MIR 200 User manual

User Guide (en)
Date: 10/2020
Revision: v.3.1

MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: 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 © 2017-2020 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

MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 7
1.1 Where to find more information 7
1.2 Version history 8
2. Product presentation 9
2.1 Main features of MiR200 10
2.2 Top modules 11
2.3 External parts 11
2.4 Internal parts 16
3. Safety 19
3.1 Safety message types 19
3.2 General safety precautions 20
3.3 Intended use 24
3.4 Users 25
3.5 Foreseeable misuse 26
3.6 Warning label 27
3.7 Residual risks 27
4. Getting started 29
4.1 In the box 29
4.2 Unpacking MiR200 30
4.3 Connecting the battery 32
4.4 Powering up the robot 38
4.5 Connecting to the robot interface 39
4.6 Driving the robot in Manual mode 41

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4.7 Checking the hardware status 43
4.8 Mounting the nameplate 43
4.9 Shutting down the robot 45
5. Battery and charging 46
5.1 Charging the robot 46
5.2 Disconnecting the battery 48
5.3 Battery storage 50
5.4 Battery disposal 50
6. IT security 52
6.1 Managing users and passwords 52
6.2 Software security patches 52
7. Navigation and control system 54
7.1 System overview 54
7.2 User input 56
7.3 Global planner 56
7.4 Local planner 58
7.5 Obstacle detection 59
7.6 Localization 65
7.7 Motor controller and motors 69
7.8 Brakes 70
8. Safety system 71
8.1 System overview 71
8.2 Collision avoidance 75
8.3 Overspeed avoidance 80

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8.4 Stability 80
8.5 Emergency stop circuit 80
8.6 Robot computer 81
8.7 Light indicators and speakers 82
9. Commissioning 84
9.1 Analysis of the work environment 84
9.2 Risk assessment 86
9.3 Creating and configuring maps 87
9.4 Markers 98
9.5 Positions 101
9.6 Creating missions 102
9.7 Creating a footprint 105
9.8 Making a brake test 109
9.9 Creating user groups and users 110
9.10 Creating dashboards 113
9.11 Updating MiR200 software 114
9.12 Creating backups 115
9.13 System settings 115
10. Usage 123
10.1 Creating markers 123
10.2 Creating positions 128
10.3 Creating the mission Prompt user 130
10.4 Creating the mission Try/Catch 135
10.5 Creating the mission Variable footprint 141

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10.6 Testing a mission 144
11. Applications 146
11.1 Mounting a top module 146
12. Maintenance 148
12.1 Regular weekly checks and maintenance tasks 148
12.2 Regular checks and replacements 149
12.3 Battery maintenance 152
13. Packing for transportation 153
13.1 Original packaging 153
13.2 Packing the robot for transportation 154
13.3 Battery 154
14. Disposal of robot 155
15. Payload specifications 156
16. Interface specifications 164
16.1 Application interface 164
16.2 Emergency stop 165
17. Error handling 167
17.1 Software errors 167
17.2 Hardware errors 168

1. About this document
MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 7
1. About this document
This user guide explains how to set up and start operating your MiR200 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 MiR200 along with
instructions for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR200 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.
•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. Simple http requests can
be used to control robots, hooks and 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
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1.2 Version history
This table shows current and previous versions of this manual and their interrelations with
hardware releases.
the robot
Revision Release date Description HW
1.0 2017-11-24 First edition. 1.0
1.1 2018-08-17 Updated for hardware release 1.2.
Updates and improvements throughout the manual.
1.2
1.2 2018-11-28 Updated for hardware release 2.0.
Updates and improvements throughout the manual.
2.0
1.3 2019-06-26 Updated for hardware release 3.0.
Updates and improvements throughout the manual.
3.0
1.4 2019-08-20 Updated for hardware release 5.0.
Updates and improvements throughout the manual.
5.0
3.0 2020-10-01 New manual structure.
New chapters: Warning label, Mounting the
nameplate, Battery and charging, IT security,
Navigation and control system, Safety system,
Usage, Disposal of robot, Error handling and
Glossary.
As a result of the new manual structure, the MiR200
User Guide has been aligned with the top module
version history. Therefore, version 2.0 is skipped
and is instead named 3.0.
5.0
3.1 2020-10-30 Updates and improvements throughout the manual. 5.0

2. Product presentation
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2. Product presentation
MiR200 is an autonomous mobile robot that can transport loads up to 200 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR200 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39. The robot can be set up to run a fixed route, be called on demand, or
perform more complex missions.
The robot interface of MiR200 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54. 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 MiR200 are available on the MiR website.

2. Product presentation
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2.1 Main features of MiR200
The main features of MiR200 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 200 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135.
•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87.

2. Product presentation
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2.2 Top modules
The following top modules are available for MiR200:
•MiR Hook 200
A hook may be mounted on the robot enabling it to automate the internal transport of
carts.
To learn more about the top modules, go to the MiR website.
2.3 External parts
This section presents the parts of MiR200 that are visible on the outside.
Figure 2.1. MiR200 external parts.

2. Product presentation
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Pos. Description Pos. Description
1 Top cover: access to internal
parts—see Internal parts on
page16
2 Swivel wheel: four pcs., one
in each corner
3 Drive wheel: two pcs.,
differential control
4 Behind the removable corner
cover: HDMI port and USB
service port - connects to the
robot computer
5 Scanner reset button (yellow)
and On/Off button (blue)
6 Ultrasound sensors: two pcs.,
for detection of transparent
objects (side)—see Obstacle
detection on page59
7 3D depth camera: two pcs.,
both in the front—see
Obstacle detection on
page59
8 Pad connectors: two pcs., for
connection to charging pins
on MiR Charge 24V charging
station
9 S300 safety laser scanner
(front)—see Obstacle
detection on page59
10 Side cover
11 Behind removable rear
corner cover: Charging port
with switch
12 Ultrasound sensors: two pcs.,
for detection of transparent
objects (rear)—see Obstacle
detection on page59
13 Rear cover 14 S300 safety laser scanner
(rear)—see Obstacle
detection on page59
15 RJ45 Ethernet—see Interface
specifications on page164
16 Application power: for
connection to top modules
such as hooks—see Interface
specifications on page164
Table 2.1.
Identification of the external parts in Figure 2.1.

2. Product presentation
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Pos. Description Pos. Description
17 Antenna socket 18 USB interface - connects to
the robot's PC
19 Emergency stop interface:
with added options for
connection to small units and
I5 input on SICK scanners—
see Interface specifications
on page164
Identification label
MiR200 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 MiR200 is located on the back left side of the chassis underneath
the router.
Figure 2.2. Placement of the identification label.

2. Product presentation
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Figure 2.3. Example of a MiR200 identification label.
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR200 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43.
Figure 2.4. Example of a MiR200 nameplate.
Control panel
MiR200 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 MiR200 control panel.
Pos. Description Pos. Description
1 Scanner reset 2 Power
Table 2.1.
MiR200 control panel.
Scanner reset
Pressing this button restarts the scanners after 5-7 seconds. This can be useful if you
experience issues with the safety laser scanners.
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Operating modes
MiR200 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41.
Autonomous mode
In this mode, the robot executes the programmed missions. The robot enters this mode
automatically when you press Continue in the robot interface.
2.4 Internal parts
This section presents the parts of MiR200 that are visible on the inside after removing the
top cover.
WARNING
Removing covers from the robot exposes parts connected to the power supply,
risking damage to the robot from a short circuit and electrical shock to
personnel.
•Before removing covers, turn off the robot, and disconnect the battery—see
Disconnecting the battery on page48.

2. Product presentation
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Figure 2.6. Internal parts of MiR200.
Pos. Description Pos. Description
1 Breaker: automatic fuse
between battery and
components
2 Robot power off relay:
releases the latching relay
(pos. 17) when the robot is
shutting down.
3 Motor controller: manages
the two motor drives
4 Brake relay: short circuits
motor windings for faster
braking
5 Battery connector for extra
battery
6 Safe torque off relay
(controlled by Safety PLC)
7 CAN bus connection for 8 Battery disconnect switch
Table 2.1.
Identification of internal parts in Figure 2.6.

2. Product presentation
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Pos. Description Pos. Description
Battery Management
System, logging data such as
number of charge cycles
9 Router: local network, 2.4
and 5 GHz
10 Battery with connector: main
power to the robot
11 Safety PLC 12 Optocoupler: emergency
stop signal to motor
controller
13 Loudspeaker 14 MiR board: interface board
for gyroscope,
accelerometer, ultrasound,
light, on/off circuit, and CAN
bus communication
15 24 V power supply: secures
stable voltage for the robot
computer and PLC
16 Latching relay: activates the
24 V power supply turning on
the robot
17 Transient protection module:
provides circuit protection
for the power supplies by
absorbing voltage spikes
from battery or top mounted
applications
18 Robot computer

3. Safety
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3. Safety
Read the information in this section before powering up and operating MiR200.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR200 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR200,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR200.
3.1 Safety message types
This document uses the following safety message types.
WARNING
Indicates a potentially hazardous situation that could result in death or serious
injury. Carefully read the message that follows to prevent death or serious
injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or
moderate injury. Alerts against unsafe practices. Carefully read the message
that follows to prevent minor or moderate injury.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.

3. Safety
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3.2 General safety precautions
This section contains general safety precautions.
WARNING
If the robot is not running the correct software and is therefore not functioning
properly, the robot may collide with personnel or equipment causing injury or
damage.
•Ensure that the robot is always running the correct software.
WARNING
When the robot is in an operating hazard zone, there is a risk of injury to any
personnel within the zone.
•Ensure that all personnel are instructed to stay clear of operating hazard
zones when the robot is in or approaching the zone.
WARNING
The robot may drive over the feet of personnel, causing injury.
•All personnel must be informed of the side protective fields of the robot and
be instructed to wear safety shoes near an operating robot.
WARNING
The robot may drive into a ladder, scaffold, or similar equipment that has a
person standing on it. Personnel risk fall injuries and equipment may be
damaged.
•Don't place ladders, scaffolds, or similar equipment in the robot's work
environment.