MIR Hook 100 User manual

Quick Start (en)
Date: 10/2020
Revision: v.1.1

MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: 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 10
2.4 Users 11
2.5 Foreseeable misuse 12
2.6 Residual risks 12
2.7 Warning label 13
3. Light indicators and speakers 14
3.1 Status lights 14
3.2 Speakers 15
4. IT security 16
4.1 Managing users and passwords 16
4.2 Software security patches 16
5. Getting started 18
5.1 In the box 18
5.2 Unpacking MiR100 Hook 20
5.3 Connecting the battery 23
5.4 Powering up the robot 27
5.5 Connecting to the robot interface 28
5.6 Driving the robot in Manual mode 30
5.7 Checking the hardware status 32

MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 3
5.8 Mounting the nameplate 32
5.9 Enable MiR100 Hook feature 34
5.10 Testing the top module 35
5.11 Shutting down the robot 38

1. Version history
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1. Version history
This table shows current and previous versions of this manual and their interrelations with
hardware releases.
MiR100 Hook
Revision Release date Description HW
MiR100
HW MiR
Hook
100
1.0 2020-10-01 First version. 5.0 1.5
1.1 2020-10-30 Updates and improvements throughout
the manual.
5.0 1.5

2. Safety
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2. Safety
Read the information in this section before powering up and operating MiR100 Hook.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR100 Hook or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR100 Hook,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR100 Hook.
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
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 or approaching 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.
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.

2. Safety
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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 descending staircases and holes as Forbidden zones on maps.
•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 the original charger.
WARNING
Attempting to charge batteries outside the robot can lead to electrical shock
or burns.
•Never charge the batteries outside the robot.

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.
•Use only the original charger (cable charger or charging station) and
always follow the instructions from the battery manufacturer.
•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 colors.
•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 MiR100 Hook.

2. Safety
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WARNING
Load falling or the 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 payload
specifications.
WARNING
Personnel standing next to the robot when it is picking up or placing a cart risk
being injured by an impact.
•Ensure that areas for picking up and placing carts are clearly marked as
operating hazard zones with visible tape or similar marking and that all
personnel are instructed not to stand in the hazard zone when the robot is
operating in it.
WARNING
When the robot 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.
WARNING
When the robot is driving 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. Safety
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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.
NOTICE
Moving the robot by hand forcefully may cause damage to the top cover.
•If the robot is stuck, push or pull gently on the top cover corners to move
the robot.
2.3 Intended use
MiR100 Hook is intended to be commissioned and used in indoor industrial environments
where access for the public is restricted.
MiR100 Hook is intended to be commissioned according to the guidelines in your robot's
user guide. This is a prerequisite for safe usage of MiR100 Hook.
MiR100 Hook 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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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
MiR100 Hook is only intended to be used by personnel that have received training in their
required tasks.
There are three types of intended users for MiR100 Hook: commissioners, operators, and
direct users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR100 Hook 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 MiR100 Hook, 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 MiR100 Hook and of the safety precautions
presented in this user guide. Operators have the following main tasks:
•Servicing and maintaining MiR100 Hook.
•Creating and changing missions and map features in the robot interface.
Direct users
Direct users are familiar with the safety precautions in this quick start and have the
following main tasks:

2. Safety
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•Assigning missions to MiR100 Hook.
•Fastening loads to MiR100 Hook securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR100 Hook are considered indirect users and must know
how to act when they are close to the robot.
2.5 Foreseeable misuse
Any use of MiR100 Hook 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 steep surface grades, such as ramps
•Making changes to the SICK configuration
•Driving the robot on cross slopes
•Exceeding the total payload
•Positioning or fastening loads incorrectly according to the specifications
•Using Emergency stop buttons for anything other than emergency stops
•Using the robot to tow carts not fulfilling the technical specifications
•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
NOTICE
If the robot is misused, the warranty becomes void. Only use the robot as
described in Intended use on page10.
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 MiR100
Hook:

2. Safety
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•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. It will only drive 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.
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
2.7 Warning label
MiR100 Hook 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.
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 its status lights and speaker to let people in the environment know what the
robot is currently doing or planning to do.
3.1 Status lights
The LED light band running all the way around the robot indicates the robot’s current
operational state. Colors may also be used as part of missions, but as standard, status lights
indicates the statuses described in Table 3.1.
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
Table 3.1.
Status light colors

3. Light indicators and speakers
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White wavering Prompt user / Waiting for user's response
Cyan wavering (MiR
Fleet robots only) Waiting for MiR Fleet resource
When the robot's battery reaches a critically low level of power (0-1%), the
ends of the status lights flash red.
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 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: “Please step aside” or to attract
peoples attention, for example, when the robot has arrived at a position.
CAUTION
It is the responsibility of the commissioner to ensure that the warning sounds
are audible in the robot's work environment.

4. IT security
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4. IT security
ITsecurity is a set of precautions you can take to prevent unauthorized personnel from
accessing MiR100 Hook. This section describes the main IT-security related risks and how to
minimize them when commissioning MiR100 Hook.
MiR100 Hook communicates all data over the network that it is connected to. It is the
responsibility of the commissioner to ensure that it is connected to a secure network. MiR
recommends conducting an IT-security risk assessment before commissioning the robot.
Contact your distributor for a list of FAQs about IT security.
4.1 Managing users and passwords
Managing your users and passwords is the main way you can control access to MiR100 Hook.
There are three default users with predefined passwords for you to start using. These are
described in the MiR Robot Reference Guide along with instructions to create new users,
user groups, and passwords. MiR advises you to:
•Change the default password for all predefined users if you choose to continue to use
them. Make sure to choose a strong password since MiR100 Hook does not enforce any
password rules nor expire the password.
•Create new user groups if more levels of access are necessary.
•Create dedicated user accounts under the relevant user group for each person accessing
MiR100 Hook, and ensure that the users change the password on their first sign-in. It is
not recommended to have several users share the same account.
•Only enable users with a minimum level of access to use a pin code to sign in. Users with
a higher level of access are recommended to use a strong password to sign in instead.
4.2 Software security patches
To improve the security of MiR100 Hook, MiR supplies security patches to the operating
system in new MiR software update files. When you install a security patch, it takes
approximately 10-15 minutes longer to update a MiR product.

4. IT security
MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 17
Security patches are included from software version 2.8.3 and higher.
Understanding MiR software versions
MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1
means that the software is based on the second major release, the eighth minor release of
the major version, the first patch release of the minor version, and, in this example, a single
hot fix is included too.
•Major releases include the most significant changes that affect the entire robot software.
•Minor releases often include new features and smaller changes that only affect parts of
the software.
•Patch releases focus on fixing small issues in the software and introducing quality
improvements.
•Hot fix releases are only created when a patch release has introduced a critical issue that
needs to be fixed immediately.
Security patch policy
MiR applies the following policy when supplying security patches:
•New security patches are distributed per every minor release.
•All patch releases under a minor release include the previous security patches also. In
other words, if you chose not to install the first software version in a minor release, such
as version 2.9.0, the security patches will still be installed when you update to 2.9.1 or
higher.

5. Getting started
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5. Getting started
This section describes how to get started with MiR100 Hook.
NOTICE
Read Safety on page5 before powering up MiR100 Hook.
5.1 In the box
This section describes the contents of the MiR100 Hook boxes.
Figure 5.1. The robot and accessories

5. Getting started
MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 19
Figure 5.2. The hook top module is contained in the other box.
The boxes contain:
•The MiR100
•The robot kit which contains:
•One Emergency stop box, external antenna, and four pcs. M10x40 bolts
•One charging cable
•One external charger, 24 V DC, 10 A
•Four hex key bolts for mounting MiR Hook 100
•A MiR100 Hook document folder containing a USB flash drive and the following printed
documents:
•MiR100 Hook Quick Start
•The CE Declaration of Conformity for your application
•Getting the robot online
•Passwords
•The unique nameplate for your application
•Mounting guide

5. Getting started
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•The USB flash drive in the document folder has the following content:
•MiR100 Hook User Guide
•MiR100 Hook Quick Start
•MiR Network and WiFi Guide
•MiR Robot Reference Guide
•MiR Robot REST API Reference
•Getting the robot online
•The MiR Hook 100 top module
5.2 Unpacking MiR100 Hook
This section describes how to unpack the robot.
Keep the original packaging for future transportation of MiR100 Hook.
Follow these steps to unpack the robot:
1. Place the box with the robot so that there is three meters of free space at the front or the
back of the box. This is necessary as the robot drives out of the box on a ramp.
2. Cut the protective straps surrounding the box.
3. Remove the lid from the box.
4. Take the folder with the printed documents and the USB flash drive out of the box.