MIR 1350 User manual

User Guide (en)
Date: 01/2023
Revision: v.1.3

Copyright and disclaimer
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
Mobile Industrial Robots A/S (MiR) makes no warranties, expressed or implied, in respect of this
document or its contents. In addition, the contents of this 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.
MiR authorizes you to view, copy, print, and distribute materials available in this document
provided that:
•The materials are used for internal informational purposes only.
•A MiR copyright notice appears on every copy of the material and any portion thereof.
•No materials or related graphics are modified or altered in any way. Any rights not expressly
granted herein are reserved by MiR.
Copyright © 2021–2023 by Mobile Industrial Robots A/S.
Original instructions (English)
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [email protected]
CVR: 35251235

Table of contents
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 3
Table of contents
Copyright and disclaimer 2
Table of contents 3
1. About this document 7
1.1 Where to find more information 7
1.2 Version history 8
2. Product presentation 11
2.1 Main features of MiR1350 11
2.2 External parts 14
2.3 Internal parts 21
2.4 Manual brake release switch 27
3. Warranty 29
4. Safety 30
4.1 Safety message types 30
4.2 General safety precautions 31
4.3 Intended use 34
4.4 Users 35
4.5 Foreseeable misuse 37
4.6 Warning label 38
4.7 Residual risks 38
5. Accessing the internal parts 40
5.1 Accessing the front compartment 40
5.2 Accessing the rear maintenance compartment 41
5.3 Accessing the side compartment 45
5.4 Accessing the top compartments 46
6. Getting started 48
6.1 In the box 48

Table of contents
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 4
6.2 Unpacking MiR1350 49
6.3 Connecting the battery 53
6.4 Powering up the robot 54
6.5 Connecting to the robot interface 56
6.6 Connecting the robot to a WiFi network 58
6.7 Driving the robot in Manual mode 61
6.8 Checking the robot 64
6.9 Mounting the nameplate 66
6.10 Shutting down the robot 68
7. Storage 70
7.1 Preparing the robot for storage 70
7.2 Storage time 70
7.3 Inactive battery modes 71
8. Battery and charging 72
8.1 Charging the robot 73
8.2 Disconnecting the battery 76
8.3 Swapping out the lithium-ion battery 76
8.4 Battery disposal 78
9. Cybersecurity 79
10. Navigation and guidance system 80
10.1 System overview 80
10.2 User input 81
10.3 Global planner 82
10.4 Local planner 84
10.5 Obstacle detection 85
10.6 Localization 93
10.7 Motor controller and motors 95
10.8 Brakes 95
11. Safety-related functions and interfaces 97
11.1 System overview 97

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11.2 Personnel detection 102
11.3 Overspeed avoidance 109
11.4 Emergency stop buttons 109
11.5 Emergency stop circuit 111
11.6 Safeguarded stop 113
11.7 Locomotion 115
11.8 System emergency stop 115
11.9 Reduced speed 118
11.10 Shelf mode 118
11.11 Safety functions performance overview 119
11.12 Safety stop 123
11.13 Light indicators and speakers 124
12. Commissioning 128
12.1 Analysis of the work environment 128
12.2 Risk assessment 130
12.3 Creating user groups and users 131
12.4 Creating and configuring maps 133
12.5 Markers 144
12.6 Positions 153
12.7 Creating missions 153
12.8 Creating a footprint 158
12.9 Using operating hazard zones 163
12.10 Making a brake test 164
12.11 Creating dashboards 165
12.12 Updating software 167
12.13 Creating backups 167
12.14 System settings 168
13. Usage 177
13.1 Creating markers 177
13.2 Creating positions 182
13.3 Creating the mission Prompt user 185
13.4 Creating the mission Try/Catch 190

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13.5 Creating the mission Variable docking 195
13.6 Testing a mission 204
13. Mounting a top module 206
14. Maintenance 208
14.1 Regular weekly checks and maintenance tasks 208
14.2 Regular checks and replacements 210
14.3 Battery maintenance 215
14.4 Lifting MiR1350 215
15. Transportation 217
15.1 Original packaging 217
15.2 Packing the robot for transportation 218
15.3 Battery 218
16. Payload distribution 219
16.1 Side view 221
16.2 Front view 222
17. Electrical interfaces 223
17.1 Left compartment interfaces 223
17.2 Right compartment interfaces 234
17.3 Connector list 242
18. Disposal of the robot 244
19. Error handling 245
19.1 Software errors 245
19.2 Hardware errors 246
20. Glossary 248

1. About this document
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 7
1. About this document
This user guide explains how to set up and start operating your MiR1350 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 MiR1350 along with instructions
for proper maintenance of the robot. You will also find information regarding safety and
specifications needed to commission a safe MiR1350 robot application.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
On the Support Portal at the MiR website, you can find the following resources under
Documentation:
•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.
•Risk assessment guide describes how to conduct a risk assessment and provides some risk
assessed use cases.
•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.
•Interface guides contain descriptions of all the elements of the robot interface and MiRFleet
interface. Interface guides are available in multiple languages.
•Best practice guides provide helpful information you can use when commissioning or
operating your robot.
•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
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 8
•Cybersecurity guide provides important information and instructions to increase the
cybersecurity of your MiR product.
•How-to guides are short guides providing instruction for maintenance, replacement,
commissioning, and other tasks related to MiRproducts.
•Troubleshooting guides can help you determine the cause of an issue you are experiencing
with your MiR product and how to resolve it.
1.2 Version history
This table shows current and previous versions of this document.
Revision Description
1.3 Date: 2023-01-31
Robot HW: 1.0
•Updated copyright.
•Updated style.
•Updated references to MiR Robot Reference Guide to
MiRRobotInterfaceGuide.
•Added references to videos showing how to access internal parts.
Affects section:Accessing the internal parts.
•Removed section about adapter cable to connect a cable charger
directly to the battery.
Affects section: In the box.
•Added more information about storage of robots and batteries.
New section: Storage.
•Added information about laser scanner range.
Affects section:Obstacle detection.
•Added information about camera vertical angle.
Affects section:Obstacle detection.
•Hold to run description removed.
Affects section: Safety-related functions and interfaces.

1. About this document
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 9
Revision Description
•Updated status light table.
Affects section:Light indicators and speakers.
•Corrected description of the robot's safety stop function.
Affects section:Safety stop.
•Improved commissioning sections, and added checklists to several
sections.
Affects sections:Creating user groups and users, Creating dashboards,
Updating the software, Creating missions, Positions,Markers, Creating
and configuring maps.
•Added mounting hole information.
Affects section:Mounting a top module.
•Added information about grease for drive wheels.
Affects section:Maintenance.
1.2 Date: 2022-05-31
Robot HW:1.0
•Improved description of Power save, Deep sleep, and storing the
battery.
Affects section: Battery storage.
•Added that localization is disabled while brakes are released manually.
Affects section: Manual brake release.
•Added lower boundary in camera FoV.
Affects section: Obstacle detection.
•Added warning not to use two chargers to charge the robot
simultaneously.
Affects section:Charging the robot.
•Corrected payload specifications.
Affects sections:Product presentation and Shelf specifications.
•Added notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.

1. About this document
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 10
Revision Description
1.1 Date: 2021-10-07
Robot HW:1.0
•Applied general corrections.
Affects sections:Payload distribution, Footprints, and Nameplate.
•Updated manual to ensure compliance with radio equipment
directives.
Affects sections:Safety, Connecting to the robot interface, and
Connecting the robot to a WiFi network.
1.0 Date: 2021-08-12
Robot HW:1.0
First edition.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 11
2. Product presentation
MiR1350 is an autonomous mobile robot that can transport loads up to 1 350 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR1350 via a web-based user interface, which is accessed through a browser on a
PC, smartphone, or tablet—see "Connecting to the robot interface" on page56. The robot can be
set up to run a fixed route, be called on demand, or perform more complex missions.
The robot interface of MiR1350 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 guidance system" on page80. 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 MiR1350 are available on the MiR website.
2.1 Main features of MiR1350
The main features of MiR1350 are:
•Driving in a populated workspace
The robot is designed to operate among people and maneuvers safely and efficiently in highly
dynamic environments.

2. Product presentation
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•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 1350 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 orange-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190.
•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133.
Top modules
The following top modules are available for MiR1350:
•MiRShelfLift
A lift platform can be mounted on MiR1350 enabling it to automate the internal
transport of shelves that meet specifications outlines by MiR—see MiR1350 Shelf Lift
User Guide for the shelf requirements.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 13
•MiRPalletLift1350
A lift platform can be mounted on MiR1350 enabling it to automate the internal transport of US
standard 40×48 pallets.
•MiREUPalletLift1350
A pallet lift for EU pallets can be mounted on MiR1350 enabling it to automate the internal
transport of EU pallets.
For more information about top modules from MiR, see MiR Accessories on the MiR
website. For more information about top modules from third parties, see MiRGo on
the MiR website.
Accessories
The following accessories are available for MiR1350:
•MiRPalletRack
Use a MiRPalletRack with MiRPalletLift1350. The lift places and picks up US standard 40×48
in (1016×1219 mm) pallets from the rack autonomously.
•MiREUPalletRack
Use a MiREUPalletRack with MiREUPalletLift1350. The lift places and picks up EU pallets
from the rack autonomously.
•MiRFleet
MiRFleet offers centralized control of robots throughout all your facility. MiRFleet is available
as an installation file you can install on a server of your choice or as a computer server where
MiRFleet comes pre-installed.
•MiRCharge48V
These fully automatic chargers enable MiR robots to recharge their batteries. Together with
MiRFleet, charging of robots can be fully automated, ensuring that robots never run out of
power during missions.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 14
2.2 External parts
This section presents the parts of MiR1350 that are visible on the outside.
Figure 2.1 MiR1350 external parts.
Pos. Description Pos. Description
1 Left top compartment—
see "Top compartments"
on page25
2 Right top compartment—
see "Top compartments"
on page25
3 Antenna: two pcs, in
opposite corners
4 Emergency stop button:
four pcs, two on each
side—see "Emergency
stop circuit" on page111
Table 2.1 Identification of the external parts in Figure 2.1

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 15
Pos. Description Pos. Description
5 Status light: on all four
sides of the robot—see
"Light indicators and
speakers" on page124
6 Left side maintenance
hatch: opens to the left
side compartment—see
"Side compartments" on
page24
7 Front safety laser
scanner—see "Safety
laser scanners" on
page86
8 Front maintenance
hatch: opens to the front
compartment—see
"Front compartment" on
page21
9 3D depth cameras: two
pcs, detect objects in
front of the robot— see
"3Dcameras" on page88
10 Proximity sensors: eight
pcs, two in each corner
behind the corner
covers—see "Proximity
sensors" on page90.
11 Right side maintenance
hatch: opens to the right
side compartment—see
"Side compartments" on
page24
12 Rear safety laser
scanner—see "Safety
laser scanners" on
page86
13 Rear maintenance hatch:
opens to the rear
compartment—see "Rear
compartment" on
page23
14 Signal light: eight pcs,
two on each corner—see
"Light indicators and
speakers" on page124
15 Control panel and
antenna—see "Control
panel" on page17

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 16
Identification label
MiR1350 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 MiR1350 is located in the left compartment next to the battery.
Figure 2.2 Placement of the identification label.
Figure 2.3 Example of a MiR1350 identification label.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 17
Nameplate
Every MiR application is delivered with a nameplate that must be mounted on the robot. The
nameplate of MiR1350 identifies the application model and serial number and includes the CE
mark, 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66.
Figure 2.4 Example of a MiR1350 nameplate.
Mass unloaded : 233 kg Dimension : 546×75×204cm Contains FCC ID: RYK-261ACNBT
Rated speed : 2 m/s1,2m/s Nominal power : 2×400W
Max. slope : 1% Type : Driverless truck
Rated capacity : 1350 kg Model : MiR1350
This device complies with part of the FCC Rules.
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference,
and (2) this device must accept any interference
received, including interference that may cause
undesired operation.
Max. payload footprint : 1300×1100mm S/N :
Year of construction: 2023
Lithium ion battery Made in Denmark
Nominal voltage : 48V Mobile Industrial Robots A/S
Rated ampere-hour capacity : 34,2Ah Emil Neckelmanns Vej 15F
Mass : 14 kg DK-5220 Odense SØ
Control panel
MiR1350 has a control panel in the rear-left corner of the robot.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 18
The control panel buttons
Figure 2.5 The MiR1350 control panel.
Pos. Description Pos. Description
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Table 2.2 Identification of items on the control panel in Figure 2.5
Manual stop button
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.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 19
Resume button
Pressing this button:
•Clears the Emergency or Protective stop state.
•Lets the robot continue operating after the Manual stop button was pressed or after the
operating mode changes.
•Lets the robot start operating after powering up.
Color indication:
•Blinking blue: The robot is waiting for a user action. For example, press the button to clear a
Protective stop or acknowledge the change of operating mode.
Power button
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
•Blinking green: The robot is starting up.
•Green: Normal operation.
•Blinking blue: The robot is checking that the battery level is high enough to start up.
•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" on the next page.

2. Product presentation
MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 20
Remove the Operating mode key during normal operation. The vibrations from the
robot's driving may shake the key and plug, and can cause an unwanted Protective
stop.
Figure 2.6 Remove the Operating mode key during normal operation.
Operating modes
MiR1350 has two operating modes: Manual mode and Autonomous mode.
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61.
To control the robot manually, you need to connect to the robot interface—see
"Connecting to the robot interface" on page56.
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.