MIR MiR100 User manual

MiR100 Quick start
Date: 04/2023
Version: 3.1 (en)
Robot hardware version: 7.0

Copyright and disclaimer
MiR100 Quick start (en) 04/2023 - v.3.1 ©Copyright 2023: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
Mobile Industrial Robots A/S (MiR) makes no warranties, expressed or implied, in respect of this
document or its contents. In addition, the contents of this 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.
MiR authorizes you to view, copy, print, and distribute materials available in this document
provided that:
lThe materials are used for internal informational purposes only.
lA MiR copyright notice appears on every copy of the material and any portion thereof.
lNo materials or related graphics are modified or altered in any way. Any rights not expressly
granted herein are reserved by MiR.
Copyright © 2023 by Mobile Industrial Robots A/S.
Original instructions (English)
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [email protected]
CVR: 35251235

Table of contents
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Table of contents
Copyright and disclaimer 2
Table of contents 3
1. Version history 5
2. Safety 7
2.1 Safety message types 7
2.2 General safety precautions 8
2.3 Intended use 12
2.4 Users 13
2.5 Foreseeable misuse 14
2.6 Residual risks 15
2.7 Warning label 15
3. Storage 17
3.1 Preparing the robot for storage 17
3.2 Storage time 17
3.3 Inactive battery modes 18
4. Light indicators and speaker 19
4.1 Status lights 19
4.2 Speaker 20
5. Cybersecurity 21
6. Getting started 22
6.1 In the box 22
6.2 Unpacking MiR100 23
6.3 Connecting the battery 25
6.4 Powering up the robot 29
6.5 Connecting to the robot interface 30
6.6 Connecting the robot to a Wi-Fi network 32

Table of contents
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6.7 Driving the robot in Manual mode 35
6.8 Checking the robot 38
6.9 Mounting the nameplate 40
6.10 Shutting down the robot 42

1. Version history
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1. Version history
This table shows current and previous versions of this document.
Revision Release date
3.1 Date: 2023-04-14
RobotHW: 7.0
lAdded information that a cable charger is no longer included with the
purchase of a MiR100.
Affects sections:In the box.
lAdded more information about storage of robots and batteries.
New section: Storage.
lGeneral improvements throughout the manual.
3.0 Date: 2022-05-05
RobotHW: 7.0
lUpdated for HW version 7.0 where the router has been replaced with
an Ethernet switch.
lThe robot is now available in two versions: with a 24V Standard battery
or with a 24V Extended Capacity battery.
lUpdated manual to ensure compliance with radio equipment
directives.
Affects sections:Safety, Connecting to the robot interface, and
Connecting the robot to a Wi-Fi network
2.3 Date: 2022-02-14
RobotHW: 6.0
lGeneral improvements throughout the manual.

1. Version history
MiR100 Quick start (en) 04/2023 - v.3.1 ©Copyright 2023: Mobile Industrial Robots A/S. 6
Revision Release date
2.2 Date: 2021-08-27
RobotHW: 6.0
lUpdated for HW version 6.0 with new battery.
2.1 Date: 2020-10-30
RobotHW: 5.0
lUpdates and improvements throughout the manual.
2.0 Date: 2020-10-01
RobotHW: 5.0
lMajor update and new structure with new chapters: Warning label, IT
security, Mounting the nameplate.

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

2. Safety
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2.2 General safety precautions
This section contains general safety precautions.
CAUTION
Harmful electromagnetic interference might be the result of having two radio
modules transmitting at the same time. The robot is certified to have only one radio
module active at any given time.
lDo not attach an access point or additional radio modules to the robot while it is
connected to a wireless network.
CAUTION
If the robot starts up unexpectedly, there is a risk of injury to nearby personnel or
damage to equipment.
lInform personnel that robots may start driving without any warning.
lDesign missions so the robot indicates to personnel that it will begin an action that
makes it move. You can, for example, use a Play sound or Show light action to
warn nearby personnel.
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.
lEnsure that the robot is always running the correct software.
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.
lDo not 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.
lMark all descending staircases and holes as Forbidden zones on maps.
lInstall physical barriers around descending staircases and holes that are in the
robot's operating area. If the hazard is not close to the robot's operating area, it
may be sufficient to use a Forbidden zone on its own.
lKeep the maps up to date.
lInform 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.
lDo 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.
lOnly use an original MiR charger.

2. Safety
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WARNING
Lithium-ion 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:
lDo not short-circuit, recharge, or connect with false polarity.
lDo not connect or charge a potentially defective or damaged battery.
lDo not expose to temperatures beyond the specified temperature range or
incinerate the battery.
lDo 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.
lDo not allow the battery to get wet.
lIn 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.
lIn case of fire, use water to put out the fire. There is no need for special
extinguishing media. An ambient fire can be fought with class D extinguishing
media.
lDo not touch damaged batteries with bare hands. Only personnel using suitable
Personal Protection Equipment (PPE) and tools should handle damaged batteries.
lIsolate the battery and keep clear if the following conditions are observed:
lThe battery exhibits abnormally high temperatures.
lThe battery emits abnormal odors.
lThe battery changes color.
lThe battery case is deformed or otherwise differs from the normal electrical or
mechanical condition.
lDo not modify or manipulate of the battery. This may lead to considerable safety
risks and is therefore prohibited.
lNever smoke or allow an open spark or flame in the vicinity of the robot's battery.
lDo not use the battery for anything other than MiR100.

2. Safety
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WARNING
Load falling or 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.
lEnsure that the load is positioned according to the specifications and is fastened
correctly—see the user guide of your robot for safe payload distribution.
NOTICE
Load placed directly on top of the robot cover may cause damage to the cover of the
robot.
lEnsure that the load is not placed directly on top of the robot cover.
CAUTION
This equipment is not intended for use in residential environments and may not
provide adequate protection to radio reception in such environments.
lDo not use the robot in residential environments.
CAUTION
Robot malfunctions can cause an electrical fire, causing damage and injury to
equipment and personnel.
lPersonnel 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.
lPersonnel operating near the robot must be informed on how to engage the
robot's Emergency stop function in emergency situations.
lEnsure that all personnel are instructed to stay clear of operating hazard zones
when the robot is in the zone.

2. Safety
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NOTICE
Moving the robot by hand forcefully may cause damage to the top cover.
lIf the robot is stuck, push or pull gently on the top cover corners to move the
robot.
2.3 Intended use
MiR100 is intended to be commissioned and used in indoor industrial environments where
access for the public is restricted. For details about the environmental conditions in which MiR100
should operate, see specifications for MiR100 on MiR Support Portal.
MiR100 is intended to be commissioned according to the guidelines in MiRCommissioning Guide.
You can find this guide on MiR Support Portal. This is a prerequisite for safe usage of MiR100.
MiR100 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.
MiR100 is intended to be used with top modules supported by Mobile Industrial Robots or
custom modules that:
lDo not have any moving parts.
lDo not extend the physical dimensions of the robot.
lOperate within the environmental conditions required for MiR100.
lAre within the weight distribution requirements—see your robot's user guide.
If used with custom modules, all obligations of a manufacturer apply to the individual who
performs the modifications. All modifications must be in accordance with the machinery directive.
MiR100 is designed for and all risks are considered when used with one of the following types of
top modules:
lMiRHook100 to tow carts
MiR100 can be used as partly completed machinery as defined in the EU machinery directive with
top modules that do not meet the above limitations. Those who design, manufacture, or
commission a system that does not meet the limitations of use of MiR100 carry the obligations of
a manufacturer and shall ensure a safe design according to EN ISO 12100. Guidelines outlined in
this manual are not sufficient.

2. Safety
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NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in MiRCommissioning Guide to ensure a safe system.
2.4 Users
MiR100 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: commissioners, operators, and direct users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR100 and have the following main tasks:
lCommissioning of the product. This includes creating maps and restricting the user interface
for other users and making brake tests with a full payload.
lConducting the risk assessment.
lDetermining the payload limit, weight distribution, safe fastening methods, safe loading and
unloading of loads on MiR100, and ergonomic loading and unloading methods if relevant.
lEnsuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
lMarking operating hazard zones.
Operators
Operators have thorough knowledge of MiR100 and of the safety precautions presented in this
user guide. Operators have the following main tasks:
lServicing and maintaining MiR100.
lCreating and changing missions and map features in the robot interface.
Direct users
Direct users are familiar with the safety precautions in this document and have the following
main tasks:

2. Safety
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lAssigning missions to MiR100.
lFastening loads to MiR100 securely.
lLoading and unloading from a paused robot.
All other persons in the vicinity of MiR100 are considered indirect users and must know how to
act when they are close to the robot. For example, they must be aware that visibly marked
operating hazard zones must be respected.
2.5 Foreseeable misuse
Any use of MiR100 deviating from the intended use is deemed as misuse. This includes, but is not
limited to:
lUsing the robot to transport people
lUsing the robot on inclines outside the robot's specifications
lMaking changes to the SICK configuration
lDriving the robot on cross slopes
lExceeding the maximum payload
lPositioning or fastening loads incorrectly according to the specifications
lUsing Emergency stop buttons for anything other than emergency stops
lUsing the robot in medical and life critical applications
lOperating the robot outside the permissible operating parameters and environmental
specifications
lUsing the robot in potentially explosive ATEX environments
lUsing the robot outdoors
lUsing the robot in hygiene zones
lUsing the robot together with an external radio module that in any way results in
simultaneously active radio transmitters
The following list gives examples of custom modules that are foreseeable misuse of MiR100:
lTop modules (including the payload) that increase the physical dimensions of MiR100
lConveyors (powered and non-powered)
lIndustrial robot arms

2. Safety
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lDevices that tow carts
lCustomized load transfer stations
lTop modules or modifications that use additional antennas or result in transmitting radio
signals simultaneously with the existing radio module
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:
lYou 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.
lYou 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. The robot only drives in reverse when undocking
from a marker, such as a charging station or load transfer station.
lYou risk being crushed or trapped if you touch the robot while it is in motion.
lYou risk being crushed or trapped if the robot places a load outside a designated drop-off area
due to faulty localization.
lYou risk losing control of the robot if it is accessed by unauthorized users. Consider increasing
the IT security of your product.
WARNING
Other significant hazards may be present in a specific robot installation. Failure to
identify hazards may result in injury to personnel or damage to equipment.
lIdentify all hazards specific to your robot installation during commissioning.
2.7 Warning label
MiR100 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.

2. Safety
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Figure 2.1 The warning label must be placed on the robot or top module

3. Storage
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3. Storage
The main component that can be affected by storage is the robot's battery. It is important to keep
track of the battery percentage both before and while the robot or battery is in storage to ensure
the battery is not damaged by being undercharged.
3.1 Preparing the robot for storage
If you are taking the robot out of operation for any duration, we recommend the following:
lCharge the robot's battery before storage.
lStore the robot in an area at room temperature with a non-condensing relative air humidity—
see specifications on MiR Support Portal. Temperatures and humidity below or above the
specifications will shorten the service life of the battery.
lProtect the battery immediately after disconnecting it from the battery charger or robot. Never
allow any moisture or foreign particles to get into the battery. If you store the battery outside
the robot, you can protect the battery by storing it in a clean and airtight container or plastic
wrap.
lDisconnect the battery from the robot before storing the robot. You can store the battery
inside the robot, but keeping the battery connected to the robot greatly reduces the storage
time. Make sure to disconnect the battery completely.
lCheck the state of charge of the battery regularly, and make sure to recharge the battery if the
state of charge is low. Always disconnect the battery after checking or charging it.
3.2 Storage time
The storage time of the robot and battery depends on the battery's state of charge, the storage
conditions, and the battery version. For more information about storage time, see MiR 24V Battery
Technical Guide. You can find this guide on MiR Support Portal.
Keep in mind that the storage times in this guide apply for new batteries. Over time, the storage
time will shorten.

3. Storage
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CAUTION
If the battery is stored incorrectly or stored for too long, it will reach an
undercharged state where the battery cells may be damaged or the battery shuts
down permanently.
lAlways check that the battery is disconnected before storing the robot. If the
battery is connected to the robot, the storage time is reduced significantly.
lCheck the battery percentage and charge the battery regularly to ensure it is not
undercharged.
3.3 Inactive battery modes
The battery can enter Deep sleep mode where it tries to preserve its state of charge and cannot
power the robot. This happens if the battery is disconnected from the robot or the battery
percentage is low enough to soon damage the battery cells. To bring the battery correctly out of
Deep sleep, see the guide MiR 24V Battery Technical Guide. You can find this guide on MiR Support
Portal.
To properly troubleshoot any battery issues and for information about the exact time
periods and battery voltages that trigger the transitions between states, see MiR 24V
Battery Technical Guide. This guide provides more detailed information about
determining exactly which state the battery is in and how to safely and securely
restore the battery without damaging the robot or battery. You can find this guide on
MiR Support Portal.

4. Light indicators and speaker
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4. Light indicators and speaker
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.
4.1 Status lights
The LED light bands running all the way around the robot indicate the robot’s current operational
state. Colors may also be used as part of missions, but as standard, status lights indicate the
statuses described below.
Red
Emergency stop
Green
Ready for job
Cyan
Drives to
destination
Purple
Goal/Path blocked
Wavering white
Planning path
Orange
Mission paused
Wavering orange
Startup signal
before PCis active
Fading orange
Shutting down
robot
Blinking orange
Relative move,
ignoring obstacles
Wavering purple
and orange
General error
Blue
Manual drive
Wavering blue
Mapping
State of charge
Chargingat
charging station
Wavering cyan
Waiting for
MiRFleet resource
or for another MiR
robot to move
When the robot's battery reaches a critically low level of power (0-1%), the ends of the status
lights flash red.

4. Light indicators and speaker
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4.2 Speaker
In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of the
default sounds.
Sounds can be used in missions and zones to alert or to attract people's attention.
For more information about how to set up sounds, see MiRCommissioning Guide.
CAUTION
Unaware personnel may not see the robot in certain situations and risk colliding with
the robot. This may result in injury to personnel or damage to equipment.
lMake sure to adjust the volume of the robot's warning sounds so they are audible
in the robot's work environment.
lImplement warning sounds from the robot in missions and areas where it can
reduce the risk of hazardous situations.