MIR 1350 User manual

User Guide (en)
Date: 05/2022
Revision: v.1.2

MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: 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 © 2021-2022 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

MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: 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 12
2.1 Main features of MiR1350 13
2.2 External parts 16
2.3 Internal parts 23
2.4 Manual brake release switch 29
3. Warranty 31
4. Safety 32
4.1 Safety message types 32
4.2 General safety precautions 33
4.3 Intended use 38
4.4 Users 39
4.5 Foreseeable misuse 40
4.6 Warning label 41
4.7 Residual risks 42
5. Accessing the internal parts 43
5.1 Front compartment 44
5.2 Rear compartment 45
5.3 Side compartments 48
5.4 Top compartments 49

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6. Getting started 51
6.1 In the box 52
6.2 Unpacking MiR1350 53
6.3 Connecting the battery 57
6.4 Powering up the robot 58
6.5 Connecting to the robot interface 60
6.6 Connecting the robot to a WiFi network 64
6.7 Driving the robot in Manual mode 68
6.8 Checking the hardware status 71
6.9 Mounting the nameplate 72
6.10 Shutting down the robot 74
7. Battery and charging 76
7.1 Charging the robot 77
7.2 Disconnecting the battery 80
7.3 Swapping out the lithium-ion battery 80
7.4 Battery storage 82
7.5 Battery disposal 83
8. Cybersecurity 84
9. Navigation and guidance system 85
9.1 System overview 85
9.2 User input 87
9.3 Global planner 88
9.4 Local planner 89

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9.5 Obstacle detection 90
9.6 Localization 99
9.7 Motor controller and motors 102
9.8 Brakes 103
10. Safety-related functions and interfaces 104
10.1 System overview 104
10.2 Personnel detection 111
10.3 Overspeed avoidance 119
10.4 Emergency stop buttons 119
10.5 Emergency stop circuit 121
10.6 Safeguarded stop 123
10.7 Locomotion 125
10.8 System emergency stop 126
10.9 Reduced speed 128
10.10 Shelf mode 129
10.11 Safety functions performance overview 129
10.12 Safety stop 134
10.13 Light indicators and speakers 135
11. Commissioning 139
11.1 Analysis of the work environment 139
11.2 Risk assessment 141
11.3 Creating and configuring maps 143
11.4 Markers 155

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11.5 Positions 163
11.6 Creating missions 164
11.7 Creating a footprint 169
11.8 Using operating hazard zones 173
11.9 Making a brake test 175
11.10 Creating user groups and users 176
11.11 Creating dashboards 180
11.12 Updating software 182
11.13 Creating backups 183
11.14 System settings 183
12. Usage 193
12.1 Creating markers 193
12.2 Creating positions 200
12.3 Creating the mission Prompt user 202
12.4 Creating the mission Try/Catch 206
12.5 Creating the mission Variable docking 212
12.6 Testing a mission 221
13. Applications 223
13.1 Mounting a top module 223
14. Maintenance 226
14.1 Regular weekly checks and maintenance tasks 227
14.2 Regular checks and replacements 229
14.3 Battery maintenance 234

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14.4 Lifting MiR1350 235
15. Packing for transportation 237
15.1 Original packaging 237
15.2 Packing the robot for transportation 238
15.3 Battery 238
16. Payload distribution 239
16.1 Side view 241
16.2 Front view 242
17. Interface specifications 243
17.1 Left compartment interfaces 243
17.2 Right compartment interfaces 255
17.3 Connector list 263
18. Disposal of the robot 265
19. Error handling 266
19.1 Software errors 266
19.2 Hardware errors 267
20. Glossary 270

1. About this document
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 8
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.
•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.

1. About this document
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 9
•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 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.
•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
1.2 Date: 2022-05-31
Robot HW:1.0
Top module HW:1.0
MiR1350

1. About this document
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 10
Revision Description
•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 sections: Charging the robot
1.1 Date: 2021-10-07
Robot HW:1.0
Top module HW:1.0
•Applied general corrections.
Affects sections:Payload distribution, Footprints, and
Nameplate.
•Updated manual to ensure compliancy 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

1. About this document
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 11
Revision Description
Top module HW:1.0
First edition.

2. Product presentation
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 12
2. Product presentation
MiR1350 is an autonomous mobile robot that can transport loads up to 1350 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60. 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85. 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. Product presentation
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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.
•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 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206.
•Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are
detected in front of it.

2. Product presentation
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•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143.
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.
•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.
To learn more about the top modules and accessories, go to 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.

2. Product presentation
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•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AICamera
An intelligent camera that detects and recognizes different moving objects,
which can trigger certain actions in MiRFleet.
•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
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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 Internal parts on
page23
2 Right top
compartment—see
Internal parts on
page23
Table 2.1.
Identification of the external parts in Figure 2.1

2. Product presentation
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 17
Pos. Description Pos. Description
3Antenna: two pcs, in
opposite corners
4Emergency stop button:
four pcs, two on each
side—see Emergency
stop circuit on
page121
5Status light: on all four
sides of the robot—see
Obstacle detection on
page90
6Left side maintenance
hatch: opens to the left
side compartment—see
Internal parts on
page23
7Front safety laser
scanner—see Obstacle
detection on page90
8Front maintenance
hatch: opens to the
front compartment—
see Internal parts on
page23
93D depth cameras: two
pcs, detect objects in
front of the robot— see
Obstacle detection on
page90
10 Proximity sensors: eight
pcs, two in each corner
behind the corner
covers—see Obstacle
detection on page90.
11 Right side maintenance
hatch: opens to the
right side
compartment—see
Internal parts on
page23
12 Rear safety laser
scanner—see Obstacle
detection on page90

2. Product presentation
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Pos. Description Pos. Description
13 Rear maintenance
hatch: opens to the rear
compartment—see
Internal parts on
page23
14 Signal light: eight pcs,
two on each corner—
see Light indicators
and speakers on
page135
15 Control panel and
antenna—see Control
panel on the next
page
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.

2. Product presentation
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Figure 2.3. Example of a MiR1350 identification label.
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72.
Figure 2.4. Example of a MiR1350 nameplate.
Control panel
MiR1350 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 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.