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.