MIR 600 User manual

User Guide (en)
Date: 08/2021
Revision: v.1.0

MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: 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 © 2021 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

MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 3
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 MiR600 11
2.2 External parts 14
2.3 Internal parts 21
2.4 Manual brake release switch 27
3. Warranty 29
4. Safety 30
4.1 Safety message types 30
4.2 General safety precautions 31
4.3 Intended use 34
4.4 Users 36
4.5 Foreseeable misuse 37
4.6 Warning label 37
4.7 Residual risks 38
5. Accessing the internal parts 39
5.1 Front compartment 40
5.2 Rear compartment 41
5.3 Side compartments 45
5.4 Top compartments 46
6. Getting started 47

MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 4
6.1 In the box 47
6.2 Unpacking MiR600 49
6.3 Connecting the battery 53
6.4 Powering up the robot 54
6.5 Connecting to the robot interface 55
6.6 Connecting the robot to a WiFi network 58
6.7 Driving the robot in Manual mode 61
6.8 Checking the hardware status 63
6.9 Mounting the nameplate 64
6.10 Shutting down the robot 66
7. Battery and charging 68
7.1 Charging the robot 69
7.2 Disconnecting the battery 71
7.3 Swapping out the lithium-ion battery 72
7.4 Battery storage 74
7.5 Battery disposal 75
8. IT security 77
8.1 Managing users and passwords 77
8.2 Software security patches 77
9. Navigation and guidance system 79
9.1 System overview 79
9.2 User input 81
9.3 Global planner 81
9.4 Local planner 83

MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 5
9.5 Obstacle detection 84
9.6 Localization 92
9.7 Motor controller and motors 94
9.8 Brakes 94
10. Safety-related functions and interfaces 96
10.1 System overview 96
10.2 Personnel detection 102
10.3 Overspeed avoidance 108
10.4 Emergency stop buttons 108
10.5 Emergency stop circuit 110
10.6 Safeguarded stop 112
10.7 Locomotion 114
10.8 System emergency stop 114
10.9 Reduced speed 117
10.10 Shelf mode 117
10.11 Safety functions performance overview 118
10.12 Safety stop 122
10.13 Light indicators and speakers 122
11. Commissioning 127
11.1 Analysis of the work environment 127
11.2 Risk assessment 129
11.3 Creating and configuring maps 130
11.4 Markers 141
11.5 Positions 148

MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 6
11.6 Creating missions 149
11.7 Creating a footprint 153
11.8 Using operating hazard zones 157
11.9 Making a brake test 159
11.10 Creating user groups and users 160
11.11 Creating dashboards 163
11.12 Updating software 165
11.13 Creating backups 166
11.14 System settings 166
12. Usage 175
12.1 Creating markers 175
12.2 Creating positions 180
12.3 Creating the mission Prompt user 183
12.4 Creating the mission Try/Catch 187
12.5 Creating the mission Variable docking 193
12.6 Testing a mission 201
13. Applications 203
13.1 Mounting a top module 203
14. Maintenance 206
14.1 Regular weekly checks and maintenance tasks 206
14.2 Regular checks and replacements 208
14.3 Battery maintenance 212
14.4 Lifting MiR600 212
15. Packing for transportation 214

MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 7
15.1 Original packaging 214
15.2 Packing the robot for transportation 215
15.3 Battery 215
16. Payload distribution 216
17. Disposal of robot 217
18. Interface specifications 218
18.1 Left compartment interfaces 218
18.2 Right compartment interfaces 226
18.3 Connector list 230
19. Error handling 232
19.1 Software errors 232
19.2 Hardware errors 234
20. Glossary 236

1. About this document
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR600 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 MiR600 along with
instructions for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR600 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.
•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 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
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of this document.
Revision Release date Description HW
1.0 2021-08-12 First edition. 1.0
MiR600

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 10
2. Product presentation
MiR600 is an autonomous mobile robot that can transport loads up to 600 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR600 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55. The robot can be set up to run a fixed route, be called on
demand, or perform more complex missions.
The robot interface of MiR600 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79. 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.
Specifications for MiR600 are available on the MiR website.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 11
2.1 Main features of MiR600
The main features of MiR600 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 600 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187.
•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
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 12
•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130.
Top modules
The following top modules are available for MiR600:
•MiRShelfLift
A lift platform can be mounted on MiR600 enabling it to automate the internal transport
of shelves that meet specifications outlines by MiR—see MiR600 Shelf Lift User Guide for
the shelf requirements.
•MiRPalletLift600
A lift platform can be mounted on MiR600 enabling it to automate the internal transport
of US standard 40×48 pallets.
•MiREUPalletLift 600
A pallet lift for EU pallets can be mounted on MiR600 enabling it to automate the internal
transport of EU pallets.
To learn more about the top modules and accessories, go to the MiR website.
Accessories
The following accessories are available for MiR600:
•MiRPalletRack
Use a MiRPalletRack with MiRPalletLift600. The lift places and picks up US standard
40×48 in (1016×1219 mm) pallets from the rack autonomously.
•MiREUPalletRack
Use a MiREUPalletRack with MiREUPalletLift 600. The lift places and picks up EU
pallets from the rack autonomously.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 13
•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AICamera
An intelligent camera that detects and recognizes different moving objects, which can
trigger certain actions in MiRFleet.
•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
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 14
2.2 External parts
This section presents the parts of MiR600 that are visible on the outside.
Figure 2.1. MiR600 external parts.
Pos. Description Pos. Description
1 Left top compartment—see
Internal parts on page21
2 Right top compartment—see
Internal parts on page21
3 Antenna: two pcs, in opposite
corners
4 Emergency stop button: four
pcs, two on each side—see
Emergency stop circuit on
page110
5 Status light: on all four sides
of the robot—see Obstacle
6 Left side maintenance hatch:
opens to the left side
Table 2.1.
Identification of the external parts in Figure 2.1

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 15
Pos. Description Pos. Description
detection on page84 compartment—see Internal
parts on page21
7 Front safety laser scanner—
see Obstacle detection on
page84
8 Front maintenance hatch:
opens to the front
compartment—see Internal
parts on page21
9 3D depth cameras: two pcs,
detect objects in front of the
robot— see Obstacle
detection on page84
10 Proximity sensors: eight pcs,
two in each corner behind
the corner covers—see
Obstacle detection on
page84.
11 Right side maintenance
hatch: opens to the right side
compartment—see Internal
parts on page21
12 Rear safety laser scanner—
see Obstacle detection on
page84
13 Rear maintenance hatch:
opens to the rear
compartment—see Internal
parts on page21
14 Signal light: eight pcs, two on
each corner—see Light
indicators and speakers on
page122
15 Control panel and antenna—
see Control panel on
page17
Identification label
MiR600 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 MiR600 is located in the left compartment next to the battery.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 16
Figure 2.2. Placement of the identification label.
Figure 2.3. Example of a MiR600 identification label.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 17
Nameplate
Every MiR application is delivered with a nameplate that must be mounted on the robot. The
nameplate of MiR600 identifies the application model and serial number and includes the
CE mark, 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64.
Figure 2.4. Example of a MiR600 nameplate.
Control panel
MiR600 has a control panel in the rear-left corner of the robot.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 18
The control panel buttons
Figure 2.5. The MiR600 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 2.5
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.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 19
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.
For more information on operating modes, see Operating modes on the next page.

2. Product presentation
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 20
Remove the Operating mode key during normal operation. The vibrations
from the robot's driving may shake the key and plug, and can cause an
unwanted Protective stop.
Operating modes
MiR600 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.
For information about activating this mode, see Driving the robot in Manual mode on
page61.
To control the robot manually, you either need to connect the robot to your
wireless network or connect an access point to the robot so you can connect to
it wirelessly—see Connecting to the robot interface on page55.
Autonomous mode
In this mode, the robot executes the programmed missions. After switching the key to this
mode, you can remove the key, and the robot will continue driving autonomously. In
Autonomous mode, the joystick is disabled in the robot interface.