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
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 4
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
MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S. 5
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.