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
MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 8
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
MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 9
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
MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 10
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.