.8 Locomotion 91
10.9 Shared emergency stop 92
10.10 Reduced speed 94
10.11 Safety stop 94
10.12 Light indicators and speakers 95
11. Commissioning 99
11.1 Analysis of the work environment 99
11.2 Risk assessment 101
11.3 Creating and configuring maps 102
11.4 Markers 114
11.5 Positions 117
11.6 Creating missions 118
11.7 Creating a footprint 121
11.8 Using operating hazard zones 125

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11.9 Making a brake test 127
11.10 Creating user groups and users 128
11.11 Creating dashboards 131
11.12 Updating MiR1000 software 133
11.13 Creating backups 134
11.14 System settings 134
12. Usage 143
12.1 Creating markers 143
12.2 Creating positions 148
12.3 Creating the mission Prompt user 150
12.4 Creating the mission Try/Catch 155
12.5 Creating the mission Variable docking 161
12.6 Testing a mission 169
13. Applications 171
13.1 Mounting a top module 171
14. Maintenance 174
14.1 Regular weekly checks and maintenance tasks 174
14.2 Regular checks and replacements 176
14.3 Battery maintenance 179
15. Packing for transportation 180
15.1 Original packaging 180
15.2 Packing the robot for transportation 181
15.3 Battery 181
16. Payload distribution 182

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17. Disposal of robot 189
18. Interface specifications 190
18.1 General purpose interfaces 190
18.2 Safety interfaces 197
18.3 Connector list 201
19. Error handling 203
19.1 Software errors 203
19.2 Hardware errors 204

1. About this document
MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR1000 robot and provides
examples of simple missions you can expand to your purposes. This guide also contains
information regarding the external and internal components of MiR1000 along with
instructions for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR1000 robot application.
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. It comes 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 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.
•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 MiR accessories or supported functions
that are mainly hardware-based, such as charging stations and shelf functions.
•Getting started guides describe how to set up MiR accessories 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.
•Best practice guides specify how much space MiR robots need to execute common
maneuvers.
•REST API references for MiR robots, MiR hooks, and MiR Fleet. HTTP requests can be
used to control robots, hooks, and MiR Fleet.
•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. About this document
MiR1000 User Guide (en) 12/2020 - v.1.4 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of this document.
MiR1000
Revision Release date Description HW
1.0 2019-05-31 First edition. 1.0
1.1 2019-07-11 New sections: Create mission, Mission editor, Lift
modifications
Updated section: Status lights.
1.0
1.2 2019-10-08 New section: Updating MiR1000 software. 1.0
1.3 2020-06-11 New section: IT Security
Added new information about payload
1.0
1.4 2020-12-01 New chapters: Warning label, Mounting the
nameplate, Accessing the internal parts, Battery
and charging, IT security, Navigation and control
system, Safety system, Usage, Disposal of robot,
Error handling and Glossary.
General improvements throughout the document.
1.0

2. Product presentation
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2. Product presentation
MiR1000 is an autonomous mobile robot that can transport loads up to 1000 kg indoors
within production facilities, warehouses, and other industrial locations where access to the
public is restricted.
Users operate MiR1000 via a web-based user interface, which is accessed through a browser
on a PC, smartphone, or tablet. Each robot has its own network—see Connecting to the robot
interface on page 48. The robot can be set up to run a fixed route, be called on demand, or
perform more complex missions.
The robot interface of MiR1000 can be accessed via Google Chrome, Google Chromium,
Apple Safari, Mozilla Firefox, and Microsoft Edge browsers.
The robot uses a map of its work area to navigate and can move to any position on the
map—see Navigation and control system on page 61. The map can be created or imported
the first time the robot is used. While operating, the robot avoids obstacles that are not
mapped, like people and furniture.
Specifications for MiR1000 are available on the MiR website.

2. Product presentation
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2.1 Main features of MiR1000
The main features of MiR1000 are:
•Driving in a populated workspace
The robot is designed to operate among people and maneuvers safely and efficiently in
highly dynamic environments.
•Overall route planning and local adjustments
The robot navigates autonomously to find the most efficient paths to its destinations. The
robot adjusts the path when it encounters obstacles that are not on the map, like
personnel and vehicles.
•Efficient transportation of heavy loads
The robot is designed to automate transportation of loads up to 1000 kg.
•Sound and light signals
The robot continuously signals with light and sounds, indicating where it will drive and its
current status, for example, waiting for a mission, driving to a destination, or destination
reached.
•User-friendly and flexible
The web-based user interface, accessed from a PC, tablet, or smartphone, gives easy
access to operation and monitoring of the robot and can be programmed without any
prior experience. Different user group levels and tailored dashboards can be set up to suit
different users.
•Alert for 'lost'
If the robot enters a situation where it is unable to find a path to its destination, it stops,
turns on the yellow-purple running error light, and a custom defined Try/Catch action
may be used to alert personnel or take other actions—see Creating the mission Try/Catch
on page 155.
•Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are detected in
front of it.
•Internal map
The robot can either use a floor plan from a CAD drawing, or a map can be created by
manually driving the robot around the entire site in which the robot is going to operate.
When the robot is mapping, the robot’s sensors detect walls, doors, furniture, and other
obstacles, and the robot then creates a map based on these input. After you've finished
mapping, you can add positions and other features in the map editor—see Creating and
configuring maps on page 102.

2. Product presentation
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2.2 Top modules
The following top modules are available for MiR1000:
•MiR Pallet Lift 1000
A lift platform may be mounted on MiR1000 enabling it to automate the internal
transport of US standard 40x48 pallets.
•MiR EU Pallet Lift 1000
A pallet lift for EU pallets may be mounted on MiR1000 enabling it to automate the
internal transport of EU pallets.
•MiRPalletRack
Use a MiRPalletRack with MiR Pallet Lift 1000. The lift places and picks up US standard
40 x 48 in (1016 x 1219 mm) pallets from the rack autonomously.
•MiREUPalletRack
Use a MiREUPalletRack with MiR EU Pallet Lift 1000. The lift places and picks up EU
pallets from the rack autonomously.
To learn more about the top modules, go to the MiR website.

2. Product presentation
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2.3 External parts
This section presents the parts of MiR1000 that are visible on the outside.
Figure 2.1. MiR1000 external parts.
Pos. Description Pos. Description
1 Left cover plate: access to
Power interface, GPIO
interface, and Ethernet
interface—see Interface
specifications on page 190
2 Right cover plate: access to
Aux. safety functions
interface and Aux.
Emergency stop interface—
see Interface specifications
on page 190
3 Signal light: eight pcs., two
on each corner—see Light
indicators and speakers on
page 95
4 Rear maintenance hatch:
opens to the rear
compartment—see Internal
parts on page 19
Table 2.1.
Identification of the external parts in Figure 2.1

2. Product presentation
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Pos. Description Pos. Description
5 Rear safety laser scanner—
see Obstacle detection on
page 66
6 Right side maintenance
hatch: opens to the right side
compartment—see Internal
parts on page 19
7 Emergency stop button: four
buttons, two on each side—
see Emergency stop circuit
on page 89
8 Proximity sensors: eight pcs.,
two in each corner behind
the corner covers—see
Obstacle detection on page
66
9 3D depth cameras: two pcs,
detect objects in front of the
robot— see Obstacle
detection on page 66
10 Front maintenance hatch:
opens to the front
compartment— see Internal
parts on page 19
11 Front safety laser scanner—
see Obstacle detection on
page 66
12 Left side maintenance hatch:
opens to the left side
compartment—see Internal
parts on page 19
13 Status light: on all four sides
of the robot— see Light
indicators and speakers on
page 95
Identification label
MiR1000 is delivered with an identification label mounted to the product. The identification
label identifies the product, the product serial number, and the hardware version of the
product.
The identification label of MiR1000 is located on the rear-right side of the chassis.

2. Product presentation
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Figure 2.2. Placement of the identification label.
Figure 2.3. Example of a MiR1000 identification label.

2. Product presentation
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Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR1000 identifies the application model and serial number and includes the
CE mark, the technical specifications, and the address of Mobile Industrial Robots. The
nameplate identifies the complete MiR application, for example, a robot with a top module.
It is the responsibility of the commissioner to mount the nameplate on the application—see
Mounting the nameplate on page 53.
Figure 2.4. Example of a MiR1000 nameplate.
Control panel
MiR1000 has a control panel in the rear-left corner of the robot.

2. Product presentation
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The control panel buttons
Figure 2.5. The MiR1000 control panel.
Pos. Description Pos. Description
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Table 2.1.
Identification of items on the control panel in Figure 2.5
Manual stop
Pressing this button stops the robot. After pressing this button, you must press the Resume
button to let the robot continue operating.
Color indication:
•Red: It is possible to engage the Manual stop.
Resume
Pressing this button:
•Clears the Emergency stop state.
•Lets the robot continue operating after the Manual stop button was pressed or after the

2. Product presentation
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operating mode changes.
•Lets the robot start operating after powering up.
Color indication:
•Blinking blue: The robot is waiting for a user action (clear the Emergency stop state,
acknowledge the change of operating mode).
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
•Blue: The robot is off.
•Blinking green: The robot is starting up.
•Green: Normal operation.
•Blinking red: The battery level is too low to start without additional charging, or the robot
is shutting down.
The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode
Puts the robot in Autonomous mode.
•Middle position: Locked
Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot
manually.
•Right position: Manual mode
Puts the robot in Manual mode.
For more information on operating modes, see Operating modes below.
Operating modes
MiR1000 has two operating modes: Manual mode and Autonomous mode.

2. Product presentation
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Manual mode
In this mode, you can drive the robot manually using the joystick in the robot interface. Only
one person can control the robot manually at a time. To ensure that nobody else takes
control of the robot, the robot issues a token to the device on which you activate the Manual
mode.
For information about activating this mode, see Driving the robot in Manual mode on page
50.
Autonomous mode
In this mode, the robot executes the programmed missions. After switching the key to this
mode, you can remove the key, and the robot will continue driving autonomously. In
Autonomous mode, the joystick is disabled in the robot interface.
2.4 Internal parts
Most internal parts of MiR1000 are accessed through maintenance hatches that open to
different compartments:
•Front compartment
•Rear compartment
•Side compartments
•Top compartments
To access the compartments correctly, see Accessing the internal parts on page 27.
Front compartment
The front compartment holds several electronic components, such as the robot computer
and the motor controller carrier board.
To open the front compartment, see Accessing the internal parts on page 27.
Front compartment components
The front compartment components are listed in Table 2.1.

2. Product presentation
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Figure 2.6. Internal parts of the front compartment.
Pos. Description Pos. Description
1 Cable chain: contains a group of
cables that connect with robot
components outside of the front
compartment.
2 Safe Torque Off contactors: cuts
power to the robot's motor when
the robot enters Protective or
Emergency stop.
3 Access point/Router: access point
that broadcasts the robot's WiFi
signal so you can connect to the
robot wirelessly.
4 Robot computer: processes data
from the sensors and controls
the robot's navigation.
5 Loudspeaker:emits sounds
programmed in missions.
6 Power board: controls the power
distribution for the motor
controller, robot computer, and
safety PLC.
Table 2.1.
Identification of internal parts in Figure 2.6