MIR 250 Hook User manual

User Guide (en)
Date: 01/2023
Revision: v.1.2

Copyright and disclaimer
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©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
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©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 12
2.1 Main features of MiR250 Hook 13
2.2 External parts 15
2.3 Internal parts 23
2.4 How MiR Hook 250 works 31
3. Warranty 38
4. Safety 39
4.1 Safety message types 39
4.2 General safety precautions 41
4.3 Intended use 45
4.4 Users 46
4.5 Foreseeable misuse 47
4.6 Warning label 48
4.7 Residual risks 48
5. Accessing the internal parts 50
5.1 Front compartment 50
5.2 Rear compartment 52
5.3 Side compartments 53
5.4 Top compartments 55
5.5 MiRHook250 58
6. Getting started 61

Table of contents
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 4
6.1 In the box 61
6.2 Unpacking MiR250 Hook 62
6.3 Connecting the battery 65
6.4 Powering up the robot 68
6.5 Connecting to the robot interface 69
6.6 Driving the robot in Manual mode 71
6.7 Moving the robot by hand 76
6.8 Checking the robot 77
6.9 Mounting the nameplate 79
6.10 Enable the MiR250 Hook feature 81
6.11 Testing the top module 82
6.12 Shutting down the robot 86
7. Storage 88
7.1 Preparing the robot for storage 88
7.2 Storage time 88
7.3 Inactive battery modes 89
8. Battery and charging 90
8.1 Charging the robot 90
8.2 Disconnecting the battery 92
8.3 Enabling fast swap 93
8.4 Swapping out the lithium-ion battery 97
8.5 Battery disposal 99
9. Cybersecurity 100
10. Navigation and guidance system 101
10.1 System overview 101
10.2 User input 102
10.3 Global planner 103
10.4 Local planner 105
10.5 Obstacle detection 106
10.6 Localization 114
10.7 Motor controller and motors 116

Table of contents
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 5
10.8 Brakes 116
11. Safety-related functions and interfaces 118
11.1 System overview 118
11.2 Personnel detection 123
11.3 Overspeed avoidance 128
11.4 Stability 129
11.5 Emergency stop buttons 129
11.6 MiR Hook 250 safety functions 129
11.7 Safety stop 130
11.8 Light indicators and speakers 131
12. Commissioning 135
12.1 Analysis of the work environment 135
12.2 Risk assessment 138
12.3 Cart specifications 139
12.4 ID tags 142
12.5 Calibrate cart 144
12.6 Creating and configuring maps 147
12.7 Creating user groups and users 156
12.8 Markers 158
12.9 Positions 167
12.10 Creating missions 168
12.11 Creating a footprint 172
12.12 Using operating hazard zones 177
12.13 Making a brake test 180
12.14 Creating dashboards 181
12.15 Updating software 183
12.16 Creating backups 183
12.17 System settings 184
13. Usage 194
13.1 Creating markers 194
13.2 Creating positions 199

Table of contents
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 6
13.3 Creating a cart 202
13.4 Creating the mission Prompt user 206
13.5 Creating the mission Try/Catch 210
13.6 Creating the mission Variable docking 215
13.7 Creating a cart mission 224
13.8 Testing a mission 230
14. Demounting the top module 231
15. Maintenance 240
15.1 Regular weekly checks and maintenance tasks 240
15.2 Regular checks and replacements 242
15.3 Battery maintenance 248
16. Transportation 249
16.1 Original packaging 249
16.2 Packing the robot for transportation 250
16.3 Battery 250
17. Disposal of the robot 251
18. Interface specifications 252
18.1 Left side interfaces 252
18.2 Right side interfaces 261
19. Error handling 270
19.1 Software errors 270
19.2 Hardware errors 271
19.3 Error codes and solutions 272
20. Glossary 279

1. About this document
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©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 MiR250 Hook 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 MiR250 Hook along with
instructions for proper maintenance of the robot. You will also find information regarding safety
and specifications needed to commission a safe MiR250 Hook 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
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©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.

1. About this document
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 9
Revision Description
1.2 Date: 2023-01-19
Robot HW:1.0
Top module HW:2.0
•Updated for hardware version 2.0 with new hook computer.
Affects sections: MiR Hook 250 and Identification label.
•Added that it is unintended use to tow carts into elevators.
Affects section: Foreseeable misuse.
•Added ESDcheck to maintenance.
Affects section:Maintenance
•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.
•Updated status light table.
Affects section:Light indicators and speakers
•Added description about Fast docking.
Affects section:Markers
•Updated copyright.
•Updated reference to robot or MiR Fleet reference guide to interface
guide.
•Updated style.

1. About this document
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 10
Revision Description
1.1 Date: 2022-08-12
Robot HW:1.0
Top module HW:1.0
•Added more information about storage of robots and batteries.
New section: Storage.
•Added notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.
•Updated sections: Obstacle detection, Battery disposal, Disposal of
robot, Interface specifications, Markers, and External parts.
•Updated manual to ensure compliance with radio equipment
directives.
Affects sections: General safety precautions and Foreseeable misuse.
•Added warning not to use two chargers to charge the robot
simultaneously.
•Added notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.
•Added information about laser scanner range.
Affects section:Obstacle detection.
•Added information about camera vertical angle.
Affects section:Obstacle detection.
•Added information about wheel wear down tolerance.
Affects section:Maintenance.
•Added information about how the robot picks up and places carts.
Affect section:How MiRHook250 works.
•General improvements throughout the manual.

1. About this document
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 11
Revision Description
1.0 Date: 2021-06-15
Robot HW:1.0
Top module HW:1.0
•First edition

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 12
2. Product presentation
MiR250 Hook is an autonomous mobile robot that can transport loads up to indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
MiR250 Hook is a MiR250 robot with a MiR Hook 250 top module mounted to it. It is designed to
transport carts indoors within production facilities, warehouses, and other industrial locations
where access to the public is restricted.
Users operate MiR250 Hook 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69. The robot
can be set up to run a fixed route, be called on demand, or perform more complex missions.
The robot interface of MiR250 Hook 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101. 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.

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 13
MiR250 Hook transports carts that are designed according to the specifications in "Cart
specifications" on page139.
Specifications for MiR250 Hook are available on the MiR website.
2.1 Main features of MiR250 Hook
The main features of MiR250 Hook 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 transport of carts
The robot is designed to automate transportation of loaded carts with a weight of up to 500 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210.
•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
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 14
•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147.
Accessories
The following accessories are available for MiR250 Hook:
•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
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 15
2.2 External parts
This section presents the parts of MiR250 Hook that are visible on the outside.
Figure 2.1 MiR250 Hook external parts.
Pos. Description Pos. Description
1 Hook center cover 2 Corner bumper: four pcs,
one on each corner
3 Front cover: opens to
front compartment—
see "Internal parts" on
page23
4 Caster wheel with foot
guard: four pcs, one in
each corner
Table 2.1 Identification of the external parts in Figure 2.1

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 16
Pos. Description Pos. Description
5 3D depth camera: two
pcs, both in the front—
see "Obstacle detection
" on page106
6 Nanoscan3 safety laser
scanner: two pcs, in
opposite corners—see
"Obstacle detection " on
page106
7 Status light: on all four
sides of the robot—see
"Light indicators and
speakers" on page131
8 Side cover: opens to side
compartment—see
"Internal parts" on page23
9 Hook rear cover 10 Control panel—see
"Control panel" on page19
11 Manual brake release
switch—see "Control
panel" on page19
12 Signal light: eight pcs, two
on each corner—see "Light
indicators and speakers"
on page131
13 Rear cover: opens to
rear compartment—see
"Internal parts" on
page23
14 Proximity sensor: eight
pcs, two in each corner
behind corner covers—see
"Obstacle detection " on
page106
15 Gripper: attaches to the
gripper bar on the cart
to enable towing
16 3D camera: one pc., reads
ID tags (QR-marker or
AprilTag) on carts
17 Hook arm 18 Long actuator

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 17
Pos. Description Pos. Description
19 Emergency stop button:
makes robot enter
Emergency stop.
Beneath is the button
to rearm the robot—
see "Emergency stop
buttons" on page129
20 Hook front cover
Identification label
MiR250 Hook is delivered with identification labels mounted to both the MiR250 robot and the
MiR Hook 250 top module. The identification labels identify the product, the product serial
number, and the hardware version of the product.
Figure 2.2 The identification label of MiR250 is located on the rear cover next to the battery.

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 18
Figure 2.3 The identification label of MiR Hook 250 is located on the center back of the hook base frame.
Figure 2.4 Example of a MiR250 Hook identification label.
Item number : 800257
Product serial number : 205103001
Hardware version: V. 2.0
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR250 Hook identifies the application model and serial number and includes
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79.
Figure 2.5 Example of a MiR250 Hook nameplate.
Mass unloaded : 188kg Dimension : 495×210×75cm Contains FCC ID: TV7RB952-5AC2ND
Rated speed : 2 m/s Nominal power : 2×637W Contains FCC ID: RYK-261ACNBT
Max. slope : 1% Type : Driverless truck

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 19
Rated drawbar pull : Model : MiR250 Hook
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.
Coupling height : 80–350mm S/N : 103103001
Year of construction: 2023
Made in Denmark
Lithium ion battery Mobile Industrial Robots A/S
Nominal voltage : 48V Emil Neckelmanns Vej 15F
Rated ampere-hour capacity : 34,2Ah DK-5220 Odense SØ
Mass : 14 kg
Control panel
MiR250 Hook has a control panel in the rear-left corner of the robot.
The control panel buttons
Figure 2.6 The MiR250 Hook 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 2.6
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.

2. Product presentation
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 20
Color indication:
•Red: It is possible to engage the Manual stop.
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.