Mir 250 shelf carrier User manual

Quick Start (en)

Date: 11/2020

Revision: v.1.3

Table of contents

1. Version history 4

2. Safety 5

2.1 Safety message types 5

2.2 General safety precautions 6

2.3 Intended use 11

2.4 Users 12

2.5 Foreseeable misuse 13

2.6 Residual risks 14

2.7 Warning label 14

3. Light indicators and speakers 16

3.1 Status lights 16

3.2 Signal lights 18

3.3 Speakers 18

4. Control panel 20

4.1 The control panel buttons 20

4.2 The Operating mode key 21

5. Accessing the internal parts 23

5.1 Front compartment 24

5.2 Rear compartment 25

5.3 Side compartments 26

5.4 MiR Shelf Carrier 250 27

6. IT security 28

6.1 Managing users and passwords 28

6.2 Software security patches 28

7. Getting started 30

7.1 In the box 30

7.2 Unpacking MiR250 Shelf Carrier 31

7.3 Connecting the battery 34

7.4 Connecting to the robot interface 36

7.5 Driving the robot in Manual mode 37

7.6 Moving the robot by hand 39

7.7 Checking the hardware status 41

7.8 Mounting the nameplate 42

7.9 Enable the MiR250 Shelf Carrier feature 44

7.10 Testing the top module 46

7.11 Shutting down the robot 48

7.12 Charging the robot 49

1. Version history

This table shows current and previous versions of this document.

MiR250 Shelf Carrier

Revision Release date Description HW

1.0 2020-06-26 First edition 1.0

1.1 2020-07-01 General improvements throughout the

document.

1.0

1.2 2020-07-08 General improvements throughout the

document.

1.0

1.3 2020-11-30 Added sections: Charging the robot.

General improvements throughout the

document.

1.0

2. Safety

Read the information in this section before powering up and operating MiR250 Shelf Carrier.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR250 Shelf Carrier

or its accessories are damaged, changed, or modified in any way. Mobile

Industrial Robots cannot be held responsible for any damages caused to

MiR250 Shelf Carrier, accessories, or any other equipment due to

programming errors or malfunctioning of MiR250 Shelf Carrier.

2.1 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.

2. Safety

2.2 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.

2. Safety

WARNING

The robot may drive down staircases or holes in the floor and cause serious

injury to personnel and damage to the robot and to equipment.

•Mark descending staircases and holes as Forbidden zones on maps.

•Keep the maps up to date.

•Inform personnel that the robot cannot detect descending staircases and

holes in the floor in time to stop.

WARNING

Contact with live electrical parts can cause electric shock.

•Do not touch any internal components of the robot while it is powered.

WARNING

Using a charging device different from the one supplied by the manufacturer

can cause a fire and thereby burn injuries to nearby personnel and damage to

the robot and equipment.

•Only use an original MiR charger.

WARNING

Attempting to charge batteries outside the robot can lead to electrical shock

or burns.

•Never charge the batteries outside the robot.

2. Safety

WARNING

Lithium battery packs may get hot, explode, or ignite and cause serious injury

if they are misused electrically or mechanically.

Observe the following precautions when handling and using lithium-ion

batteries:

•Do not short-circuit, recharge, or connect with false polarity.

•Do not expose to temperatures beyond the specified temperature range or

incinerate the battery.

•Do not crush, puncture, or disassemble the battery. The battery contains

safety and protection devices, which, if damaged, may cause the battery to

generate heat, explode, or ignite.

•Do not allow the battery to get wet.

•In the event the battery leaks and the fluid gets into one’s eye, do not rub

the eye. Rinse well with water, and immediately seek medical care. If left

untreated, the battery fluid could cause damage to the eye.

•Use only an original MiR charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

•Do not touch damaged batteries with bare hands. Only personnel using

suitable Personal Protection Equipment (PPE) and tools should handle

damaged batteries.

•Isolate the battery and keep clear if the following conditions are observed:

•The battery exhibits abnormally high temperatures.

•The battery emits abnormal odors.

•The battery changes colors.

•The battery case is deformed or otherwise differs from the normal

electrical or mechanical condition.

•Modifications or manipulations of the battery may lead to considerable

safety risks and are therefore prohibited.

•Do not use the battery for anything other than MiR250 Shelf Carrier.

2. Safety

WARNING

Load falling or robot overturning if the load on the robot is not positioned or

fastened correctly can cause fall injuries to nearby personnel or damage to

equipment.

•Ensure that the load is positioned according to the specifications and is

fastened correctly—see the user guide of your robot for safe payload

distribution.

WARNING

Personnel standing next to the robot when it is docking to a shelf risk being

injured by an impact.

•Ensure that docking positions are clearly marked as operating hazard zones

with visible tape or similar marking and that all personnel are instructed

not to stand in the hazard zone when the robot is docking.

WARNING

The robot risks damage and mechanical failure if it is used to transport pallets

or anything other than safely commissioned shelves. Nearby equipment and

personnel risk damage or injury if payloads fall from the robot.

•Only use the robot to transport safely commissioned shelves—see the

specifications of MiR supported shelves in your robot's user guide.

WARNING

Personnel standing in the blind spot of the robot when it is pivoting with a shelf

risk being struck and injured.

•Ensure that all nearby personnel are instructed not to stand close to the

robot when it is pivoting.

•Inform personnel that the signal lights indicate when the robot is intending

to turn or pivot—see Light indicators and speakers on page 16.

2. Safety

WARNING

Ifa load is positioned incorrectly on a shelf, the load may fall off. Nearby

personnel or equipment risk injury or damage.

•Ensure that each load is positioned correctly on the shelf.It is the

responsibility of the commissioner to determine correct and safe methods

of loading shelves.

•Conduct a brake test while the robot is transporting a fully loaded shelf.

WARNING

If the robot attempts to dock to a shelf and the carrier pins are raised or the

robot is misplaced, the robot may push the shelf. The shelf may collide with

personnel or equipment, resulting in injury or damage.

•Ensure that docking positions are clearly marked as operating hazard zones

with visible tape or similar marking, and that all personnel are instructed

not to stand close to the robot when it is docking.

WARNING

If the robot does not attach to the shelf correctly due to pins being offset from

their correct positions, the shelf can detach at any time. Uncertain control of

the shelf may result in the shelf or its load colliding with personnel or

equipment resulting in injury or damage.

•Ensure the shelf is designed according to specifications—see the MiR250

Shelf Carrier User Guide.The laser scanners will then be able to detect if

the shelf is incorrectly positioned and will enter Protective stop before

operating with the shelf.

2. Safety

WARNING

If the robot drives on a slope and looses grip of the attached shelf, the shelf or

its load may collide with personnel or equipment causing injury or damage.

•Do not operate MiR250 Shelf Carrier on slopes.

WARNING

If the robot transports a shelf with a load that extends the footprint of the

robot, the load may collide with personnel or equipment causing injury or

damage.

•Do not load the shelves with loads that exceed the robot's footprint.

CAUTION

Robot malfunctions can cause an electrical fire, causing damage and injury to

equipment and personnel.

•Personnel operating near the robot must be informed on how to use an ABC

fire extinguisher to put out an electrical fire should the robot malfunction

and catch on fire.

CAUTION

Risk of trapping or injury to personnel if robots malfunction or if personnel

enter operating hazard zones.

•Personnel operating near the robot must be informed on how to engage the

robot's Emergency stop function in emergency situations.

2.3 Intended use

MiR250 Shelf Carrier is intended to be commissioned and used in indoor industrial

environments where access for the public is restricted.

2. Safety

MiR250 Shelf Carrier is intended to be commissioned according to the guidelines in your

robot's user guide. This is a prerequisite for safe usage of MiR250 Shelf Carrier.

MiR250 Shelf Carrier is equipped with safety-related features that are purposely designed

for collaborative operation where the robot operates without a safety enclosure or together

with people.

MiR250 Shelf Carrier is designed for and all risks are considered when it is used to transport

shelves that fulfill the specification and design requirement described in the robot's user

guide.

MiR250 Shelf Carrier is a completed MiR application that consists of a MiR250 with a

mounted MiR Shelf Carrier 250. The application is CE marked as long as it is not modified or

altered. However, a CE marked application does not guarantee a CE marked setup. It is the

responsibility of the commissioner to commission MiR250 Shelf Carrier safely.

NOTICE

A safe machine does not guarantee a safe system. Follow the commissioning

guidelines in your robot's user guide to ensure a safe system.

2.4 Users

MiR250 Shelf Carrier is only intended to be used by personnel that have received training in

their required tasks.

There are three types of intended users for MiR250 Shelf Carrier: commissioners, operators,

and direct users.

Commissioners

Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and

maintenance of MiR250 Shelf Carrier and have the following main tasks:

•Commissioning of the product. This includes creating maps and restricting the user

interface for other users and making brake tests with a full payload.

•Conducting the risk assessment.

•Determining the payload limit, weight distribution, safe fastening methods, safe loading

and unloading of loads on MiR250 Shelf Carrier, and ergonomic loading and unloading

methods if relevant.

2. Safety

•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and

maneuvering.

•Marking operating hazard zones.

Operators

Operators have thorough knowledge of MiR250 Shelf Carrier and of the safety precautions

presented in this user guide. Operators have the following main tasks:

•Servicing and maintaining MiR250 Shelf Carrier.

•Creating and changing missions and map features in the robot interface.

Direct users

Direct users are familiar with the safety precautions in this quick start and have the

following main tasks:

•Assigning missions to MiR250 Shelf Carrier.

•Fastening loads to MiR250 Shelf Carrier securely.

•Loading and unloading from a paused robot.

All other persons in the vicinity of MiR250 Shelf Carrier are considered indirect users and

must know how to act when they are close to the robot. For example, they must be aware

that visibly marked operating hazard zones must be respected.

2.5 Foreseeable misuse

Any use of MiR250 Shelf Carrier deviating from the intended use is deemed as misuse. This

includes, but is not limited to:

•Using the robot to transport people

•Using the robot on steep surface grades, such as ramps

•Making changes to the SICK configuration

•Driving the robot on cross slopes

•Exceeding the total payload

•Positioning or fastening loads incorrectly according to the specifications

•Using Emergency stop buttons for anything other than emergency stops

•Driving the robot with anything other than safely commissioned shelves

•Using the robot in medical and life critical applications

2. Safety

•Operating the robot outside the permissible operating parameters and environmental

specifications

•Using the robot in potentially explosive environments

•Using the robot outdoors

•Using the robot in hygiene zones

2.6 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners

must inform personnel about and take all precautions to avoid when working with MiR250

Shelf Carrier:

•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot

or walk towards the robot or its intended path while it is in motion.

•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot

or walk towards it while it is driving in reverse. The robot only drives in reverse when

undocking from a marker, such as a charging station or load transfer station.

•You risk being crushed or trapped if you touch the robot while it is in motion.

•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot

or walk towards it while it is docking to a shelf.

•You risk being crushed or trapped between the robot and a shelf while the lift is picking

up a shelf.

•You risk being crushed or trapped if the robot places a load outside a designated drop-off

area due to faulty localization.

•You risk losing control of the robot if it is accessed by unauthorized users. Consider

increasing the IT security of your product—see IT security on page 28.

NOTICE

Other significant hazards may be present in a specific robot installation and

must be identified during commissioning.

2.7 Warning label

MiR250 Shelf Carrier is supplied with a warning label that specifies that it is strictly

prohibited to ride on the robot.

The label must be placed on the robot or top module so that it is clearly visible.

2. Safety

Figure 2.1. The warning label must be placed on the robot or top module.

3. Light indicators and speakers

The robot uses two types of light indicators to let people in the environment know what the

robot is currently doing or planning to do.

•Status lights

LED light bands on all four sides of the robot uses colors and light motion patterns to

signal the current status of the robot.

•Signal lights

The signal lights at the front and back of the robot show if the robot is about to turn a

corner or go backward. Front lights are white and rear lights are red. Right and left turns

are indicated by blinking.

Figure 3.1. Indicator lights on MiR250 Shelf Carrier.

Pos. Description Pos. Description

1 Status lights 2 Signal lights

Table 3.1.

Identification of indicator lights in Figure 3.1

3.1 Status lights

The LED light bands running all the way around the robot indicate the robot’s current

operational state. Colors may also be used as part of missions, but as standard, status lights

indicate the statuses described in Table 3.2.

3. Light indicators and speakers

Red Emergency stop

Green Ready for job

Cyan Drives to destination

Purple Goal/Path blocked

White Planning/Calculating

Yellow Mission paused

Yellow wavering Startup signal before PCis active

Yellow fade Shutting down robot

Yellow blinking Relative move, ignoring obstacles

Purple - yellow General error, for example hardware, localization

Blue Manual drive

Blue wavering Mapping

Contracting white Chargingat charging station

White wavering Prompt user / Waiting for user's response

Cyan wavering (robots

connected to MiR Fleet

only)

Waiting for MiR Fleet resource

Table 3.2.

Status light colors

When the robot's battery reaches a critically low level of power (0-1%), the

ends of the status lights flash red.

3. Light indicators and speakers

When the robot is charging in a charging station, the status lights on the side

of the robot indicate the robot's battery percentage.

3.2 Signal lights

Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-

backwards-braking and left-right turns.

The signal lights work similarly to lights used on cars; white at the front, red at the back, and

indicating a left or right turn by blinking.

When the robot drives with muted Protective fields, for example, when docking to a marker,

all signal lights blink yellow.

3.3 Speakers

In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of

the default sounds.

Sounds are used in missions and can be used as alerts: “Please step aside” or to attract

peoples attention, for example, when the robot has arrived at a position.

When the robot drives with muted Protective fields it emits a warning sound. In System >

Settings > Safety system, you can choose which sound the robot makes and the volume of

the sound.

CAUTION

Changing the safety system can cause the robot to not comply with safety

standards.

•Do not disable the sound in the safety system.

3. Light indicators and speakers

Figure 3.2. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its

Protective fields.

CAUTION

It is the responsibility of the commissioner to ensure that the warning sounds

are audible in the robot's work environment.

4. Control panel

MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot.

4.1 The control panel buttons

Figure 4.1. The MiR250 Shelf Carrier control panel.

Pos. Description Pos. Description

1 Manual stop button 2 Resume button

3 Power button 4 Operating mode key

Table 4.1.

Identification of items on the control panel in Figure 4.1

Manual stop

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.

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