MIR 600 User manual

Quick Start (en)
Date: 10/2021
Revision: v.1.2

MiR600 Quick Start (en) 10/2021 - v.1.2 ©Copyright 2021: Mobile Industrial Robots A/S. 2
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 9
2.4 Users 11
2.5 Foreseeable misuse 12
2.6 Residual risks 13
2.7 Warning label 13
3. Light indicators and speakers 15
3.1 Status lights 15
3.2 Signal lights 17
3.3 Speakers 17
4. Control panel 19
4.1 The control panel buttons 19
4.2 The Operating mode key 20
5. Accessing the internal parts 22
5.1 Front compartment 23
5.2 Rear compartment 24
5.3 Side compartments 27
5.4 Top compartments 28
6. IT security 29
6.1 Managing users and passwords 29
6.2 Software security patches 30

MiR600 Quick Start (en) 10/2021 - v.1.2 ©Copyright 2021: Mobile Industrial Robots A/S. 3
7. Getting started 31
7.1 In the box 31
7.2 Unpacking MiR600 33
7.3 Connecting the battery 37
7.4 Powering up the robot 38
7.5 Connecting to the robot interface 39
7.6 Connecting the robot to a WiFi network 42
7.7 Driving the robot in Manual mode 46
7.8 Checking the hardware status 47
7.9 Mounting the nameplate 48
7.10 Shutting down the robot 50
7.11 Charging the robot 51

1. Version history
MiR600 Quick Start (en) 10/2021 - v.1.2 ©Copyright 2021: Mobile Industrial Robots A/S. 4
1. Version history
This table shows current and previous versions of this document.
Revision Release date Description HW
1.2 2021-10-07 Updated manual to ensure compliancy with
radio equipment directives.
1.0
1.1 2021-08-12 General improvements throughout the
document.
1.0
1.0 2021-07-23 First edition. 1.0
MiR600

2. Safety
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2. Safety
Read the information in this section before powering up and operating MiR600.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR600 or its
accessories are damaged, changed, or modified in any way. Mobile
Industrial Robots cannot be held responsible for any damages caused to
MiR600, accessories, or any other equipment due to programming errors
or malfunctioning of MiR600.
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
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2.2 General safety precautions
This section contains general safety precautions.
WARNING
Harmful electromagnetic interference might be the result of having two
radio modules transmitting at the same time.
•Do not attach an access point or additional radio modules to the robot
while it is connected to a wireless network.
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 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.

2. Safety
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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.
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 all descending staircases and holes as Forbidden zones on
maps.
•Install physical barriers around descending staircases and holes that
are in the robot's operating area. If the hazard is not close to the
robot's operating area, it may be sufficient to use a Forbidden zone on
its own.
•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.

2. Safety
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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.
•In case of fire, use water to put out the fire. There is no need for
special extinguishing media. An ambient fire can be fought with class
D extinguishing media.
•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 color.
•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 MiR600.

2. Safety
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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.
2.3 Intended use
MiR600 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 MiR600 should operate, see specifications for MiR600 on the MiR
website.
MiR600 is intended to be commissioned according to the guidelines in your robot's
user guide. This is a prerequisite for safe usage of MiR600.
MiR600 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.

2. Safety
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MiR600 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 physical dimensions of the robot.
•Operate within the environmental conditions required for MiR600.
•Are within the weight distribution requirements—see your robot's user guide.
If used with custom modules, all obligations of a manufacturer apply to the individual
who performs the modifications. All modifications must be in accordance with the
machinery directive.
MiR600 is designed for and all risks are considered when used with one of the
following types of top modules:
•MiRPalletLift600 used with MiRPalletRack
•MiREUPalletLift 600 used with MiREUPalletRack.
•MiRShelfLift to transport MiR supported shelves.
MiR600 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
MiR600 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 custom modules that are foreseeable misuse of
MiR600:
•Top modules (including the payload) that increase the physical dimensions of
MiR600
•Conveyers (powered and non-powered)
•Industrial robot arms
•Devices that tow carts
•Customized load transfer stations
•Top modules or modifications that use additional antennas or result in transmitting
radio signals simultaneously with the existing radio module.

2. Safety
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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
MiR600 is only intended to be used by personnel that have received training in their
required tasks.
There are three types of intended users for MiR600: commissioners, operators, and
direct users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety,
use, and maintenance of MiR600 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 MiR600, 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 MiR600 and of the safety precautions
presented in this user guide. Operators have the following main tasks:
•Servicing and maintaining MiR600.
•Creating and changing missions and map features in the robot interface.

2. Safety
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Direct users
Direct users are familiar with the safety precautions in this quick start and have the
following main tasks:
•Assigning missions to MiR600.
•Fastening loads to MiR600 securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR600 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 MiR600 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 inclines outside the robot's specifications
•Making changes to the SICK configuration
•Driving the robot on cross slopes
•Exceeding the maximum 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
•Using the robot together with an external radio module that in any way results in
simultaneously active radio transmitters

2. Safety
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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 MiR600:
•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.
2.7 Warning label
MiR600 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
MiR600 Quick Start (en) 10/2021 - v.1.2 ©Copyright 2021: Mobile Industrial Robots A/S. 14
Figure 2.1. The warning label must be placed on the robot or top module.

3. Light indicators and speakers
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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
The LED light bands on all four sides of the robot use 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 MiR600.
Pos. Description Pos. Description
1 Signal lights 2 Status 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
MiR600 Quick Start (en) 10/2021 - v.1.2 ©Copyright 2021: Mobile Industrial Robots A/S. 16
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 or for another MiR robot
to move
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
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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
charging station, 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 or to attract 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
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Figure 3.2. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes
its Protective fields.
CAUTION
Unaware personnel may not see the robot in certain situations and risk
colliding with the robot. This may result in injury to personnel or damage
to equipment.
•Make sure to adjust the volume of the robot's warning sounds so they
are audible in the robot's work environment.
•Implement warning sounds from the robot in missions and areas
where it can reduce the risk of hazardous situations.

4. Control panel
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4. Control panel
MiR600 has a control panel in the rear-left corner of the robot.
4.1 The control panel buttons
Figure 4.1. The MiR600 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 button
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.

4. Control panel
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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.
4.2 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.