Mir Mir1350 User manual

Quick Start (en)

Date: 01/2023

Revision: v.1.4

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:

•The materials are used for internal informational purposes only.

•A MiR copyright notice appears on every copy of the material and any portion thereof.

•No materials or related graphics are modified or altered in any way. Any rights not expressly

granted herein are reserved by MiR.

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: +45 20 377 577

Email: [email protected]

CVR: 35251235

Table of contents

Table of contents 3

1. Version history 5

2. Safety 7

2.1 Safety message types 7

2.2 General safety precautions 8

2.3 Intended use 11

2.4 Users 12

2.5 Foreseeable misuse 14

2.6 Residual risks 15

2.7 Warning label 15

3. Storage 16

3.1 Preparing the robot for storage 16

3.2 Storage time 16

3.3 Inactive battery modes 17

4. Light indicators and speakers 18

4.1 Status lights 19

4.2 Signal lights 19

4.3 Speakers 20

5. Control panel 21

5.1 The control panel buttons 21

5.2 The Operating mode key 22

6. Accessing the internal parts 24

6.1 Accessing the front compartment 24

6.2 Accessing the rear maintenance compartment 25

6.3 Accessing the side compartment 29

Table of contents

6.4 Accessing the top compartments 30

7. Cybersecurity 32

8. Getting started 33

8.1 In the box 33

8.2 Unpacking MiR1350 34

8.3 Connecting the battery 38

8.4 Powering up the robot 39

8.5 Connecting to the robot interface 41

8.6 Connecting the robot to a WiFi network 43

8.7 Driving the robot in Manual mode 46

8.8 Checking the robot 49

8.9 Mounting the nameplate 51

8.10 Shutting down the robot 53

8.11 Charging the robot 54

1. Version history

This table shows current and previous versions of this document.

Revision Description

1.4 Date: 2023-01-31

Robot HW: 1.0

•Updated copyright.

•Updated reference to MiR Robot Reference Guide to MiR Robot Interface

Guide.

•Added more information about storage of robots and batteries.

New section: Storage.

•Updated status light table.

Affects section:Light indicators and speakers

•Added references to videos showing how to access internal parts.

Affects section:Accessing the internal parts.

•Removed adapter cable to connect a cable charger directly to the

battery.

Affects section: In the box

•Updated style.

1.3 Date: 2022-05-31

Robot HW:1.0

•Added notice that cable chargers only charge the robot's battery to

80–90%.

Affects section: Charging the robot.

•Added more information about storage of robots and batteries.

New section: Storage.

1. Version history

Revision Description

1.2 Date: 2021-10-07

Robot HW:1.0

•Updated manual to ensure compliance with radio equipment

directives.

Affects sections:Safety, Connecting to the robot interface, and

Connecting the robot to a WiFi network

1.1 Date: 2021-08-12

Robot HW:1.0

•General improvements throughout the manual.

1.0 Date: 2021-07-23

Robot HW:1.0

•First edition.

2. Safety

Read the information in this section before powering up and operating MiR1350.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR1350 or its accessories

are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be

held responsible for any damages caused to MiR1350, accessories, or any other

equipment due to programming errors or malfunctioning of MiR1350.

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. Carefully read the message that follows to prevent death or serious injury.

CAUTION

Indicates a potentially hazardous situation that could result in minor or moderate

injury. Alerts against unsafe practices. Carefully read the message that follows to

prevent minor or moderate injury.

NOTICE

Indicates important information, including situations that can result in damage to

equipment or property.

Tells you where you can find more information about the topic.

2. Safety

2.2 General safety precautions

This section contains general safety precautions.

CAUTION

Harmful electromagnetic interference might be the result of having two radio

modules transmitting at the same time. The robot is certified to have only one radio

module active at any given time.

•Do not attach an access point or additional radio modules to the robot while it is

connected to a wireless network.

WARNING

If the robot is not running the correct software and is therefore not functioning

properly, the robot may collide with personnel or equipment causing injury or

damage.

•Ensure that the robot is always running the correct software.

WARNING

When the robot is in an operating hazard zone, there is a risk of injury to any

personnel within the zone.

•Ensure that all personnel are instructed to stay clear of operating hazard zones

when the robot is in the zone.

WARNING

The robot may drive over the feet of personnel, causing injury.

•All personnel must be informed of the side Protective fields of the robot and be

instructed to wear safety shoes near an operating robot.

2. Safety

WARNING

The robot may drive into a ladder, scaffold, or similar equipment that has a person

standing on it. Personnel risk fall injuries, and equipment may be damaged.

•Don't place ladders, scaffolds, or similar equipment in the robot's work

environment.

WARNING

The robot may drive down staircases or holes in the floor and cause serious injury to

personnel and damage to the robot and to equipment.

•Mark all descending staircases and holes as Forbidden zones on maps.

•Install physical barriers around descending staircases and holes that are in the

robot's operating area. If the hazard is not close to the robot's operating area, it

may be sufficient to use a Forbidden zone on its own.

•Keep the maps up to date.

•Inform personnel that the robot cannot detect descending staircases and holes in

the floor in time to stop.

WARNING

Contact with live electrical parts can cause electric shock.

•Do not touch any internal components of the robot while it is powered.

WARNING

Using a charging device different from the one supplied by the manufacturer can

cause a fire and thereby burn injuries to nearby personnel and damage to the robot

and equipment.

•Only use an original MiR charger.

2. Safety

WARNING

Lithium battery packs may get hot, explode, or ignite and cause serious injury if they

are misused electrically or mechanically.

Observe the following precautions when handling and using lithium-ion batteries:

•Do not short-circuit, recharge, or connect with false polarity.

•Do not expose to temperatures 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.

•In case of fire, use water to put out the fire. There is no need for special

extinguishing media. An ambient fire can be fought with class D extinguishing

media.

•Do not touch damaged batteries with bare hands. Only personnel using suitable

Personal Protection Equipment (PPE) and tools should handle damaged batteries.

•Isolate the battery and keep clear if the following conditions are observed:

•The battery exhibits abnormally high temperatures.

•The battery emits abnormal odors.

•The battery changes color.

•The battery case is deformed or otherwise differs from the normal electrical or

mechanical condition.

•Do not modify or manipulate of the battery. This may lead to considerable safety

risks and is therefore prohibited.

•Never smoke or allow an open spark or flame in the vicinity of the robot's battery.

•Do not use the battery for anything other than MiR1350.

2. Safety

WARNING

Load falling or robot overturning if the load on the robot is not positioned or

fastened correctly can cause fall injuries to nearby personnel or damage to

equipment.

•Ensure that the load is positioned according to the specifications and is fastened

correctly—see the user guide of your robot for safe payload distribution.

CAUTION

Robot malfunctions can cause an electrical fire, causing damage and injury to

equipment and personnel.

•Personnel operating near the robot must be informed on how to use an ABC fire

extinguisher to put out an electrical fire should the robot malfunction and catch on

fire.

CAUTION

Risk of trapping or injury to personnel if robots malfunction or if personnel enter

operating hazard zones.

•Personnel operating near the robot must be informed on how to engage the

robot's Emergency stop function in emergency situations.

2.3 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 for MiR1350 on the MiR website.

MiR1350 is intended to be commissioned according to the guidelines in your robot's user guide.

This is a prerequisite for safe usage of MiR1350.

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.

MiR1350 is intended to be used with top modules supported by Mobile Industrial Robots or

custom modules that:

2. Safety

•Do not have any moving parts.

•Do not extend the physical dimensions of the robot.

•Operate within the environmental conditions required for MiR1350.

•Are within the weight distribution requirements—see your robot's user guide.

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:

•MiRPalletLift1350 used with MiRPalletRack

•MiREUPalletLift1350 used with MiREUPalletRack

•MiRShelfLift to transport MiR supported shelves

MiR1350 can be used as a partly complete machine 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 shall 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 your robot's user guide to ensure a safe system.

2.4 Users

MiR1350 is only intended to be used by personnel that have received training in their required

tasks.

There are three types of intended users for MiR1350: commissioners, operators, and direct users.

Commissioners

Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and

maintenance of MiR1350 and have the following main tasks:

2. Safety

•Commissioning of the product. This includes creating maps and restricting the user interface

for other users and making brake tests with a full payload.

•Conducting the risk assessment.

•Determining the payload limit, weight distribution, safe fastening methods, safe loading and

unloading of loads on MiR1350, and ergonomic loading and unloading methods if relevant.

•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and

maneuvering.

•Marking operating hazard zones.

Operators

Operators have thorough knowledge of MiR1350 and of the safety precautions presented in this

user guide. Operators have the following main tasks:

•Servicing and maintaining MiR1350.

•Creating and changing missions and map features in the robot interface.

Direct users

Direct users are familiar with the safety precautions in this Quick Start and have the following

main tasks:

•Assigning missions to MiR1350.

•Fastening loads to MiR1350 securely.

•Loading and unloading from a paused robot.

All other persons in the vicinity of MiR1350 are considered indirect users and must know how to

act when they are close to the robot. For example, they must be aware that visibly marked

operating hazard zones must be respected.

2. Safety

2.5 Foreseeable misuse

Any use of MiR1350 deviating from the intended use is deemed as misuse. This includes, but is

not limited to:

•Using the robot to transport people

•Using the robot on inclines outside the robot's specifications

•Making changes to the SICK configuration

•Driving the robot on cross slopes

•Exceeding the maximum payload

•Positioning or fastening loads incorrectly according to the specifications

•Using Emergency stop buttons for anything other than emergency stops

•Using the robot in medical and life critical applications

•Operating the robot outside the permissible operating parameters and environmental

specifications

•Using the robot in potentially explosive ATEX environments

•Using the robot outdoors

•Using the robot in hygiene zones

•Using the robot together with an external radio module that in any way results in

simultaneously active radio transmitters

The following list gives examples of custom modules that are foreseeable misuse of MiR1350:

•Top modules (including the payload) that increase the physical dimensions of MiR1350

•Conveyers (powered and non-powered)

•Industrial robot arms

•Devices that tow carts

•Customized load transfer stations

•Top modules or modifications that use additional antennas or result in transmitting radio

signals simultaneously with the existing radio module.

2. Safety

2.6 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners must

inform personnel about and take all precautions to avoid when working with MiR1350:

•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot or

walk towards the robot or its intended path while it is in motion.

•You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot or

walk towards it while it is driving in reverse. The robot only drives in reverse when undocking

from a marker, such as a charging station or load transfer station.

•You risk being crushed or trapped if you touch the robot while it is in motion.

•You risk being crushed or trapped if the robot places a load outside a designated drop-off area

due to faulty localization.

•You risk losing control of the robot if it is accessed by unauthorized users. Consider increasing

the IT security of your product.

WARNING

Other significant hazards may be present in a specific robot installation. Failure to

identify hazards may result in injury to personnel or damage to equipment.

•Identify all hazards specific to your robot installation during commissioning.

2.7 Warning label

MiR1350 is supplied with a warning label that specifies that it is strictly prohibited to ride on the

robot.

The label must be placed on the robot or top module so that it is clearly visible.

Figure 2.1 The warning label must be placed on the robot or top module.

3. Storage

The main component that can be affected by storage is the robot's battery. It is important to keep

track of the battery percentage both before and while the robot or battery is in storage to ensure

the battery is not damaged by being undercharged.

3.1 Preparing the robot for storage

If you are taking the robot out of operation for any duration, we recommend the following:

•Charge the robot's battery before storage.

•Store the robot in an area at room temperature with a non-condensing relative air humidity—

see specifications on the MiR website. Temperatures and humidity below or above the

specifications will shorten the service life of the battery.

•Protect the battery immediately after disconnecting it from the battery charger or robot. Never

allow any moisture or foreign particles to get into the battery. If you store the battery outside

the robot, you can protect the battery by storing it in a clean and airtight container or plastic

wrap.

•Disconnect the battery from the robot before storing the robot. You can store the battery

inside the robot, but keeping the battery connected to the robot greatly reduces the storage

time. Make sure to disconnect the battery completely.

•Check the state of charge of the battery regularly, and make sure to recharge the battery if the

state of charge is low. Always disconnect the battery after checking or charging it.

3.2 Storage time

The storage time of the robot and battery depends on the battery's state of charge, the storage

conditions, and the battery version. For more information about storage time, see MiR 48V Battery

Technical Guide.

Keep in mind that the storage times in this guide apply for new batteries. Over time, the storage

time will shorten.

3. Storage

CAUTION

If the battery is stored incorrectly or stored for too long, it will reach an

undercharged state where the battery cells may be damaged, or the battery shuts

down permanently.

•Always check that the battery is disconnected before storing the robot. If the

battery is connected to the robot, the storage time is reduced significantly.

•Check the battery percentage and charge the battery regularly to ensure it is not

undercharged.

3.3 Inactive battery modes

If the battery is not used for a period of time or the battery percentage is low, the battery can

enter one of two states where it tries to preserve its state of charge and cannot power the robot:

•If the battery percentage is low (but not critically low), or the battery has been unused for a

period of time, the battery enters Power save mode. You can activate the battery again in two

ways, depending on the battery percentage:

•The fastest way to activate a battery in Power save mode is to disconnect the battery from

the robot for 30 seconds, reconnect it to the robot, wait 30 seconds, and then turn on the

robot.

•If disconnecting and reconnecting the battery does not activate the battery, the battery

percentage is too low. To activate the battery, you must connect a 48V cable charger directly

to the battery while it is disconnected from the robot.

•If the battery percentage is critically low, the battery enters Deep sleep mode to protect the

battery from damage. Depending on how long the battery has been in Deep sleep, you may be

able to revive it using MiR Cable Charger Lite 48V 3A.

To properly troubleshoot any battery issues and for information about the exact time

periods and battery voltages that trigger the transitions between states, see MiR 48V

Battery Technical Guide. This guide provides more detailed information about

determining exactly which state the battery is in and how to safely and securely

restore the battery without damaging the robot or battery.

4. Light indicators and speakers

The robot uses its speaker and two types of light indicators to let people in the environment know

what the robot is currently doing or planning to do.

•Status lights

The LED light bands on all four sides of the robot use colors and light motion patterns to signal

the current status of the robot.

•Signal lights

The signal lights at the front and back of the robot show if the robot is about to turn a corner or

go backward. Front lights are white and rear lights are red. Right and left turns are indicated by

blinking.

•Speaker

The speaker plays sounds to alert personnel. You can trigger sounds using zones and mission

actions, and you can enable the robot to play warning sounds whenever the Protective fields

are muted.

Figure 4.1 Light indicators on MiR1350.

Pos. Description Pos. Description

1 Signal lights 2 Status lights

Table 4.1 Identification of light indicators in Figure 4.1

4. Light indicators and speakers

4.1 Status lights

The LED light bands running all the way around the robot indicate the robot’s current operational

state. Colors may also be used as part of missions, but as standard, status lights indicate the

statuses described in 4.

Red

Emergency stop

Green

Ready for job

Cyan

Drives to

destination

Purple

Goal/Path blocked

Wavering white

Planning path

Orange

Mission paused

Wavering orange

Startup signal

before PCis active

Fading orange

Shutting down

robot

Blinking orange

Relative move,

ignoring obstacles

Wavering purple

and orange

General error

Blue

Manual drive

Wavering blue

Mapping

State of charge

Chargingat

charging station

Wavering cyan

Waiting for

MiRFleet resource

or for another MiR

robot to move

When the robot's battery reaches a critically low level of power (0-1%), the ends of the status

lights flash red.

4.2 Signal lights

Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-

backwards-braking and left-right turns.

4. Light indicators and speakers

The signal lights work similarly to lights used on cars; white at the front, red at the back, and

indicating a left or right turn by blinking.

When the robot drives with muted Protective fields, for example, when docking to a charging

station, all signal lights blink yellow.

4.3 Speakers

In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of the

default sounds.

Sounds can be used in missions and zones to alert or to attract people's attention.

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