MIR MiR100 User manual

User Guide (en)
Date: 10/2020
Revision: v.3.0

MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: 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 © 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

MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: 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 8
2. Product presentation 11
2.1 Main features of MiR100 Hook 12
2.2 External parts 13
2.3 Internal parts 19
2.4 How MiR Hook 100 works 21
3. Safety 23
3.1 Safety message types 23
3.2 General safety precautions 24
3.3 Intended use 28
3.4 Users 28
3.5 Foreseeable misuse 29
3.6 Warning label 30
3.7 Residual risks 31
4. Getting started 32
4.1 In the box 32
4.2 Unpacking MiR100 Hook 34
4.3 Connecting the battery 37
4.4 Mounting MiR Hook 100 39
4.5 Powering up the robot 43
4.6 Connecting to the robot interface 45

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4.7 Driving the robot in Manual mode 46
4.8 Checking the hardware status 47
4.9 Mounting the nameplate 48
4.10 Enable MiR100 Hook feature 49
4.11 Testing the top module 51
4.12 Shutting down the robot 53
5. Battery and charging 54
5.1 Charging the robot 54
5.2 Disconnecting the battery 56
5.3 Battery storage 58
5.4 Battery disposal 58
6. IT security 60
6.1 Managing users and passwords 60
6.2 Software security patches 60
7. Navigation and control system 62
7.1 System overview 62
7.2 User input 64
7.3 Global planner 64
7.4 Local planner 66
7.5 Obstacle detection 67
7.6 Localization 73
7.7 Motor controller and motors 76
7.8 Brakes 77
8. Safety system 78

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8.1 System overview 78
8.2 Collision avoidance 82
8.3 Overspeed avoidance 86
8.4 Stability 86
8.5 Emergency stop buttons 86
8.6 MiR Hook 100 safety functions 87
8.7 Robot computer 88
8.8 Light indicators and speakers 88
9. Commissioning 91
9.1 Analysis of the work environment 91
9.2 Risk assessment 93
9.3 Cart specifications 94
9.4 Modifying the gripper 96
9.5 ID tags 97
9.6 Calibrate cart 99
9.7 Creating and configuring maps 101
9.8 Creating markers 111
9.9 Creating positions 114
9.10 Creating missions 116
9.11 Creating a footprint 119
9.12 Required free space 122
9.13 Making a brake test 129
9.14 Creating user groups and users 130
9.15 Creating dashboards 133

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9.16 Updating MiR100 Hook software 134
9.17 Creating backups 135
9.18 System settings 136
10. Usage 143
10.1 Creating markers 143
10.2 Creating positions 148
10.3 Creating a cart 150
10.4 Creating the mission: Prompt user 155
10.5 Creating the mission: Try/Catch 159
10.6 Creating the Variable footprint mission 165
10.7 Creating a cart mission 168
10.8 Testing a mission 174
11. Unmounting the top module 175
12. Maintenance 176
12.1 Regular weekly checks and maintenance tasks 176
12.2 Regular checks and replacements 177
12.3 Battery maintenance 181
13. Packing for transportation 182
13.1 Original packaging 182
13.2 Packing the robot for transportation 182
13.3 Battery 183
14. Disposal of robot 184
15. Interface specifications 185
15.1 Application interface 185

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15.2 Emergency stop 186
16. Error handling 188
16.1 Software errors 188
16.2 Hardware errors 189

1. About this document
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR100 Hook 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 MiR100 Hook along
with a guide for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR100 Hook 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. 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 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.
•Getting started guides describe how to set up products 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.
•REST API references for MiR robots, MiR 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.
1.2 Version history
This table shows current and previous versions of this document and their interrelations with
hardware releases.

1. About this document
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 9
MiR100 Hook
Revision Release date Description HW
MiR100
HW MiR
Hook 100
3.0 2020-10-01 New manual structure.
New chapters: Warning label,
Mounting the nameplate, Battery and
charging, IT security, Navigation and
control system, Safety system, Usage,
Disposal of robot, Error handling and
Glossary.
As a result of the new manual
structure, the MiR100 User Guide
version history has been aligned with
the MiR Hook 100 Operating Guide
version history. This means that
version 2.0 has been skipped and is
instead named 3.0.
5.0 1.5
MiR Hook 100
Revision Release date Description HW
1.0 2016-02-01 First edition. 1.0
1.1 2016-02-04 General small corrections.
Reworked section Commissioning on page91.
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
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 10
MiR Hook 100
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 MiR100 Hook
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96
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. 1.5

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 11
2. Product presentation
MiR100 Hook is an autonomous mobile robot with a top module mounted to it. It is designed
to transport carts indoors within production facilities, warehouses, and other industrial
locations where access to the public is restricted.
Users operate MiR100 Hook via a web-based user interface, which is accessed via a browser
on a PC, smartphone, or tablet. Each robot has its own network—see Connecting to the robot
interface on page45. The robot can be set up to run a fixed route, be called on demand, or
perform more complex missions.
The robot interface of MiR100 Hook can be accessed via Google Chrome, 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 control system on page62. The map can be created or imported
the first time the robot is used. While operating, the robot avoids obstacles, like people and
furniture, that are not mapped.
MiR100 Hook transports carts that are designed according to the specifications in Cart
specifications on page94.

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 12
Specifications for MiR100 Hook are available on the MiR website.
2.1 Main features of MiR100 Hook
The main features of MiR100 Hook 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 transport of carts
The robot is designed to automate transportation of loaded carts with a weight of up to
300 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159.
•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
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 13
•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101.
2.2 External parts
This section presents the parts of MiR100 Hook that are visible on the outside.
Figure 2.1. MiR100 Hook external parts.
Pos. Description Pos. Description
1 Hook top cover 2 Swivel wheel: four pcs., one
Table 2.1.
Identification of external parts in Figure 2.1.

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 14
Pos. Description Pos. Description
in each corner
3 Drive wheel: two pcs.,
differential control
4 Behind removable corner
cover: HDMI port and USB
“service port” - connects to
the robot’s PC
5 Scanner reset button (yellow)
and on/off button (blue)
6 Ultrasound sensors: two pcs.,
for detection of transparent
objects (side)—see Obstacle
detection on page67
7 3D depth camera: two pcs.,
both in the front—see
Obstacle detection on
page67
8 Pad connectors: two pcs., for
connection to charging poles
on MiR Charge 24V charging
station
9 S300 safety laser scanner
(front)—see Obstacle
detection on page67
10 Side cover
11 Behind removable rear
corner cover: Charging port
with switch
12 Ultrasound sensors: two pcs.,
for detection of transparent
objects (rear)—see Obstacle
detection on page67
13 Rear cover 14 S300 safety laser scanner
(rear)—see Obstacle
detection on page67
15 Gripper: attaches to the
gripper bar on the cart to
enable towing—see
Modifying the gripper on
page96
16 3D camera: one pc., reads ID
tags (QR-marker or AprilTag)
on carts
17 Emergency stop button:
makes robot enter
Emergency stop. Beneath is

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 15
Pos. Description Pos. Description
the button to rearm the
robot—see Emergency stop
buttons on page86
Over time the pad connectors may become discolored due to corrosion. This is
merely a cosmetic issue and has no effect on the conductivity of the pad
connectors.
Identification label
MiR100 Hook is delivered with identification labels mounted to each product. The
identification labels identify the product, the product serial number, and the hardware
version of the product.
The identification label of MiR100 is located on the back, left side of the chassis underneath
the router, and the identification label of MiR Hook 100 is located on the technical plate in
the bottom right corner.

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 16
Figure 2.2. Placement of the identification label.
Figure 2.3. Example of a MiR Hook 100 identification label.

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 17
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR100 Hook identifies the application model and serial number and includes
the CE mark, the 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48.
Figure 2.4. Example of a MiR100 Hook nameplate.
Control panel
MiR100 Hook has a control panel in the rear-left corner of the robot.

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 18
The control panel buttons
Figure 2.5. The MiR100 Hook control panel.
Pos. Description Pos. Description
1 Scanner reset 2 Power
Table 2.1.
MiR100 Hook control panel.
Scanner reset button
Pressing this button restarts the scanners. This can be useful if the robot goes into
Emergency stop and you wish to resume operations.
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Operating modes
MiR100 Hook has two operating modes: Manual mode and Autonomous mode.

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 19
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46.
Autonomous mode
In this mode, the robot executes the programmed missions. The robot enters this mode
automatically when you press Continue in the robot interface.
2.3 Internal parts
This section presents the parts of MiR100 Hook that are visible on the inside after removing
the top cover.
WARNING
Removing covers from the robot exposes parts connected to the power supply,
risking damage to the robot from a short circuit and electrical shock to
personnel.
•Before removing covers, turn off the robot, and disconnect the battery—see
Disconnecting the battery on page56.
To gain access to the internal parts, the top module has to be unmounted—see
Unmounting the top module on page175

2. Product presentation
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 20
Figure 2.6. Internal parts of MiR100 Hook.
Pos. Description Pos. Description
1 Breaker: automatic fuse
between battery and
components
2 Robot power off relay:
releases the latching relay
(pos. 17) when the robot is
shutting down.
3 Motor controller: manages
the two motor drives
4 Brake relay: short circuits
motor windings for faster
braking
5 Battery connector for extra
battery
6 Safe torque off relay
(controlled by Safety PLC)
7 CAN bus connection for 8 Battery disconnect switch
Table 2.1.
Identification of internal parts in Figure 2.6.