MIR MiR1000 User manual

User guide (en)
Date: 09/2019
Revision: v.1.2

MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 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 © 20162019 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 5
1.1. Where to find more information 5
1.2. Document history 6
2. Safety 8
2.1. Safety message types 8
2.2. General safety precautions 9
2.3. Intended use 10
2.4. Foreseeable misuse 11
2.5. Risk assessment 12
2.6. Residual risks 13
2.7. Safety-related functions and interfaces 13
2.8. Limiting safety-related functions 13
2.9. Safety-related electrical interfaces 15
2.10. Lithium battery 17
3. Getting started 18
3.1. In the box 18
3.2. Unpacking MiR1000 19
4. Commissioning 23
4.1. Powering up 23
4.2. Connecting to the robot interface 25
4.3. Driving the robot in manual mode 26
4.4. Checking the hardware status 29
4.5. Charging the robot 29
4.6. Shutting down the robot 31
4.7. Creating and configuring a map 31
5. Planning 32
5.1. Analysis of the work environment 32
5.2. MiR1000 user roles 34

5.3. Creating an efficient map 37
5.4. Creating efficient missions 42
5.5. Create mission 43
5.6. Mission editor 46
5.7. Error handling 48
5.8. Handover testing 49
6. Product presentation 52
6.1. Main features of MiR1000 52
6.2. Identification label 54
6.3. MiR1000 control panel 54
6.4. MiR1000 operating modes 56
6.5. MiR1000 external parts 58
6.6. MiR1000 internal parts 61
6.7. Sensor system 67
6.8. Light indicators 74
7. Applications 76
7.1. Mounting a top module 76
7.2. Lift modifications 79
8. Maintenance 82
8.1. Regular weekly checks and maintenance tasks 82
8.2. Regular checks and replacements 83
8.3. Packing for transportation 86
9. Payload specifications 89
10. Interface specifications 95
10.1. General purpose interfaces 95
10.2. Safety interfaces 100
10.3. Connector list 103
11. Updating MiR1000 software 104

1. About this document
MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 5
1. About this document
This document contains the following information:
•How to start up and operate MiR1000
•Product presentation
•Typical applications
•Guidelines for proper maintenance of the robot
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 Lift Operating guide
The operating guide that describes how to set up and use MiR1000 with MiR1000 Lift.
-MiR1000 EU Pallet Lift Operating guide
The operating guide that describes how to set up and use MiR1000 with MiR1000 EU
Pallet Lift.
-MiRCharge48V Operating guide
The operating guide that describes how to set up MiRCharge 24V and configure for
automatic battery charging at the charging station.
-MiR Robot 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 MiR100/MiR200the robot.

1. About this document
MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 6
•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.
•Distributor site > Troubleshooting
This page contains troubleshooting guides to solve common issues with MiR products.
•MiR1000 product page
http://www.mobile-industrial-robots.com/en/products/mir1000/
This page contains specifications, pictures, and brochures for MiR1000.
•Universal Robots:
http://www.universal-robots.com/support
1.2. Document history
This table shows latest and previous versions of this document and their interrelations with
product software releases.
Revision Release date Description SW HW
1.0 2019-05-31 First edition. 2.7.X 1.0

1. About this document
MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 7
Revision Release date Description SW HW
1.1 2019-07-11 New sections:
Create mission,
Mission editor, Lift
modifications
Updated status
lights
Added notice
regarding using
smart phones in
flight mode for
manual driving
2.7.0 1.0
1.2 2019-10-08 New section:
Updating MiR500
software
2.7.X 1.0

2. Safety
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2. Safety
Read the information in this section before powering up and operating MiR1000.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR1000 or its
accessories are damaged, changed or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR1000,
accessories or any other equipment due to programming errors or
malfunctioning of MiR1000.
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
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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 Payload specifications on page89
WARNING
Using a charger different from the one supplied by the manufacturer can
cause a fire.
•Use only the original charger.
WARNING
Make sure the UR Robot Arm is properly and securely bolted in place.
Unstable mounting can lead to accidents.
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.

2. Safety
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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.
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 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
the robot should operate, see Technical specifications on our website.
MiR1000 is intended to be commissioned according to Commissioning on page23 and
prepared to the environment according to the guidelines. This is a prerequisite for safe
usage of MiR1000.

2. Safety
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MiR1000 is designed and all risks are considered when used with one of the following types
of top applications:
•MiR1000 Lift used with MiR Lift Pallet Rack.
•MiR1000 EU Pallet Lift used with MiR EU Pallet Rack.
•A custom designed top application (including payload) designed to fulfill the following
requirements:
-Must not increase the footprint of MiR1000 and be within the requirements in Payload
specifications on page89
-Must not have any moving parts
MiR1000 can be used as a partly complete machine as defined in the EU machinery
directive, with top applications that do not meet above limitations. Those who design,
manufacture or commission a system that does not meet the limitations of use of MiR1000,
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. Examples of top applications,
which are not intended use of MiR1000, but not limited to, are:
•Shelf on supporting legs (with or without wheels)
•Top applications (including payload) which increase the footprint of MiR1000
•Conveyers (power and non-powered)
•Industrial robot arm
•Towing of trailers
•Customized load transfer station
2.4. Foreseeable misuse
Any use or application deviating from the intended use is deemed to be misuse. This
includes, but is not limited to:
•Use of the robot to transport people.
Risk of injury.
•Steep ramps on the route.
Risk of injury. Steep surface grades (ramps etc.) may cause the robot to skid. See Tech-
nical specifications on the website.
•Use outdoor.
Risk of injury. MiR1000 is designed and intended for indoor use only.
•Overloading of the robot.
Risk of injury. If the maximum payload on top of the robot is exceeded, it may cause over-
turning, falling load. See Technical specifications on the website.

2. Safety
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•Failure to follow the guidelines for commissioning
See Commissioning on page23.
•Failure to make a risk assessment of the full installation
See Risk assessment below. This applies to the robot with any extra modules installed.
•Operation outside the permissible operating rating parameters and environmental
specifications
Risk of instability, impact or tipping over.
•Transportation of liquids or food
Risk of instability.
•Use in potentially explosive environments
•Use in medical and life critical applications
2.5. Risk assessment
One of the most important steps in achieving a safe installation is to make a risk assessment.
The risk assessment is the responsibility of the individuals who are commissioning MiR1000
in the environment it will be used in. Most often it will be an integrator who also designs
and/or builds work cells or other required infrastructure related to MiR1000.
The risk assessment must cover not only MiR1000 itself, but also take into account potential
potential load transfer stations, work cells and the environment it will be used in. See
MiR100 and MiR200 Risk Analysis on the distributor page.
It is recommended that the integrator uses guidelines in ISO 12100, EN 1525, ANSI B56.5 or
other relevant standards to conduct the risk assessment.
The risk assessment shall at least consider the following scenarios:
•Detailed description of the robot installation.
•Normal operation of the robot installation.
In EN 1525, clause 4 there is a list of significant hazards, hazardous situations and events
which can be used for inspiration.
The risk assessment shall be written and saved as part of the technical file.

2. Safety
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2.6. Residual risks
Mobile Industrial Robots has identified the potential significant hazards listed below as
hazards that must be considered by the integrator.
•Being run over, drawing-in, trapping or impact if a person steps into the route or walks
towards MiR1000 while in motion.
•Crushing or trapping if user touches MiR1000. Please notice the warnings on MiR1000.
•Crushing, drawing-in or trapping at load transfer stations, work cells or charging stations.
NOTICE
Other significant hazards will be present in a specific robot installation and
shall be identified during Commissioning.
2.7. Safety-related functions and interfaces
MiR1000 is equipped with a range of built-in safety-related functions as well as safety-
related electrical interfaces designed for integration with a top module and/or top
manipulator. Each safety function and interface is designed according to the standard ISO
13849-1.
The safety-related functions and interfaces are selected to support compliance with EN
1525.
2.8. Limiting safety-related functions
MiR1000 has several built-in safety-related functions that are used to ensure safe operation
in the environment it is designed to be used in.
Advanced control software ensures that locomotion and the drive pattern are within safety
related limits and thereby avoid triggering a safety function. Violations of limits will hence
only occur in exceptional cases. Nevertheless, if a limit is violated, the safety system issues a
category 0 stop (stopping by “immediate removal of power to the machine actuators
according to IEC 60204-1”) followed by a controlled brake which brings MiR1000 to a stop.
See Technical specifications on our website for more details.
Collision avoidance
The collision avoidance safety function ensures that the robot will come to a stop before it
collides with a human or object.

2. Safety
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The function measures the speed on the two driving wheels and switches between the
predefined protective fields accordingly. The faster the speed, the larger the protective
fields will be.
This ensures that the robot will be brought to a stop in case a human or object is detected
within the active protective field.
Collision avoidance is automatically deactivated two seconds after the protective field is
free.
Safe load position
The safe load position safety function ensures that the robot will not drive, while MiR1000
Lift or MiR1000 EU Pallet Lift is not in the lowest position and hence there is a risk of
compromising stability.
The safe load position safety system consists of interlock switches that detect if the lift
modules are in the lowest position or not.
The input can be used for a customized top module/manipulator when a MiR1000 Lift or
MiR1000 EU Pallet Lift is not installed.
The safe load position safety function must be manually deactivated by activation of the
restart button.
Overspeed avoidance
The safety system monitors if the speed of each motor is above limits for maximum rated
speed and hence an indication of speed control is lost for any reason.
The overspeed avoidance safety function must be manually deactivated by activation of the
restart button.
Stability
The safety system monitors if the speed difference between the two motors are above
predefined limits and hence an indication of speed control is lost for any reason.
The stability safety function must be manually deactivated by activation of the restart
button.
Emergency stop
MiR1000 has four emergency stop buttons and an option to connect additional emergency
stop buttons through the electrical interface.

2. Safety
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The emergency stop is only intended to be used in case of an emergency and shall not be
used for operational stop.
Emergency stop must be manually deactivated by activation of the restart button.
2.9. Safety-related electrical interfaces
The robot is equipped with several safety-related electrical inputs and outputs. All safety-
related electrical inputs and outputs are dual channel. They are safe when low, e.g. the
emergency stop is not active when the signal is high (+24V).
Safety-related electrical inputs
This section contains the safety-related electrical inputs of the robot.
External emergency stop button input
This input is for connection of an optional emergency stop button. If activated, the safety
system issues a category 0 stop followed by a controlled brake which brings MiR1000 to a
stop.
Must be manually deactivated by activation of the restart button.
System emergency stop input
This input should be used in case a top manipulator has its own emergency stop circuit. The
input must be used in combination with a system emergency stop output. With this, it is
possible to ensure that activation of any emergency stop button will cause an emergency
stop of both MiR1000 and top manipulator. If activated, the safety system issues a category
0 stop followed by a controlled brake which brings the robot to a stop.
Must be manually deactivated by activation of the restart button.
Safeguard stop input
This input can be used to issue a category 0 stop followed by a controlled brake which brings
MiR1000 to a stop.
Will be automatically deactivated when signal is driven high again.
Load handling position (position control of load)
This input can be used to apply the safe load position (position control of load) safety
function on a system with customized top modules or manipulators. A variety of sensors or

2. Safety
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interlock switches that detect load handling position or position of load can be connected
and thereby enable the safe load position safety function.
Safety-related electrical outputs
This section contains the safety-related electrical outputs of the robot.
Locomotion
This safety related output is activated if the robot is in locomotion or intend to locomote
within two seconds.
The safety function is limited if locomotion is detected while the output is deac-
tivated.
Shared emergency stop output
This output should be used in case a top manipulator has its own emergency stop circuit. The
output should be used in combination with a system emergency stop input. With this, it is
possible to ensure that activation of any emergency stop button will cause an emergency
stop of both the robot and top manipulator.
Activated by an emergency stop button or emergency stop input.

2. Safety
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2.10. Lithium battery
This section contains safety precautions related to lithium batteries in MiR robots.
NOTICE
MiR does not support any additional batteries applied to the MiR1000 by the
customer.
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.

3. Getting started
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3. Getting started
This section describes how to get started with MiR1000.
3.1. In the box
This section describes the content of the MiR1000 box.
The box contains:
1. The MiR1000 robot
2. MiR1000 document folder containing the printed documents and the USB flash drive.
3. Printed documents:
•MiR1000 Quick Start
•MiR username and passwords
•CE declaration of conformity
•High visibility stickers.
4. USB flash drive with the following content:
•MiR1000 User Guide
•MiR Robot Interface 2.0 Reference guide
•MiR robot REST API reference
•MiRCharge48V Operating Guide
•MiR1000 Lift Operating Guide
•MiR1000 EU Pallet Lift Operating Guide
•MiR username and passwords
•CE declaration of conformity

3. Getting started
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3.2. Unpacking MiR1000
This section describes how to unpack MiR1000.
Keep the original packaging for the future transportation of the robot.
The robot is shown with a EU pallet lift.
1. Place the box with the robot so that there is 3m of free space at the front or the back of
the box. This is necessary since the robot drives out of the box on the ramp.
2. Remove the screws that attach the walls of the box to the box lid and the base of the box.
3. Remove the lid from the box.

3. Getting started
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4. Take the folder with the printed documents and the USB drive out of the box.
5. Remove the walls of the box and the protective foam blocks.