Mir 250 User manual

Quick Start (en)

Date: 03/2021

Revision: v.1.4

Table of contents

1. About this document 4

1.1 Where to find more information 4

1.2 Version history 4

2. Warranty 6

3. Safety 7

3.1 Safety message types 7

3.2 General safety precautions 8

3.3 Intended use 11

3.4 Users 13

3.5 Foreseeable misuse 14

3.6 Warning label 14

3.7 Residual risks 15

4. Light indicators and speakers 16

4.1 Status lights 17

4.2 Signal lights 18

4.3 Speakers 18

5. Control panel 20

5.1 The control panel buttons 20

5.2 The Operating mode key 21

6. Accessing the internal parts 23

6.1 Front compartment 24

6.2 Rear compartment 25

6.3 Side compartments 26

6.4 Top compartments 27

7. IT security 29

7.1 Managing users and passwords 29

7.2 Software security patches 29

8. Getting started 31

8.1 In the box 31

8.2 Unpacking MiR250 33

8.3 Connecting the battery 36

8.4 Powering up the robot 38

8.5 Connecting to the robot interface 41

8.6 Driving the robot in Manual mode 42

8.7 Moving the robot by hand 45

8.8 Checking the hardware status 47

8.9 Mounting the nameplate 48

8.10 Shutting down the robot 50

8.11 Charging the robot 51

1. About this document

This guide explains how to set up and start operating your MiR250. You will also find

information regarding safety precautions that must be considered when operating MiR250.

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.

•Commissioning guides describe how to commission your robot safely and prepare it to

operate in the workplace.

•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. 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.

1.2 Version history

This table shows current and previous versions of this document.

1. About this document

MiR250

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 Update section: Operating hazard zones

General improvements throughout the

document.

1.0

1.3 2020-11-30 Added sections: Warranty, Markers, and

Positions.

Updated section: Battery storage with Power

save mode and Deep sleep mode.

General improvements throughout the

document.

1.0

1.4 2021-03-31 General improvements throughout the

document.

1.0

2. Warranty

Mobile Industrial Robots offers a standard warranty on all products.

Contact your distributor to see the terms and extend of product coverage.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR250 or its

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

Robots cannot be held responsible for any damages caused to MiR250,

accessories, or any other equipment due to programming errors or

malfunctioning of MiR250.

3. Safety

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

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR250 or its

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

Robots cannot be held responsible for any damages caused to MiR250,

accessories, or any other equipment due to programming errors or

malfunctioning of MiR250.

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

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.

3. 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.

3. 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.

3. 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.

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.

3.3 Intended use

MiR250 is intended to be commissioned and used in indoor industrial environments where

access for the public is restricted. For details about the environmental conditions in which

MiR250 should operate, see specifications for MiR250 on the MiR website.

MiR250 is intended to be commissioned according to the guidelines in your robot's user

guide. This is a prerequisite for safe usage of MiR250.

3. Safety

MiR250 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 is intended to be used with top modules supported by Mobile Industrial Robots or

custom modules that:

•Do not have any moving parts.

•Do not extend the footprint of the robot.

•Operate within the environmental conditions required for MiR250.

If used with custom modules, all obligations of a manufacturer apply to the individual who

performs the modifications in accordance with the machinery directive.

MiR250 is designed for and all risks are considered when used with one of the following

types of top modules:

•MiR Shelf Carrier 250 to transport MiR supported

shelves.

MiR250 can be used as a partly complete machine as defined in the EU machinery directive,

with top modules that do not meet the above limitations. Those who design, manufacture, or

commission a system that does not meet the limitations of use of MiR250 carry the

obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.

Guidelines outlined in this manual are not sufficient.

The following list gives examples of modules that are foreseeable misuse of MiR250:

•Top modules (including total payload) that increase the footprint of MiR250

•Conveyers (powered and non-powered)

•Industrial robot arms

•Devices that tow carts

•Customized load transfer stations

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.

3. Safety

3.4 Users

MiR250 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: commissioners, operators, and direct

users.

Commissioners

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

maintenance of MiR250 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, and ergonomic loading and unloading methods if

relevant.

•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 and of the safety precautions presented in

this user guide. Operators have the following main tasks:

•Servicing and maintaining MiR250.

•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.

•Fastening loads to MiR250 securely.

•Loading and unloading from a paused robot.

3. Safety

All other persons in the vicinity of MiR250 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.

3.5 Foreseeable misuse

Any use of MiR250 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

•Using the robot in medical and life critical applications

•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

3.6 Warning label

MiR250 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.

Figure 3.1. The warning label must be placed on the robot or top module.

3. Safety

3.7 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:

•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 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29.

NOTICE

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

must be identified during commissioning.

4. 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 4.1. Indicator lights on MiR250.

Pos. Description Pos. Description

1 Status lights 2 Signal lights

Table 4.1.

Identification of indicator lights in Figure 4.1

4. Light indicators and speakers

4.1 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 4.2.

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 4.2.

Status light colors

4. Light indicators and speakers

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

ends of the status lights flash red.

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

of the robot indicate the robot's battery percentage.

4.2 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.

4.3 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.

4. Light indicators and speakers

Figure 4.2. 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.

5. Control panel

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

5.1 The control panel buttons

Figure 5.1. The MiR250 control panel.

Pos. Description Pos. Description

1 Manual stop button 2 Resume button

3 Power button 4 Operating mode key

Table 5.1.

Identification of items on the control panel in Figure 5.1

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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