MIR MiR1000 User manual

Operating guide (en)
Date: 2019/09
Revision: v.1.0

MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 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 © 2019 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

Table of contents
1. About this document 4
1.1. Where to find more information 4
1.2. Document history 5
2. Safety 6
2.1. Safety message types 6
2.2. General safety precautions 7
2.3. Intended use 8
3. Getting started 10
3.1. In the box 10
3.2. Mounting MiR1000 EU Pallet Lift 10
3.3. Testing MiR1000 EU Pallet Lift 17
4. Product presentation 19
4.1. How the lift works 19
4.2. MiREUPallet Rack 20
4.3. Mark potentially hazardous floor area 21
5. Usage 23
5.1. Enable MiR1000 EU Pallet Lift feature 23
5.2. Set entry and pallet rack positions 24
5.3. Lower lift mission 25
5.4. Raise lift mission 27
5.5. Pick up pallet mission 30
5.6. Test the mission 32
5.7. Put down pallet mission 32
5.8. Test the mission 34

1. About this document
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 4
1. About this document
This document contains the following information:
•How to install MiR1000 EU Pallet Lift and take precautions for safe use.
•How to create mission with MiR1000 EU Pallet Lift.
•Product presentation.
1.1. Where to find more information
At www.mir-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 relevant resources are
available:
•Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
This page contains the following resources:
-MiR1000 Quick Start
The short guide that lets you start operating the robot quickly. This document is in the
box with the robot in the printed format. Available in multiple languages.
-MiR1000 User Guide
The user guide of the robot. Available in multiple languages.
-MiR Robot Interface 2.0 Reference Guide
The reference that describes the elements of the robot interface. Available in multiple
languages.
-MiR1000 REST API reference.
The REST API reference for the robot.
•Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
This page contains the following resources:
-CAD drawings.
Select Show CAD-files to see the list of available CAD drawings.
-Certificates.
Select Show Certificates to see the list of certificates for the robot.
•Distributor site > How to
http://www.mobile-industrial-robots.com/en/account/how-to/
This page contains how-to articles that describe how to perform specific tasks with MiR
products.

1. About this document
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 5
•Distributor site > Troubleshooting
This page contains troubleshooting guides to solve common issues with MiR products.
•MiR1000 EU Pallet Lift product page
https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir1000-eu-pallet-
lift/
This page contains specifications, pictures, and brochures for MiR1000 EU Pallet Lift.
1.2. Document history
This table shows the latest and previous versions of this document and their interrelations
with product software releases.
Revision Release date Description SW HW
1.0 2019-09-04 First edition. 2.5.0 1.0

2. Safety
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 6
2. Safety
Read the information in this section before powering up and operating MiR1000 EU Pallet
Lift.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR1000 EU Pallet
Lift or its accessories are damaged, changed or modified in any way. Mobile
Industrial Robots cannot be held responsible for any damages caused to
MiR1000 EU Pallet Lift, accessories or any other equipment due to
programming errors or malfunctioning of MiR1000 EU Pallet Lift.
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.
•Take proper precautions to avoid damage or injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or mod-
erate injury. Alerts against unsafe practices.
•Take proper precautions to avoid damage or injury.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.

2. Safety
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 7
2.2. General safety precautions
This section contains general safety precautions.
WARNING
If the load on the robot is not positioned or fastened correctly, the load may
fall or the robot may overturn.
•Ensure that the load is positioned according to the specifications and
fastened correctly. Refer to the User guide of your robot for payload spe-
cifications.
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
CAUTION
The robot can not see staircases going downwards and holes in the floor.
•Mark staircases or holes on maps with Forbidden zones.
•Keep the maps up to date.
CAUTION
Use Flight Mode with smartphone control of the robot. Risk of personal injury
and/or damage to the robot.
•If you use Manual control with a smartphone to drive the robot, make sure
that the phone is set to Flight Mode. An incoming call on the smartphone
will interrupt control of the robot.

2. Safety
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 8
WARNING
Lithium battery packs may get hot, explode or ignite and cause serious injury if
they are abused electrically or mechanically.
Observe the following precautions when handling and using lithium batteries:
•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 (cable charger or charging station) and
always follow the instructions from the battery manufacturer.
2.3. Intended use
MiR1000 EU Pallet Lift is a partly completed machine as defined in the EU machinery
directive and does not have a CE mark. A correctly installed MiR1000 EU Pallet Lift is
covered by the CE mark of MiR1000. However, a CE marked product does not guarantee a
CE marked setup. It is the responsibility of the integrator to safely commission MiR1000 EU
Pallet Lift.
MiR1000 EU Pallet Lift is designed for MiR1000. MiR1000 EU Pallet Lift is only intended to
transport pallets that do not extend the footprint of MiR1000 and loaded according to the
Payload Specifications defined in the MiR1000 Userguide.
NOTICE
A safe machine does not guarantee a safe system. Follow the Commissioning
guide to ensure safe commissioning.

2. Safety
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 9
MiR1000 EU Pallet Lift is intended to be commissioned indoor in a light industrial
environment where public access is restricted. For detailed description of the environment in
which the robot should operate, see technical specifications on our website.
NOTICE
Before commissioning MiR1000 EU Pallet Lift, it is important to make a risk
assessment. All risks and foreseeable misuses relevant to MiR1000 also apply
to MiR1000 EU Pallet Lift. Refer to the MiR1000 User guide for more inform-
ation.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 10
3. Getting started
This section describes how to get started with MiR1000 EU Pallet Lift.
3.1. In the box
This section describes the content of the MiR1000 EU Pallet Lift box.
The box contains:
1. MiR1000 EU Pallet Lift
2. A MiR1000 EU Pallet Lift document folder containing the following printed documents:
•MiR1000 EU Pallet Lift
•CE declaration of conformity
3.2. Mounting MiR1000 EU Pallet Lift
This section describes how to mount MiR1000 EU Pallet Lift to MiR1000. Before mounting,
turn off the robot and read section Safety on page6.
The images in this guide feature MiR500, but the procedure is the same for MiR1000.
For another description of mounting the MiR1000 EU Pallet Lift, see the How
to guide on the Distributor site titled How to Mount the EU Pallet Lift on
MiR500.
CAUTION
Before mounting MiR1000 EU Pallet Lift to MiR1000 read Safety on page6.
Connecting the cables
When mounting MiR1000 EU Pallet Lift, it is important to place each lifting device on the
correct side of MiR1000. The lifting device with the green board must be mounted on the
left side of the robot.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 11
3.1. Top view of MiR1000 EU Pallet Lift with MiR1000 EU Pallet Lift
Number Description Number Description
1 Left-side lifting device 3 Right-side lifting
device
2 Left-side middle com-
partment plate
4 Right-side middle com-
partment plate
1. Remove the two middle compartment plates on the top cover of MiR1000.
2. Place the right-side lifting device on top of the right side of the robot, and vice versa with
the left-side lifting device.
3. Pull the cables through the hole in the right-side lifting device. Do this for the left-side
device also.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 12
4. Connect the two plugs from the right-side device for power (2) and GPIO(1)
When connecting the plugs, make sure to turn the plug to the left to open
the plug and to the right to close it once connected to its socket. The plugs
only fit with one socket each, so it is not possible to connect them incor-
rectly.
5. Pull the cables with the white connectors from the left-side lifting device through the left
compartment over to the right.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 13
6. Connect the white connectors from the right and left lifting devices. The connector with
two legs and the connector with three legs connect with each other.
Each pair of connectors are color and number coded. Cables with a match-
ing color and number tags should be connected.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 14
7. Connect the two pairs of connectors so the cables labeled 1are connected together and
the cables labeled 2are connected together.
NOTICE
While handling the cables, hold them in the areas indicated in the image
below. Handling the cables in any other areas may damage them. Be espe-
cially aware that twisting the union nut positioned before the allowed hand-
ling area will loosen the internal cable connections.
Once the two connectors are correctly aligned, lock the connection by twisting the union
nut until the connectors are tightly fastened together.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 15
8. Connect the final two plugs from the right lifting device to the matching sockets within
the right compartment.
When connecting the plugs, make sure to turn the plug to the left to open
the plug and to the right to close it once connected to its socket. The plugs
only fit with one socket each, so it is not possible to connect them incor-
rectly.
Fixing MiR1000 EU Pallet Lift to MiR1000
When fixing MiR1000 EU Pallet Lift to MiR1000, it is important to check that no cables are
pinched between the devices. To avoid this, use cable ties to keep the cables collected.
1. Place the lifting devices above the M10 mounting holes of MiR1000. An overview of the
mounting holes can be seen in the MiR1000 User guide.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 16
2. Screw in an M10 bolt in one end of the lifting device without tightening it completely.
3. Adjust the lifting device in the other end and screw in another bolt. Tighten both bolts
completely to ensure a secure mounting.
4. Repeat the previous steps with the other lifting device.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 17
5. Place the covers on the lifting devices. Adjust the covers and ensure that there are no
pinched cables. It is recommended to use suction cups when placing the covers onto the
devices.
6. Screw in all screws to fix the cover to the lifting devices.
If you are having difficulty screwing in the short screws, start by using a
long screw to make the others easier to screw in.Remember to replace
the long screw with a short one when you are finished.
3.3. Testing MiR1000 EU Pallet Lift
The following steps can be used to test that the lift is correctly mounted. Be sure to verify
that the lift performs as expected in each step.

3. Getting started
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 18
1. Turn on the robot.
2. Connect to the robot interface using a PC, tablet or phone.
3. Navigate to Setup >I/O modules in the interface.
4. Select MiR1000 internal IOs. The following is displayed:
5. Select 0under outputs and wait for clicking sounds.This is the initialization of the cal-
ibration process.
6. Select 3under outputs to raise the lift.
7. Select 2under outputs to lower the lift.

4. Product presentation
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 19
4. Product presentation
MiR1000 EU Pallet Lift is a top module that can be mounted on a MiR1000 robot and
autonomously pick up and drop off heavy loads of up to 1000 kg. The robot with a MiR1000
EU Pallet Lift works internally within production facilities, warehouses, and a host of other
industrial locations.
The user provides the destination of product delivery via a web-based user interface.
MiR1000 with a MiR1000 EU Pallet Lift can be set up to run a fixed route, be called on
demand or perform more complex operations (missions).
MiR1000 EU Pallet Lift can be activated in various missions, and ensures stable handling and
transport of pallets to and from a MiREUPallet Rack.
4.1. How the lift works
When MiR1000 with a MiR1000 EU Pallet Lift docks to a pallet rack, the lift can either be
elevated to pick up a pallet or lowered to place a pallet.
MiR1000 EU Pallet Lift uses I/O modules and includes four inputs and four outputs. The
tables below show the functionality of these. To use MiR1000 EU Pallet Lift correctly, these
internal I/O modules must be used.
To be able to use and see the menu options for the I/O modules and the pallet lift, they must
be enabled first. See Enable MiR1000 EU Pallet Lift feature on page23 for more
information.
Output Function
0 Initiates calibration process after five seconds on
1 Lift is moving
2 Lowers the lift
3 Raises the lift
Input Function
0 Unused
1 Lift is moving

4. Product presentation
MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots. 20
Input Function
2 Lift is either low or stopped, but not raised
3 Lift is raised
When the lift is raised, the robot can only drive with a maximum velocity of
0.3 m/s.
4.2. MiREUPallet Rack
MiR1000 with MiR1000 EU Pallet Lift mounted on top can be used together with one or
more MiREUPallet Racks
MiREUPallet Rack is the delivery station for your EUR-pallets. MiR1000 drives
autonomously into the MiREUPallet Rack and delivers or picks up pallets safely with a
payload of up to 1000 kg.
To see how to mount MiREUPallet Rack, see the mounting guide on our Dis-
tributor website at https://www.mobile-industrial-robot-
s.com/en/account/how-to/hardware/install-mir-pallet-rack-eulift/.