MIR MIR1350 User manual

MiR1350 User Guide
Date: 12/2023
Version: 2.0 (en)
Robot hardware version: 1.0

Copyright and disclaimer
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: 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 © 2021–2023 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
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 3
Table of contents
Copyright and disclaimer 2
Table of contents 3
1. About this document 6
1.1 Where to find more information 6
1.2 Version history 8
2. Product presentation 13
2.1 Intended use 13
2.2 Specifications 14
2.3 Required space 16
2.4 Compatible products 19
2.5 External parts 20
2.6 Internal parts 22
2.7 System overview 26
2.8 Warranty 27
3. Safety 29
3.1 Safety message types 29
3.2 General safety precautions 30
3.3 Warning label 32
3.4 Foreseeable misuse 33
3.5 Residual risks 34
4. Getting started 35
4.1 In the box 35
4.2 Unpacking MiR1350 36
5. Usage 41
5.1 Powering up the robot 41
5.2 Shutting down the robot 42
5.3 Connecting to the robot interface 44

Table of contents
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5.4 Connecting the robot to a Wi-Fi network 46
5.5 Control panel 49
5.6 Preventing unauthorized use 51
5.7 Operating the robot 52
5.8 Types of stop 56
5.9 Manual brake release switch 59
5.10 Light indicators and speaker 60
5.11 Error handling 65
6. Safety-related functions and interfaces 68
6.1 Safety functions overview 69
6.2 Safety configuration checksum 75
6.3 Safety-related functions 77
6.4 Safety-related interfaces for top modules 89
7. User training and responsibilities 96
7.1 User responsibilities 96
7.2 User training 97
8. Accessing the internal parts 105
8.1 Accessing the front compartment 105
8.2 Accessing the rear maintenance compartment 106
8.3 Accessing the side compartment 111
Removing the corner shield 112
8.4 Accessing the top compartments 113
9. Maintenance 114
9.1 Weekly cleaning tasks for all users 114
9.2 Maintenance tasks for operators 116
9.3 Mechanical brake function test 124
10. Storage 128
10.1 Preparing the robot for storage 128
10.2 Storage time 128
11. Battery and charging 130

Table of contents
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11.1 Connecting the battery 132
11.2 Disconnecting the battery 133
11.3 Swapping out the lithium-ion battery 134
12. Operating hazard zones 136
13. Commissioning overview 137
14. Brake test 139
14.1 Dependent factors 139
14.2 Brake test method 141
15. Mounting a top module 149
16. Electrical interfaces 151
16.1 Left compartment interfaces 151
16.2 Right compartment interfaces 162
16.3 Connector list 169
17. Transportation 171
17.1 Lifting MiR1350 171
17.2 Packing the robot for transportation 172
17.3 Transporting the battery 173
18. Disposal 175
19. Payload distribution and stability 176
19.1 Side view 177
19.2 Front view 178
20. Declaration of Conformity example 179
21. Glossary 180

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 6
1. About this document
This user guide explains how to set up and start operating your MiR1350 robot. This guide also
contains information regarding the external and internal components of MiR1350 along with
instructions for proper maintenance of the robot. You will also find information regarding safety
and specifications needed to commission a safe MiR1350 robot application.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
For the full documentation package and translations of manuals for MiR1350, go to: https://www.-
mobile-industrial-robots.com/product-documents/mir1350-hw-10-sw-3-v1/.
For online courses to strengthen your understanding of MiR products, go to MiRAcademy.
If you are looking for more documentation about all MiR products, go to MiRSupportPortal
where we have the following resources:
Documentation
lIntegrator Manuals provide all the information you need to operate and maintain MiR robots.
Integrator Manuals are available in multiple languages. These guides are intended for PCM
(partly completed machinery)robots.
lQuick starts describe how you start operating MiR robots quickly. It comes in print in the box
with the robots. Quick starts are available in multiple languages.
lUser guides provide all the information you need to operate and maintain MiR products and
how to set up and use top modules and accessories, such as charging stations, hooks, shelf
lifts, and pallet lifts. User guides are available in multiple languages.
lRisk assessment guide describes how to conduct a risk assessment and provides some risk
assessed use cases.
lCommissioning guide provides examples and guidelines to commission your robot
successfully.
lInterface guides contain descriptions of all the elements of the robot interface and MiRFleet
interface. Interface guides are available in multiple languages.

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 7
lBest practice guides provide helpful information you can use when commissioning or
operating your robot.
lREST API references for MiR robots, MiR Hooks, and MiRFleet. HTTP requests can be used to
control robots, hooks, and MiRFleet.
lMiR Network and Wi-Fi guide specifies the performance requirements of your network and
how you must configure it for MiR robots and MiRFleet to operate successfully.
lMigration guides describe how to upgrade your MiR system from one major software version
to the next.
lCybersecurity guide provides important information and instructions to increase the
cybersecurity of your MiR product.
lHow-to guides are short guides providing instruction for maintenance, replacement,
commissioning, and other tasks related to MiRproducts.
lTroubleshooting guides can help you determine the cause of an issue you are experiencing
with your MiR product and how to resolve it.
lRelease notes of new products and hardware updates that describe what has been changed
and why.
lService notes notify of issues identified in MiR products and changes that are applied.
lSpare parts and additional products list all spare parts and accessories you can order for
robots.
lWarranty describes the MiR standard warranty agreement.
lCertificates and declarations for MiR products that prove compliance with standards.
lTechnical guides provide in-depth information about how MiR products work.
Models and drawings
lWiring diagrams are graphic representations of how the components in MiR robots are wired.
lCAD files of the robots that are made to scale can be used to help determine the dimensions
of the robot or for illustrative purposes.

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 8
Resources
lMiRLogAnalytics and MiR Insights are tools you can use to analyze how well your robots or
fleet are performing. MiR Log Analytics is a free tool that lets you analyze recorded
performance from error logs, and MiR Insights requires a paid license, but runs continuously
alongside MiR Fleet to give real-time data on several metrics.
lAprilTag collection can be used instead of generating your own AprilTags.
lSpace calculator determines the approximate amount of space your MiR robot will need to
operate depending on the size of its footprint.
lCommunity is a forum of MiR users with a collection of questions, recommendations,
webinars and other community driven material.
lMarketing and brand portal is a collection of our graphical elements where you can
download color schemes, rendered images of the robots, and icons.
1.2 Version history
This table shows current and previous versions of this document.
Revision Description
2.0 Date: 2023-12-05
Robot HW: 1.0
lUpdated for software version 3.x with new user interface and new
features.
1.5 Date: 2023-09-21
Robot HW: 1.0
lUpdated checksum values for safety configuration file version 6.5.
Affects sections:Safety-related functions and interfaces.
lCorrected instructions for caster wheel maintenance.
Affects section:Maintenance and Brake test.

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 9
Revision Description
lAdded instructions to test the brakes and information about how the
brakes work.
Affects section:Maintenance and Brake test.
lAdded warning regarding clearing missions and re-added section Error
handling section.
Affects section:Error handling.
lAdded notice that the robot cannot detect forklift forks and empty
pallets reliably.
Affects section:General safety precautions.
1.4 Date: 2023-06-15
Robot HW: 1.0
lUpdated for TÜV approval. Includes new nameplates and instructions
for checking the checksum of the safety configuration.
Affects sections:Safety-related functions and interfaces.
lExpanded list of material you can find on MiR Support Portal and
added a link to a documentation package page.
Affects section:Where to find more information.
lAdded information about resetting the lift after Protective stops and
Emergency stops.
Affects section: How the top module works.
lAdded warning against using MiR top modules that are not made for
MiR1350.
Affects section: Foreseeable misuse and Intended use.
lAdded information that the lift must be reset after each time the lift
has been raised and lowered 50 times.
Affects section: How the top module works.
lAdded description of effects if maintenance is neglected.
Affects section:Maintenance.
lCorrect illustration of pins for the Power interface.
Affects section:Electrical interfaces.

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 10
Revision Description
lAdded sections:Specifications and Space requirements.
lChanged structure and order of content.
1.3 Date: 2023-01-31
Robot HW: 1.0
lUpdated copyright.
lUpdated style.
lUpdated references to MiR Robot Reference Guide to MiR Robot Interface
Guide.
lAdded references to videos showing how to access internal parts.
Affects section:Accessing the internal parts.
lRemoved section about adapter cable to connect a cable charger
directly to the battery.
Affects section: In the box.
lAdded more information about storage of robots and batteries.
New section: Storage.
lAdded information about laser scanner range.
Affects section:Obstacle detection.
lAdded information about camera vertical angle.
Affects section:Obstacle detection.
lHold to run description removed.
Affects section: Safety-related functions and interfaces.
lUpdated status light table.
Affects section:Light indicators and speakers.
lCorrected description of the robot's safety stop function.
Affects section:Safety stop.

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 11
Revision Description
lImproved commissioning sections, and added checklists to several
sections.
Affects sections:Creating user groups and users, Creating dashboards,
Updating the software, Creating missions, Positions,Markers, Creating
and configuring maps.
lAdded mounting hole information.
Affects section:Mounting a top module.
lAdded information about grease for drive wheels.
Affects section:Maintenance.
1.2 Date: 2022-05-31
Robot HW:1.0
lImproved description of Power save, Deep sleep, and storing the
battery.
Affects section: Battery storage.
lAdded that localization is disabled while brakes are released manually.
Affects section: Manual brake release.
lAdded lower boundary in camera FoV.
Affects section: Obstacle detection.
lAdded warning not to use two chargers to charge the robot
simultaneously.
Affects section:Charging the robot.
lCorrected payload specifications.
Affects sections:Product presentation and Shelf specifications.
lAdded notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.
1.1 Date: 2021-10-07
Robot HW:1.0

1. About this document
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 12
Revision Description
lApplied general corrections.
Affects sections:Payload distribution, Footprints, and Nameplate.
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.
1.0 Date: 2021-08-12
Robot HW:1.0
First edition.

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 13
2. Product presentation
MiR1350 is an autonomous mobile robot that can transport loads up to 1 350 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
MiR1350 is classified as a driverless industrial truck.
Users operate MiR1350 via a web-based user interface—see "Connecting to the robot interface"
on page44.
Program missions to send the robot to locations in its work areas. Missions can be initiated on
demand or scheduled to run autonomously using an externalsystem. The robot uses a map of its
work area to plan paths between positions. While operating, the robot automatically avoids
obstacles and personnel and replans its route if its chosen route is blocked.
For more information about how to set up the site, see MiR Commissioning Guide. You
can find this guide on MiR Support Portal.
2.1 Intended use
MiR1350 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
MiR1350 should operate, see "Specifications" on the next page.
MiR1350 is intended to be commissioned according to the guidelines in MiR Commissioning Guide.
This is a prerequisite for safe usage of MiR1350. You can find this guide on MiR Support Portal.
MiR1350 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—see
"Safety-related functions and interfaces" on page68.
MiR1350 is only intended to be used with top modules made for MiR1350.
MiR1350 is intended to be used with top modules supported by Mobile Industrial Robots or
custom modules that:

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 14
lDo not have any moving parts.
lDo not extend the physical dimensions of the robot.
lOperate within the environmental conditions required for MiR1350.
lAre within the weight distribution requirements—see "Payload distribution and stability" on
page176.
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.
MiR1350 is designed for and all risks are considered when used with one of the following types of
top modules:
lMiRPalletLift1350 used with MiRPalletRack
lMiREUPalletLift1350 used with MiREUPalletRack
lMiRShelfLift to transport MiR supported shelves
MiR1350 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 MiR1350 carry the obligations
of a manufacturer and must ensure a safe design according to EN ISO 12100. Guidelines outlined
in this manual are not sufficient.
NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in MiR Commissioning Guide to ensure a safe system. You can find this
guide on MiR Support Portal.
2.2 Specifications
For a complete list of all the robot specifications, see MiR Support Portal.
Robot specifications
Model MiR1350

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 15
Maximum speed 1.2m/s
IPrating IP52
Maximum payload 1350kg
Battery
Battery model MiR 48VBattery
Battery type Lithium-ion
Battery weight 14kg
Battery dimensions 495×210×75mm
Environment
Maximum incline/decline 1%
Maximum traversable gap 29mm
Maximum traversable step 10mm
Storage temperature (3 month
storage) -20–45°C
Operation temperature 5–40°C
Floor surface condition Clean and dry
Floor to wheel frictional coefficient 0.60–0.80 (recommended)

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 16
Material the robots cannot detect
reliably Transparent, translucent, glossy, reflective, and light emitting 1
Optimal light conditions Even and steady lighting (strong directional light can cause the
robot to detect non-existent obstacles)
Relative humidity (non-condensing) 20–95%
2.3 Required space
The required space dimensions for your robot are illustrated in the following images.
For more information about how you can use zones and modified settings to reduce
the space requirements, see MiR600 and MiR1350 Space Requirement Best Practices. If
you modify the footprint of the robot, you can use the Space calculator to determine
an estimate of how much space the robot needs. You can find the guide and
calculator on MiR Support Portal.
Figure 2.1 The required space when the robot drives straight
1We recommend either avoiding these materials, covering them with opaque and matte material the robot can detect, or
ensuring the robot does not operate in areas with these materials.

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 17
Figure 2.2 The required space when the robot takes a 90° turn
Figure 2.3 The required space when the robot drives through a doorway

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 18
Figure 2.4 The required space when two robots pass each other
Figure 2.5 The required space when the robot pivots

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 19
2.4 Compatible products
The following top modules are available for MiR1350:
lMiRShelfLift
A lift platform can be mounted on MiR1350 enabling it to automate the internal transport of
shelves that meet specifications outlines by MiR—see MiR1350 Shelf Lift User Guide for the shelf
requirements. You can find this guide on MiR Support Portal.
lMiRPalletLift1350
A lift platform can be mounted on MiR1350 enabling it to automate the internal transport of US
standard 40×48 pallets.
lMiREUPalletLift1350
A pallet lift for EU pallets can be mounted on MiR1350 enabling it to automate the internal
transport of EU pallets.
For more information about top modules from MiR, see MiR Accessories on
www.mobile-industrial-robots.com. For more information about top modules from
third parties, see MiRGo on www.mobile-industrial-robots.com.
The following accessories are available for MiR1350:
lMiRPalletRack
Use a MiRPalletRack with MiRPalletLift1350. The lift places and picks up US standard 40×48
in (1016×1219 mm) pallets from the rack autonomously.
lMiREUPalletRack
Use a MiREUPalletRack with MiREUPalletLift1350. The lift places and picks up EU pallets
from the rack autonomously.
lMiRFleet
MiRrobots can be operated individually or as a part of a fleet. MiRFleet is the compatible fleet
manager for MiR robots. MiRFleet offers centralized control of robots throughout all of your
facility. MiRFleet is available as an installation file you can install on a server of your choice or
as a computer server where MiRFleet comes pre-installed. See MiR Fleet Server Solution User
Guide and MiRFleet PCUser Guide for more information. You can find these guides on MiR
Support Portal.

2. Product presentation
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 20
lMiRCharge48V
MiRCharge48V enable MiR robots to recharge their batteries. Together with MiRFleet,
charging of robots can be fully automated, ensuring that robots never run out of power during
missions.
2.5 External parts
Figure 2.6 MiR1350 external parts
Pos. Description Pos. Description
1 Nameplate 2 Left top compartment—see
"Top compartments" on
page25
Table 2.1 Identification of the external parts in Figure 2.6