MIR Hook 100 User manual

Operating guide (en)
Date: 02/2020
Revision: v.2.1

MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
All rights reserved. No parts of this manual may be reproduced in any form without the
express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties,
express 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 manual. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2016-2020 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

MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 5
1.1 Where to find more information 5
1.2 Version history 6
2. Safety 8
2.1 Safety message types 8
2.2 General safety precautions 9
2.3 Intended use 10
2.4 Users 10
3. Product presentation 12
3.1 Main features of MiR Hook 100 12
3.2 MiR Hook 100 external parts 14
4. Installation 15
4.1 In the box 15
4.2 Unpacking MiR Hook 100 16
4.3 Mounting MiR Hook 100 17
4.4 Enable MiR Hook 100 feature 20
4.5 Manual test 22
4.6 Homing 22
5. Commissioning 24
5.1 Cart specifications 24
5.2 Modifying the gripper 25
5.3 Space requirements 26
5.4 Safety precautions when operating with carts 31

MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 4
5.5 QR markers 32
6. Usage 34
6.1 Calibrate cart 34
6.2 Creating a cart 36
6.3 Setting cart positions on the map 38
6.4 Creating a cart mission 40
7. Maintenance 45
7.1 Regular weekly checks and maintenance tasks 45
7.2 Regular checks and replacements 45
8. Updating MiR Hook 100 software 48

1. About this document
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 5
1. About this document
This document contains the following information:
•How to install MiR Hook 100 and take precautions for safe use
•Product presentation
1.1 Where to find more information
At www.mobile-industrial-robots.com, several additional resources are available. To access
more information, sign in to the Distributor site with your distributor account at
http://www.mobile-industrial-robots.com/en/account/. The following resources are
available:
•Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
This page contains the following resources:
•Quick starts describe how you start operating MiR robots quickly. This document is 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.
User guides are available in multiple languages.
•Risk Analysis Guides include guidelines on how to create a risk assessment of your
robot solution.
•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 add-ons, such as charging stations,
hooks, shelf lifts, and pallet lifts.
•Getting started guides describe how to set up products that are mainly software
based, such as MiR Fleet and MiR AI Camera.
•Reference guides contain descriptions of all the elements of the robot and MiR Fleet
interface. Reference guides are available in multiple languages.
•REST API references for MiR robots, MiR hooks, and MiR Fleet.
•MiR network requirements specify the performance requirements of your network
for MiR robots and MiR Fleet to operate successfully.

1. About this document
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 6
•Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
This page contains the following resources:
•Software and Product Release Notes for your MiR product are displayed by selecting
your product in the drop-down menu.
•CAD drawings of MiR products are displayed by selecting Show CAD-files.
•Certificates for the MiR products and Declarations of Conformity are displayed by
selecting Show Certificates.
•Distributor site > FAQ
https://www.mobile-industrial-robots.com/en/account/faq/
This page contains frequently asked questions regarding MiR products.
•Distributor site > How to
http://www.mobile-industrial-robots.com/en/account/how-to/
This page contains how-to guides that describe how to perform specific tasks with MiR
products.
•Distributor site > Troubleshooting
https://www.mobile-industrial-robots.com/en/account/troubleshooting/
This page contains troubleshooting guides to solve common issues with MiR products.
•MiR Hook 100 product page
http://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir-hook-100/
This page contains specifications, pictures, and brochures for MiR Hook 100.
1.2 Version history
This table shows current and previous versions of this document and their interrelations with
hardware releases.
Revision Release date Description HW
1.0 2016-02-01 First edition.
1.1 2016-02-04 General small corrections.
Reworked section Commissioning on page24.
1.2 2016-04-10 Major update throughout the manual.
1.3 2016-05-02 Added space requirements for pick-up and
reverse parking.

1. About this document
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 7
Revision Release date Description HW
1.4 2016-09-20 Updated for software release 1.7.
Configuration of hook missions made simpler.
1.5 2016-10-11 Updated illustration for 4.1 and 4.3.
1.6 2016-10-24 Appendix added: Updating the MiR Hook 100
software.
Chapter 1: Notice added about requirements for
light in the operation environment.
1.7 2016-11-10 Description of driving space requirements
changed
1.8 2017-01-06 Updated for software release 1.8.
Cart specifications changed.
New section: Modifying the gripper on page25
1.9 2019-02-22 New version for MiR Robot Interface 2.0. Major
update throughout manual.
Includes both MiR Hook 100 and MiR Hook 200.
1.3
2.0 2019-08-27 Updated for hardware release 1.5. 1.5
2.1 2020-02-07 Updates in Usage on page34. 1.5

2. Safety
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2. Safety
Read the information in this section before powering up and operating MiR Hook 100.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR Hook 100 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR Hook 100,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR Hook 100.
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 serious injury or
death.
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
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 9
2.2 General safety precautions
This section contains general safety precautions.
WARNING
MiR Hook 100 is not running on the correct software and is therefore not
functioning properly. Risk of injury.
•Ensure that MiR Hook 100 is always running on the correct software.
WARNING
Contact with live parts can cause electric shock.
•Do not touch any internal components of MiR Hook 100 while it is powered.
WARNING
Entering an operating hazard zone intended for placing and picking up carts
while the robot is operating in it may result in injury.
•Ensure that all nearby personnel are instructed to stay clear of operating
hazard zones when MiR100 with MiR Hook 100 is in the zone.
WARNING
When MiR100 with MiR Hook 100 is turning while towing a cart, there is a risk
of injury to personnel close to the cart.
•Instruct personnel to maintain a safe distance from the robot when it is
turning while towing a cart.

2. Safety
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WARNING
When driving MiR100 with MiR Hook 100 while the hook brake is released
without being connected to a cart, the hook can rotate freely. Nearby
personnel may be hit by the hook.
•Never release the hook brakes while the robot is driving without a cart.
2.3 Intended use
MiR Hook 100 is a partly completed machine as defined in the EU machinery directive and
does not have a CE mark. A correctly installed MiR Hook 100 is covered by the CE mark of
MiR100. However, a CE marked product does not guarantee a CE marked setup. It is the
responsibility of the commissioner to commission MiR Hook 100 safely.
MiR Hook 100 is designed for MiR100. MiR Hook 100 is only intended to tow carts fulfilling
the technical requirements found in Cart specifications on page24 and is commissioned
according to the guidelines found in Commissioning on page24
NOTICE
A safe machine does not guarantee a safe system. Follow the Commissioning
guide to ensure a safe commission.
MiR Hook 100 is intended to be commissioned indoors in a light industrial environment
where public access is restricted. For a detailed description of the intended environment, see
technical specifications on our website.
2.4 Users
MiR Hook 100 is only intended to be used by personnel that have received training in their
required tasks.
There are three types of intended users for MiR Hook 100: commissioners, operators, and
direct users.

2. Safety
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 11
Commissioners
Commissioners have received extensive training in the full use of MiR Hook 100 and have
the following main tasks:
•Commissioning the product. This includes creating maps and restricting the user interface
for other users and making brake tests with a full payload.
•Making the risk assessment.
•Determining the payload limit, weight distribution, safe fastening methods, safe loading
and unloading of loads on MiR Hook 100 and ergonomic loading and unloading methods if
relevant.
•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
Operators
Operators have thorough knowledge of MiR Hook 100 and of the safety precautions
presented in the user guide of MiR100 and operating guide of MiR Hook 100. Operators
have the following main tasks:
•Servicing and maintaining MiR Hook 100.
•Creating and changing missions and map positions in the robot interface.
Direct users
Direct users are familiar with the safety precautions in the operating guide and have the
following main tasks:
•Assigning missions to MiR100.
•Fastening loads to MiR Hook 100 properly.
•Loading and unloading from a paused robot.
All other persons in vicinity of MiR100 are considered indirect users and must know how to
act when close to the robot. For example, they must be aware that visibly marked operating
hazard zones must be respected.

3. Product presentation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 12
3. Product presentation
MiR Hook 100 is a top application for our autonomous mobile robot MiR100 that handles
fully automated pick-up and towing of carts with loads of up to 300 kg indoors within
production facilities, warehouses, and other industrial locations.
The MiR Hook 100 robot identifies carts by QR markers and autonomously transports these
carts to user defined positions. MiR Hook 100 can be incorporated into a fleet of MiR robots
and can be easily redeployed to meet changing requirements.
Users operate MiR Hook 100 via a web-based user interface, which is accessed via a browser
on a PC, smartphone, or tablet. The robot with a hook mounted can be set up to run a fixed
route, be called on demand, or perform more complex missions.
The robot with MiR Hook 100 performs localization and navigation via a map, which can be
created or imported the first time the robot is used. The internal map contains defined
locations (office, product delivery, production hall etc.) that are used for logistical planning.
While operating, the safety laser scanners ensure that the robot avoids dynamic obstacles
(people, furniture) that are not mapped.
With the MiR Hook 100, you must provide the measurements of the carts as described in
Cart specifications on page24. Then, MiR Hook 100 can autonomously transport the defined
carts. Built-in sensors, cameras, and integrated software enable MiR100 with MiR Hook 100
and a cart to safely maneuver around people and obstacles, and drive up ramps.
3.1 Main features of MiR Hook 100
The main features of MiR Hook 100 are:
•Increase the efficiency of internal transportation tasks
MiR Hook 100 is ideal for a wide range of towing jobs, such as efficiently moving heavy
products between locations in a manufacturing facility or warehouse, or moving linen and
food carts in hospitals. This provides exciting new internal logistics options for heavy or
unwieldy cargos.
•Fully automated pick-up and towing of carts
MiR Hook 100 identifies carts by QR markers and autonomously transports them as you
define. MiR Hook 100 can be incorporated into a fleet of MiR robots and can easily be
redeployed to meet changing requirements.

3. Product presentation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 13
•Efficient transportation of heavy loads
The hook is designed to automate transportation of loads up to 300 kg across industries,
allowing employees to focus on higher value activities.
•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 with a hook and can be programmed
without any prior experience. Different user group levels and tailored dashboards can be
set up to suit the different users.
•Safely maneuvers among people
With MiR Hook 100, you simply measure your cart and feed the data into the software.
Built-in sensors, cameras and sophisticated software mean MiR100 with MiR Hook 100
and a cart can safely maneuver around people and obstacles and drive up ramps.
To read more about MiR Hook 100, go to www.mobile-industrial-robots.com.

3. Product presentation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 14
3.2 MiR Hook 100 external parts
This section presents the parts of MiR Hook 100 that are visible on the outside.
Figure 3.1. MiR Hook 100 external parts.
Pos. Description Pos. Description
13D camera: Reads QR codes
on carts.
2Gripper:Attaches to the
gripper bar on the cart to
enable towing.
3Emergency stop: Disarms
the robot when
pressed.Beneath is the
button to rearm the robot.

4. Installation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 15
4. Installation
This section describes how to get started with MiR Hook 100. To be able to use MiR Hook
100 with MiR100, your robot must be running software version 2.6.0 or higher.
NOTICE
Read Safety on page8 before powering up the robot.
4.1 In the box
This section describes the content of the MiR Hook 100 box.

4. Installation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 16
The box contains:
1. The MiR Hook 100.
2. 4 hex key bolts for mounting.
3. MiR Hook 100 document folder containing the printed documents.
4. Printed documents:
•MiR Hook 100 Mounting guide.
•CE declaration of incorporation.
4.2 Unpacking MiR Hook 100
This section describes how to unpack MiR Hook 100.
Keep the original packaging for future transportation of the hook.
1. Remove the pallet lid.
2. Remove the shield and cut the cord that holds the hook attached to the pallet.
3. Loosen the two highlighted screws and remove the four weights.

4. Installation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 17
4. Remove the two screws in the front of the hook.
5. Remove the two screws on the back of the hook.
6. Remove the hook from the pallet.
4.3 Mounting MiR Hook 100
The photos illustrate how to mount a MiR Hook 100 (2) to a MiR100 (1).

4. Installation
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1. Remove the hook cover and lift the hook onto the robot, fitting the frame holes above the
four mooring holes on the robot.

4. Installation
MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 19
2. Mount the frame with the four bolts. Tighten the bolts with a torque of 47 (Nm) / [34.5 ft-
lb].
3. Connect cables and mount the antenna:
Pos. Description Pos. Description
1 Network cable (from robot to
hook PC)
2 Application hardware cable
3 Emergency stop cable 4 USB cable for top camera
5 Antenna connector

4. Installation
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4. Place the cover on top of the hook frame. The cover is held in place with magnets.
5. The hook is now mounted on the robot.
4.4 Enable MiR Hook 100 feature
To access the MiR Hook 100 settings and mission menus, you must first enable them.