MIR 1000 User manual

Quick start (en)
Date: 06/2020
Revision: v.1.2

MiR1000 Quick start (en) 06/2020 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 2
Table of contents
1. Getting started 4
1.1 In the box 4
1.2 Unpacking MiR1000 5
2. Commissioning 10
2.1 Powering up 10
2.2 Connecting to the robot interface 12
2.3 Driving the robot in Manual mode 13
2.4 Checking the hardware status 15
2.5 Shutting down the robot 17
2.6 Charging the robot 17
2.7 MiR1000 control panel 18
2.8 MiR1000 operating modes 20
2.9 Packing for transportation 21
3. Safety 24
3.1 Safety message types 24
3.2 General safety precautions 25
3.3 Intended use 26
3.4 Users 26
3.5 Foreseeable misuse 27
3.6 Risk assessment 28
3.7 Residual risks 28
3.8 Safety-related functions and interfaces 29
3.9 Limiting safety-related functions 29

MiR1000 Quick start (en) 06/2020 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 3
3.10 Safety-related electrical interfaces 31
3.11 Lithium battery 33

1. Getting started
MiR1000 Quick start (en) 06/2020 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S. 4
1. Getting started
This section describes how to get started with MiR1000.
NOTICE
Read Safety on page24 before powering up the robot.
1.1 In the box
This section describes the content of the MiR1000 box.
The box contains:
1. The MiR1000 robot
2. MiR1000 document folder containing the printed documents and the USB flash drive.
3. Printed documents:
•MiR1000 Quick Start
•Getting the robot online
•Passwords
•CE declaration of conformity
•Nameplate
•Unpacking note
•High visibility stickers.

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4. USB flash drive with the following content:
•MiR1000 User Guide
•MiR Robot Reference Guide
•MiR robot REST API reference
•MiR Charge48V Operating Guide
•MiR1000 Pallet Lift Operating Guide
•MiR1000 EU Pallet Lift Operating Guide
•Getting the robot online
•Passwords
•CE declaration of conformity
•Unpacking note
1.2 Unpacking MiR1000
This section describes how to unpack MiR1000.
Keep the original packaging for the future transportation of the robot.
The robot is shown with a EU pallet lift.
1. Place the box with the robot so that there is 3m of free space at the front or the back of
the box. This is necessary since the robot drives out of the box on the ramp.

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2. Remove the screws that attach the walls of the box to the box lid and the base of the box.
3. Remove the lid from the box.
4. Take the folder with the printed documents and the USB drive out of the box.

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5. Remove the walls of the box and the protective foam blocks.

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6. Cut the protective straps.
For increased visibility, you can add the supplied high visibility stickers to
the four corners of the robot.

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7. Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush
with the base of the box.
8. Remove the wheel stop board from the pallet to let the robot drive on the ramp.

2. Commissioning
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2. Commissioning
This section describes how to get started with MiR1000.
2.1 Powering up
Follow these steps to power up MiR1000.
1. Open the rear maintenance hatch. To open the hatch, push two buttons on the hatch and
pull the hatch.
2. Turn the battery disconnect switch to position ON.
3. The On/Off button turns blue.
See MiR1000 control panel on page18.
4. Close the maintenance hatch.

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5. Ensure that all four emergency stop buttons are in the released state. Turn an emergency
stop button clockwise to release it.
6. Press the On/Off button for five seconds.
7. The robot turns on the red indicator lights and starts the software initialization process.
When the initialization process ends, the robot goes into the emergency stop mode.

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8. Press the Restart button to clear the emergency stop. The robot is ready for operation,
the status lights turn constant red.
2.2 Connecting to the robot interface
When the robot is on, it enables the connection to its WiFi access point. The name of the
access point appears in the list of available connections on your PC, tablet or phone.
NOTICE
The username and password for the robot’s WiFi access point and for
accessing the web interface are in the MiR username and passwords
document. The document is in the box with the robot.
Follow these steps to connect to the robot interface:
1. Using your pc, tablet or phone, connect the WiFi access point of the robot. The access
point name has the following format: MiR_VXXXX.

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2. In a browser, go to the address mir.com and sign in.
3. Switch to manual mode, and drive the robot down the ramp, see section Driving the
robot in Manual mode below.
2.3 Driving the robot in Manual mode
To drive the robot in Manual mode:
1. Put the Operating mode key into the Manual mode (turn to the right).
2. In the robot interface, select the joystick icon. The joystick control appears.
3. Select Manual control. The Restart button on the robot starts blinking.

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4. Press the Restart button. The status lights turn blue indicating that the robot is in Manual
mode.
The robot is shown with an EU pallet lift.

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5. Drive the robot using the joystick.
2.4 Checking the hardware status
To check that all hardware components work as intended follow the steps below:
1. Sign in to the robot interface. See the section Connecting to the robot interface on
page12.
2. Go to Monitoring >Hardware health.

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3. Check that all elements on the page have the OK status and that they have green dots on
the left.
For more information, see Hardware health in MiR Robot Reference Guide.

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2.5 Shutting down the robot
To shut down MiR1000:
1. Ensure that the robot is not moving or executing an action.
2. Press the On/Off button for five seconds.
3. The robot starts the shutdown process. Status lights blink yellow, the On/Off button blinks
red.
4. When the robot finishes the shutdown process, the status and the signal lights go off, the
On/Off button turns blue.
If shutting the robot down for transportation or service/repair, the Battery disconnect switch
must be turned off as well and the battery cable disconnected, see MiR1000 User guide.
2.6 Charging the robot
A charger cable and an external charger is not part of the MiR1000 standard
delivery.
To charge MiR1000 using the cable charger:
1. Open the maintenance hatch at the back of the robot. To open the hatch, push two
buttons on the hatch and pull the hatch.

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2. Connect the charger cable to the charging connector on the robot.
For information about the charging time, see the robot specifications at www.mobile-
industrial-robots.com.
2.7 MiR1000 control panel
MiR1000 has a control panel in the rear-left corner of the robot.

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The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode.
Puts the robot in the Autonomous mode.
•Middle position: Stop.
Stops 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 the Manual mode.
For more information on operating modes, see MiR1000 operating modes on the next page.
The control panel buttons
The buttons on the control panel have the following functions.
1. Stop 3. On/Off
2. Restart
Stop
Pressing the button stops the robot. After pressing this button, you must press the Restart
button to let the robot continue operating.
Color indication:
•Red: The robot is on.
Restart
Pressing this button:

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•Clears the emergency stop state.
•Lets the robot continue operating after the Stop button was pressed.
•Lets the robot continue operating after powering up or after the operating mode change.
Color indication:
•Blinking red: The robot is waiting for a user action (clear the emergency stop state,
acknowledge the change of operating mode, etc.)
On/Off
Pressing this button for five seconds turns the robot on or shuts it down.
Color indication:
•Blue: The robot is off.
•Blinking green: The robot is starting up.
•Green: Normal operation.
•Red: The robot detected an error.
•Yellow: The battery level is low.
2.8 MiR1000 operating modes
MiR1000 has the following operating modes:
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 section Driving the robot in Manual mode on
page13.
Autonomous mode
In this mode, the robot executes the programmed mission. After switching the key to this
mode, you can remove the key and the robot will continue driving autonomously. The
joystick is disabled in the robot interface.