MIR 250 User manual

User Guide (en)
Date: 11/2020
Revision: v.1.3

MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 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 © 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

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Table of contents
1. About this document 8
1.1 Where to find more information 8
1.2 Version history 9
2. Product presentation 10
2.1 Main features of MiR250 11
2.2 Top modules 12
2.3 External parts 13
2.4 Internal parts 21
3. Warranty 28
4. Safety 29
4.1 Safety message types 29
4.2 General safety precautions 30
4.3 Intended use 33
4.4 Users 34
4.5 Foreseeable misuse 36
4.6 Warning label 36
4.7 Residual risks 37
5. Accessing the internal parts 38
5.1 Front compartment 39
5.2 Rear compartment 40
5.3 Side compartments 41
5.4 Top compartments 42
6. Getting started 44

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6.1 In the box 44
6.2 Unpacking MiR250 45
6.3 Connecting the battery 48
6.4 Powering up the robot 50
6.5 Connecting to the robot interface 52
6.6 Driving the robot in Manual mode 53
6.7 Moving the robot by hand 55
6.8 Checking the hardware status 57
6.9 Mounting the nameplate 58
6.10 Shutting down the robot 60
7. Battery and charging 62
7.1 Charging the robot 62
7.2 Disconnecting the battery 63
7.3 Battery storage 64
7.4 Battery disposal 66
8. IT security 67
8.1 Managing users and passwords 67
8.2 Software security patches 67
9. Navigation and control system 69
9.1 System overview 69
9.2 User input 71
9.3 Global planner 71
9.4 Local planner 73
9.5 Obstacle detection 74

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9.6 Localization 79
9.7 Motor controller and motors 82
9.8 Brakes 82
10. Safety system 84
10.1 System overview 84
10.2 Personnel detection 89
10.3 Overspeed avoidance 94
10.4 Stability 95
10.5 Emergency stop circuit 95
10.6 Safeguarded stop 96
10.7 Locomotion 97
10.8 Shared emergency stop 98
10.9 Reduced speed 99
10.10 Safety stop 100
10.11 Light indicators and speakers 101
11. Commissioning 105
11.1 Analysis of the work environment 105
11.2 Risk assessment 107
11.3 Creating and configuring maps 108
11.4 Markers 118
11.5 Positions 121
11.6 Creating missions 122
11.7 Creating a footprint 125
11.8 Using operating hazard zones 129

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11.9 Making a brake test 131
11.10 Creating user groups and users 132
11.11 Creating dashboards 135
11.12 Updating MiR250 software 137
11.13 Creating backups 137
11.14 System settings 138
12. Usage 146
12.1 Creating markers 146
12.2 Creating positions 151
12.3 Creating the mission Prompt user 153
12.4 Creating the mission Try/Catch 158
12.5 Creating the mission Variable docking 164
12.6 Creating the mission 80 cm doorway 172
12.7 Testing a mission 179
13. Applications 180
13.1 Mounting a top module 180
14. Maintenance 184
14.1 Regular weekly checks and maintenance tasks 184
14.2 Regular checks and replacements 186
14.3 Battery maintenance 188
15. Packing for transportation 189
15.1 Original packaging 189
15.2 Packing the robot for transportation 190
15.3 Battery 190

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16. Disposal of robot 191
17. Payload distribution 192
17.1 Side view 193
17.2 Front view 195
17.3 Top view 197
18. Interface specifications 199
18.1 Left side interfaces 199
18.2 Right side interfaces 205
18.3 Connector list 211
19. Error handling 213
19.1 Software errors 213
19.2 Hardware errors 214

1. About this document
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR250 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 along with
instructions for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR250 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.
•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. About this document
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of 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

2. Product presentation
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2. Product presentation
MiR250 is an autonomous mobile robot that can transport loads up to 250 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR250 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52. 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 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69. 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.
MiR250 is supplied with a fast swap removable lithium-ion battery.
MiR250 is available both in an ESD approved version, which is black, and a non-ESD
approved version, which is gray.

2. Product presentation
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Specifications for MiR250 are available on the MiR website.
2.1 Main features of MiR250
The main features of MiR250 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 250 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158.
•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
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•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108.
2.2 Top modules
The following top modules are available for MiR250:
•MiR Shelf Carrier 250
A top module that allows MiR250 to tow shelves.
To learn more about the top modules, go to the MiR website.

2. Product presentation
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2.3 External parts
This section presents the parts of MiR250 that are visible on the outside.
Figure 2.1. MiR250 external parts.
Pos. Description Pos. Description
1 Corner bumper: four pcs, one
on each corner
2 Front cover: opens to front
compartment—see Internal
parts on page21
3 Swivel wheel with foot guard:
four pcs, one in each corner
4 3D depth camera: two pcs,
both in the front—see
Obstacle detection on
page74
Table 2.1.
Identification of the external parts in Figure 2.1

2. Product presentation
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Pos. Description Pos. Description
5 Nanoscan3 safety laser
scanner: two pcs, in opposite
corners—see Obstacle
detection on page74
6 Status light: on all four sides
of the robot—see Light
indicators and speakers on
page101
7 Side cover: opens to side
compartment—see Internal
parts on page21
8 Control panel—see Control
panel on page16
9 Manual brake release
switch—see Control panel on
page16
10 Rear cover: opens to rear
compartment—see Internal
parts on page21
11 Signal light: eight pcs, two on
each corner—see Light
indicators and speakers on
page101
12 Proximity sensor: eight pcs,
two in each corner behind
corner covers—see Obstacle
detection on page74
13 Top plate 14 Left top compartment—see
Internal parts on page21
15 Right top compartment—see
Internal parts on page21
Identification label
MiR250 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 MiR250 is located behind the rear cover next to the battery.

2. Product presentation
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Figure 2.2. Placement of the identification label.
Figure 2.3. Example of a MiR250 identification label.

2. Product presentation
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Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR250 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58.
Figure 2.4. Example of a MiR250 nameplate.
Control panel
MiR250 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 MiR250 control panel.
Pos. Description Pos. Description
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Table 2.1.
Identification of items on the control panel in Figure 2.5
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.
Resume
Pressing this button:

2. Product presentation
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•Clears the Emergency 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 (clear the Emergency stop state,
acknowledge the change of operating mode).
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
•Blue: The robot is off.
•Blinking green: The robot is starting up.
•Green: Normal operation.
•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.

2. Product presentation
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•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.
For more information on operating modes, see Operating modes on the next page.
Manual brake release switch
The Manual brake release switch is located below the control panel and releases the
mechanical brakes on MiR250. You release the robot's mechanical brakes by turning the
Manual brake release switch clockwise.

2. Product presentation
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Figure 2.6. The manual brake release switch is located below the control panel.
The mechanical brakes require electrical power to be released, so if the robot is without
power, the mechanical brakes cannot be released.
If MiR250 shuts down due to low battery percentage, there is still enough
power to release the brakes for approximately a week after.
When driving in Autonomous mode, the robot engages and releases the mechanical brakes
automatically.
The robot cannot operate while the mechanical brakes are released manually.
Operating modes
MiR250 has two operating modes: Manual mode and Autonomous mode.
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.