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

MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 4
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

MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 5
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

MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 6
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

MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 7
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