MIR MiR100 User manual

User Guide
11/2017 v.1.0
en
October 2017 v.1.02017 v.1.2
with MiR Robot Interface 2.0

For more material,
go to our website
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 ApS (MiR). MiR makes no warranties, express or implied, in respect
of this document or its contents. In addition, the contents of the document is 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 - 2017 by Mobile Industrial Robots
Contact the manufacturer:
Mobile Industrial Robots
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
E-mail: [email protected]
CVR: 35251235

Table of contents
1 About this manual .............................................................................................................3
1.1 Overview......................................................................................................................3
1.2 Document history ........................................................................................................3
1.3 Further information.....................................................................................................3
2 Safety .................................................................................................................................4
2.1 Overview......................................................................................................................4
2.2 Safety concept .............................................................................................................4
2.3 General safety instructions..........................................................................................5
2.3 1 Warning notes ..................................................................................................5
2.3 2 Caution notes....................................................................................................6
2.3 3 Notices ..............................................................................................................7
2.4 Lithium battery ............................................................................................................7
2.5 Safety circuit ................................................................................................................8
2.6 Applied standards........................................................................................................8
3 Getting Started ..................................................................................................................9
3.1 The shipment...............................................................................................................9
3.2 Unpacking the MiR100™............................................................................................10
3.2 1 Unboxing.........................................................................................................10
3.2 2 Powering up....................................................................................................11
3.3 Getting connected .....................................................................................................13
3.4 Charging the robot.....................................................................................................14
3.5 Testing the robot .......................................................................................................15
3.6 Shutting down the robot ...........................................................................................16
4 Product presentation.......................................................................................................17
4.1 About the MiR100™...................................................................................................17
4.2 Identification label.....................................................................................................17
4.3 MiR100™ Outer parts ................................................................................................18
4.4 MiR200™ Inner parts .................................................................................................19
4.5 Sensor systems ..........................................................................................................20
4.6 Light indicators ..........................................................................................................20
4.7 Main features of the MiR100™..................................................................................20
5 Accessories ......................................................................................................................22
5.1 Overview....................................................................................................................22
5.2 Placing the top module..............................................................................................22
6 Technical specifications ...................................................................................................23
6.1 Main specifications....................................................................................................23
6.2 Dimension drawing....................................................................................................25
7 Maintenance....................................................................................................................26
7.1 Overview....................................................................................................................26
7.1 1 Regular cleaning .............................................................................................26
7.1 2 Regular checks and replacements ..................................................................26
8 Troubleshooting ..............................................................................................................28

9 Repacking for transport...................................................................................................29
9.1 Preparations ..............................................................................................................29
9.2 Packing the robot for transportation.........................................................................29
10 Payload specifications ...................................................................................................30
11 Declaration of conformity..............................................................................................34
12 Neutrik connector..........................................................................................................36
Appendices
Payload specifications ......................................................................................................... 33
MDeclaration of conformity................................................................................................ 36
Neutrik connector ............................................................................................................... 38

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MiR100™ User Guide, Robot Interface 2.0, 11/2017 v.1.0 3
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1 About this manual
1.1 Overview
This User Guide contains all essential information about how to start up and operate a MiR100™
robot. It also includes necessary information about safe handling of the robot, technical
specifications, troubleshooting and guidelines for proper maintenance of the robot. The User Guide
is intended for Mobile Industrial Robots’ distributors as well as end users responsible for the daily
operation of the MiR100™ robot.
This user guide describes the MiR100 with Robot Interface 2.0. There is a corresponding user guide
for the MiR100 with Web Interface 1.0.
1.2 Document history
This table shows latest and previous versions of this document and their interrelation with product
software releases.
1.3 Further information
You can download all manuals from the MiR website where you will also find training videos,
product pictures and technical specifications.
• Manuals and more: www.mobile-industrial-robots.com/products
Your MiR distributor is your first point of contact for all service queries. Find distributor contact on
our website.
• Distributor contact info: www.mobile-industrial-robots.com/distributors.
Doc version Release date Description SW release HW version
1.0 2017-11-27 First edition 2.0.2 1.0

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2Safety
2.1 Overview
This manual contains notices you have to observe to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the
manual by a safety alert symbol. The notices shown below are graded by signal words to indicate
degree of danger.
2.2 Safety concept
Indicates an immanently hazardous situation that will result in death or severe personal injury if proper
precautions are not taken.
Indicates a potentially hazardous situation that could result in death or severe personal injury if proper
precautions are not taken.
Indicates a situation that could result in minor personal injury or damage to the equipment if proper
precautions are not taken.
Indicates a situation that could result in property damage if proper precautions are not taken.

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2.3 General safety instructions
This section contains general safety notes. Some safety notes are repeated or further specified in
other sections of the manual and further safety notes are present throughout the manual.
2.3.1 Warning notes
• Ensure proper mounting of loads during transport
Danger of personal injury from overturning robot or falling load.
All accessories and loads mounted on top of the robot should be fastened correctly and meet specifications.
See on page 30.
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Avoid leakage of fluid during transport
Danger of personal injury from leaking fluid.
Make sure that loads containing fluids do not leak during transport.
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Use only the original charger
Danger of personal injury and/or damage to the robot.
Use of other charger than the one supplied by the manufacturer can ruin the battery and may cause fire.
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Update maps to avoid hazards on the route
Danger of personal injury and/or damage to the robot.
Make sure to update maps with areas without drive surfaces such as stairways.
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Update maps to avoid hazards on the route
Danger of personal injury and/or damage to the robot.
Make sure to update maps to avoid driving in hazardous zones such as close to stairways.
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Do not drive vehicle irresponsibly
Danger of personal injury and/or damage to the robot.
The robot should not be driven over edges or in other ways operated irresponsibly.

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2.3.2 Caution notes
• Do not use the robot to transport people
Risk of personal injury and/or damage to the robot.
The robot should never be used to transport people. This will revoke compliance with the standard EN 1525
Safety for unmanned trucks.
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Avoid gradients above 5% on the route
Risk of personal injury and/or damage to the robot.
The surface grade (ramps etc.) cannot exceed 5% as this may cause the robot to skid.
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Only drive on even and dry surface
Risk of personal injury and/or damage to the robot.
Wet and uneven surfaces may cause the robot to skid.
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Do not overload the robot
Risk of personal injury and/or damage to the robot.
The maximum payload for the load on top of the robot is 200 kg 440 lbs kg. If exceeded, it may cause
overturning, falling load and damage to the robot. See also Appendix .
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Do not use robot on board ships
Risk of personal injury and/or damage to the robot.
Unstable surface caused by moving vessel may cause the robot to skid.
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Turn off the main power immediately after removal of the top cover
Risk of personal injury and/or damage to the robot.
Turn off main power relay to avoid short circuit. See Product presentation on page 17

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2.3.3 Notices
2.4 Lithium battery
Lithium batteries are primary power sources with high energy content designed to represent the
highest possible degree of safety.
• Indoor use only
Risk of damage to the robot.
The robot is made for indoor use only and should never be used outdoor.
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Avoid small objects on the floor in the robot’s area
Risk of property damage and/or minor damage to the robot.
The robot cannot detect obstacles lower than 50 mm and may overrun smaller objects.
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Remove unwanted objects from the floor in the robot’s area
Risk of inefficient execution of orders.
The robot will go around objects that are not parts of the map, but this may influence the efficiency of the
planned route.
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Avoid overheating of components
Risk of damage to the robot or robot components.
The ambient temperature in the robot’s environment must not exceed 50° C - 122° F.
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Avoid exposure of the robot to excessively humid or dry environment
Risk of damage to the robot or robot components.
The ambient humidity in the robot’s environment must be within the specifications, see Technical
specifications on page 23.
Potential hazard
Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused
electrically or mechanically.
Observe the following precautions handling and using lithium batteries:
• Shut off the battery when not in use.
• Do not short-circuit, recharge or connect with false polarity.
• Do not expose to temperature 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 and always follow the instructions from the battery manufacturer.

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2.5 Safety circuit
If a person or other moving object enters the safety zones of the robot where the planner due to
response time, errors etc. does not respond, the safety circuit will force the robot into emergency
stop, and the robot stops immediately. When the person or object is out of the safety zone again,
the robot will automatically reset the emergency stop.
MiR100™ is designed with total redundant electrical safety circuit including Sick Safety components.
If any internal errors in the safety circuit occur, the robot will immediately go into emergency stop
which means that all moving parts will be voltage free by mechanical disconnection. Only when the
redundancy is provided, it is possible to reset the emergency stop and continue.
2.6 Applied standards
The MiR100™ fulfills all relevant provisions of the following EU directives or regulations:
Reference to the harmonized standards used, as referred to in Article 7(2):
Reference of the other technical standards and specifications used:
See also signed copy of Declaration of conformity in Declaration of conformity on page 34.
Ref. no. Title
2006/42/EC
Directive 2006/42/EC of the European Parliament and of the Council of 17 May
2006 on machinery, and amending Directive 95/16/EC (recast) (1).
Ref. no. Title
EN 60204-1:2206/A1:2009 Safety of machinery – Electrical equipment of machines – Part 1: General
requirements
EN ISO 12100:2010-11 Safety of machinery – General principles for design – Risk assessment and risk
reduction (ISO 12100:2010)
EN ISO 13849-1:2015 Safety of machinery – Safety related parts of control systems – Part 1: General
principles for design (ISO 13849-1:2015)
EN ISO 13849-2:2012 Safety of machinery – Safety related parts of control systems – Part 2: Validation
(ISO 13849-2:2012)
EN ISO 13850:2015 Safety of machinery – Emergency stop function – Principles for design (ISO
13850:2015)
EN 60204-1:2006-6 Safety of machinery – Electrical equipment of machines – Part 1: General
requirements
EN 1175-1:1998+A1:2010 Safety of industrial trucks – Electrical requirements – Part 1: General
requirements for battery powered trucks
Ref. no. Title
EN 1525:1997-09 Safety of industrial trucks – Driverless trucks and their systems

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3 Getting Started
3.1 The shipment
Figure 3.1. Figure 3.1 The shipment
1. The robot
2. MiR 100 Kit
- Emergency stop box, external antenna and 4 pcs. M10x40 bolts
- Charging cable
3. MiR folder containing:
- Printed documents: Quick start, CE declaration of conformity, mounting instructions for emergency stop
- USB flash drive: Getting started video, MiR100™ User guide, CE declaration of conformity, other manuals.

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3.2 Unpacking the MiR100™
3.2.1 Unboxing
Follow these steps to unbox the MiR100™
Step Action
1 Remove pallet lid and take out folder with printed documents and USB flash.
2 Remove the top foam, foam blocks on the sides and the pallet frames.
3 Place the pallet cover as a ramp at the robot’s rear end.
Keep the packaging for any future transportation of the robot.

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3.2.2 Powering up
Step Action
1 Grab the two rounded corners and carefully lift
off the cover.
2 Connect the battery cable to the plug on top of
the battery box.
Switch on the four relays placed in the corner by
the front laser scanner. Start with 32A main power,
i.e. from the outer frame in.
3 Carefully fit the cover correctly over the
connector openings.
Mount and connect the emergency stop box on
top of the robot cover.

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If a top module is going to be mounted on top of the robot, the emergency stop must
be placed in a position where it is easy to reach. See Placing the top module on
page 22.
4 Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the
connector before fixing the antenna.
The antenna can be lowered and rotated in all directions to fit under a top module.
5 Turn on the power switch.
The robot lights up with a yellow running light
for a short moment, then enters emergency
stop mode indicated by a constant red light.
Press the reset button on the emergency stop
when it has lit up.
The robot light now switches to yellow constant
light, indicating that the robot is paused and ready
to operate.
Step Action

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3.3 Getting connected
Step Action
1 On a PC or tablet, go to the WiFi
menu, find the name of your robot
and connect to it. Password:
mirex4you
Open a browser and go to mir.com.
Log in to the MiR Robot interface
using the default username
Distributor and password
distributor.
2 When logged in, press Manual
control on the joystick icon to put
the robot in manual driving mode,
and use the joystick to drive the
robot down the ramp
The robot light switches
to blue, indicating that
the robot is in manual
mode and can be
controlled by the
joystick.
3 It is recommended to reverse the robot down the ramp.

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3.4 Charging the robot
The robot arrives with a charged battery and can drive for up to three hours before
recharging is required. Follow these steps to charge the robot using the enclosed cable:
Step Action
1 Turn off the robot on the button in the
robot’s front left-hand corner.
To avoid fast discharging, it is
recommended to turn off the robot
while charging.
Use only the original charging cable.
2 Pull off the rear corner cover, and connect
the charging cable to the charging socket.
Then connect the other end of the cable to a
power socket to start the charging
To avoid damage to the charging
socket, it is important that the cable be
connected to the robot’s charging
socket before it is connected to power.
After recharging, the cable must be
disconnected from power before it is
removed from the robot.
3 After a maximum of three hours, the robot is fully charged. The robot emits a green light when the
battery is charged.
4 Disconnect the charging cable.
To avoid overvoltage surge and
potential damage to the robot,
first remove the cable from the
power socket, then from the
robot.
To remove the cable from the robot, turn it
slightly to the left and pull.
Slide the rear corner cover back on.

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3.5 Testing the robot
Before using the robot, you are recommended to check that all components and processes
inside the robot work as intended.
1. Log on to the MiR Robot interface, see Getting connected on page 13.
2. Go to Monitoring > Hardware health .
3.
When all components in a group are OK, it is marked with a green dot. If one or more
components in a group are not in perfect condition, the group will be marked with a yellow
or red dot and you can expand the group by clicking on the green arrow and see which
components are not functioning correctly and why.
Figure 3.1. Extract of Hardware Health menu. Message: OK indicates that the components of the group

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3.6 Shutting down the robot
Follow these steps to shut down the robot correctly.
Step Action
1 Press the red emergency stop button. This will
turn off the power to the motors
2 Turn off the power switch. Wait for the light on the robot to turn
off. This means that there is no more
power going to the robot.

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4 Product presentation
4.1 About the MiR100™
The MiR100™ is an automatic vehicle that can transport materials internally within production
facilities, hospitals, warehouses, and a host of other industrial locations.
The user provides the destination of product delivery via a web-based user interface. MiR100™ can
be set up to run a fixed route, be called on demand or perform more complex operations (missions).
It can also operate as part of a fleet of MiR robots, centrally controlled from a single web based user
interface.
The MiR100™ operates via a map which can be created the first time the vehicle is used. While
operating, the safety scanners ensure that the robot avoids obstacles (people, furniture) that are not
mapped. The internal map contains defined locations (office, product delivery, John's room, etc.)
that are used for logistical planning.
With a MiRCharge™ charging station the robot handles moving to a charging station automatically.
All it takes is the definition of a charging mission and a charing position in the map.
The robot is controlled from a website (HTML5), which is accessed via a browser on a PC,
smartphone or tablet
. Each vehicle has its own network. See separate setup sheet.
4.2 Identification label
The identification label of the MiR100™ is placed on the rear skirt of the robot.
Figure 4.1. MiR100™ identification label
• CE Mobile Industrial Robots ApS declares that the MiR100™ meets the
requirements of the applicable EC directives. See Declaration of
conformity on page 34
• Serial number The 15-digit serial number is a unique identifier of the robot. The last four
digits form part of the original name of the robot, e.g. MiR R500
• MiR100 1.9 Product name and hardware version.

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Product presentation
MiR100™ User Guide, Robot Interface 2.0, 11/2017 v.1.0 18
4.3 MiR100™ Outer parts
Figure 4.2. MiR100™ Outer parts
1. Top cover 11. Emergency stop connector
2. Caster wheel - all four corner wheels 12. USB port “service port” - connects to the robot’s
PC
3. Drive wheel - differential control 13. Antenna socket
4. On/Off button and scanner reset button (yellow) 14. Neutrik FCS FDL1-B connector - for connection to
hardware such as hook - see pin number layout in
Appendix C, Neutrik connector on page 36
5. HDMI port - behind the front corner cover 15. RJ45 Ethernet connection
6. USB port “service port” - connects to the robot’s PC 16. Mooring hole - one in each corner for top modules
7. Ultrasonic sensors 17. Rear laser scanner
8. Pad connectors - for connection to charging poles on
MiRCharge charging station
18. Rear skirt
9. 3D depth camera 19. Charging port - behind the rear corner cover
10. Front laser scanner 20. Side skirt