MIR MiR200 User manual

Quick start
MiR200
en
Revision: 1.7
Date: 2019/05

Getting started
1. Getting started
This section describes how to get started with MiR200.
The section contains the following topics:
1.1. In the box 3
1.2. Unpacking MiR200 4
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Getting started
1.1. In the box
This section describes the content of the MiR200 box.
The box contains:
1. The MiR200 robot
2. MiR200 Kit
• Emergency stop box, external antenna and 4 pcs. M10x40 bolts
• One charging cable
• One external charger, 24VDC, 10A
3. MiR200 document folder containing the printed documents and the USB flash drive.
4. Printed documents:
• MiR200 Quick Start
• MiR username and passwords
• CE declaration of conformity
5. USB flash drive with the following content:
• MiR200 User Guide
• MiR Robot Interface 2.0 Reference guide
• MiR robot REST API reference
• MiR username and passwords
• CE declaration of conformity
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Getting started
1.2. Unpacking MiR200
This section describes how to unpack MiR200.
Note
Keep the original packaging for the future transportation of the robot.
1. Remove pallet lid and take out the box with the MiR200 kit. Keep the original packaging for future
transportation of the robot.
2. Remove the top foam, foam blocks on the sides and the pallet frames.
3. Place the pallet cover as a ramp at the robot's rear end.
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Commissioning
2. Commissioning
This section describes how to get started with MiR200.
NOTICE
Read the Safety chapter before powering up the robot.
The section contains the following topics:
2.1. Powering up 6
2.2. Connecting to the robot interface 10
2.3. Charging the robot 11
2.4. Checking the hardware status 14
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Commissioning
2.1. Powering up
Follow these steps to power up MiR200.
1. Grab the two rounded corners and carefully lift off the cover.
2. Connect one of the two battery cables to the plug on top of the battery box. The second cable is for an
extra battery.
3. Switch on the three relays placed in the corner by the front laser scanner. Start with 32A main power,
i.e. from the outer frame in.
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Commissioning
4. Ensure that the battery disconnect switch is on (the two yellow indicators pointing to On).
5. Connect the two ESD cables attached to the robot frame, next to the loudspeaker, and inside the
cover.
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Commissioning
6. Put the cover back on making sure to fit it correctly over the connector openings.
7. Mount and connect the emergency stop box on top of the robot cover.
Note
If a top module is going to be mounted on top of the robot, the emergency stop must
be placed in a position where it is easy to reach. See Mounting a top module on
page1.
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Commissioning
8. Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the
connector before fixing the antenna.
Note
The antenna can be lowered and rotated in all directions to fit under a top module.
9. Push the blue power button in the corner to turn on the robot. The robot lights up with a yellow running
light for a short moment, then enters emergency stop mode indicated by a constant red light.
10. Press the reset button on the emergency stop when it has lit up. The robot light now switches to yellow
constant light, indicating that the robot is paused and ready to operate.
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Commissioning
2.2. Connecting to the robot interface
When the robot is on, it enables the connection to its WiFi access point. The name of the access point appears in
the list of available connections on your pc, tablet or phone.
NOTICE
The username and password for the robot’s WiFi access point and for accessing the web
interface are in the MiR username and passwords document. The document is in the box with
the robot.
Follow these steps to connect to the robot interface:
1. Using your pc, tablet or phone, connect the WiFi access point of the robot. The access point name has
the following format: MiR_SXXXX.
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Commissioning
2. In a browser, go to the address mir.com and sign in.
The robot is now ready to move down the ramp. To do this switch to manual mode and use the
electronic joystick in the robot interface. See next section Driving the robot in manual mode on
page1.
2.3. Charging the robot
The robot arrives with a charged battery and can drive for up to three hours before recharging is required. Follow
these steps to charge the robot using the enclosed charging cable:
1. Remove the rear corner by pulling it towards you. You may have to apply a bit of force the first couple of
times.
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Commissioning
Note
To avoid fast discharging and a depletion of the battery, we recommend that you turn
off the robot while charging with a cable.
Note
If charging two robots right after each other with a cable, wait approximately one
minute between unplugging the first robot and plugging in the second. This will ensure
that the charger registers that a new robot is being charged.
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Commissioning
2. Attach the charger to the robot’s charging socket and to a power outlet. Turn on the rocker switch on the
robot to begin charging.
Note
Use only the original charging cable.
3. After a maximum of four and a half hours, the robot is fully charged.
4. Turn off the rocker switch and disconnect the charging cable from the robot. Slide the corner cover back
on.
Note
The robot detects both cable and activated charging-button and will go into emergency
stop in both cases.
For information about the charging time, see the robot specifications at www.mir-robots.com.
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Commissioning
2.4. Checking the hardware status
To check that all hardware components work as intended:
Sign in to the robot interface. See the section Connecting to the robot interface on page10.
Go to Monitoring >Hardware health.
Check that all elements on the page have the OK status and that they have green dots on the left.
For more information, see Hardware health in MiR Robot Interface 2.0 Reference Guide.
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Safety
3. Safety
Read the information in this section before powering up and operating MiR200.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR200 or its accessories are
damaged, changed or modified in any way. Mobile Industrial Robots can not be held responsible
for any damages caused to MiR200, accessories or any other equipment due to programming
errors or malfunctioning of MiR200.
The section contains the following topics:
3.1. Safety message types 16
3.2. General safety precautions 16
3.3. Intended use 17
3.4. Foreseeable misuse 18
3.5. Risk assessment 19
3.6. Residual risks 19
3.7. Safety-related functions and interfaces 19
3.8. Limiting safety-related functions 20
3.9. Lithium battery 21
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Safety
3.1. Safety message types
This document uses the following safety message types.
Tip
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 moderate injury. Alerts
against unsafe practices.
• Take proper precautions to avoid damage or injury.
WARNING
Indicates a potentially hazardous situation that could result in major or fatal 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.
3.2. 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.See Payload specifications on page.
WARNING
Using a charger different from the one supplied by the manufacturer can cause a fire.
• Use only the original charger.
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Safety
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.
CAUTION
Removing the top cover from the robot exposes parts connected to the power supply.
• Turn off the main power relay to avoid a short circuit. To see the location of the power
relay, refer to Product presentation on page 1.
CAUTION
Use Flight Mode with smartphone control of robot. Risk of personal injury and/or damage to the
robot.
• If you control the robot with a smartphone, 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.
3.3. Intended use
MiR200 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.
MiR200 is intended to be commissioned according to Commissioning on page5 and prepared to the environment
according to the guidelines. This is a prerequisite for safe usage of MiR200.
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Safety
MiR200 is designed and all risks are considered when used with one of the following types of top applications:
• MiRHook200 to tow trailers
• A custom designed top application (including payload) designed to fulfill the following requirements:
• Must not increase the footprint of MiR200 and be within the requirements in Payload
specifications on page1
• Must not have any moving parts
MiR200 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 MiR200, 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 MiR200, but not limited to, are:
• Shelf on supporting legs (with or without wheels)
• Top applications (including payload) which increase the footprint of MiR200
• Conveyers (power and non-powered)
• Industrial robot arm
• Towing of carts
• Customized load transfer station
3.4. 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 Technical
specifications on the website.
•Use outdoor.
Risk of injury. MiR200 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 overturning, falling
load. See Technical specifications on the website.
•Failure to follow the guidelines for commissioning.
See Getting started on page2 and Planning on page 1.
•Failure to make a risk assessment of the full installation.
See Risk assessment on the next page. This applies to the robot with any extra modules installed.
•Failure to configure audible and light warning signal(s) according to the environment.
The risk reduction is not sufficient.
•Operation outside the permissible operating rating parameters and environmental
specifications.
Risk of instability, impact or tipping over.
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Safety
•Transportation of liquids or food.
Risk of instability.
•Use in potentially explosive environments.
•Use in medical and life critical applications.
3.5. 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 MiR200 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 MiR200.
The risk assessment must cover not only MiR200 itself, but also take into account potential top
module/manipulator, load transfer, work cells and the environment it will be used in.
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:
• Teaching (setup where maps are made and the missions are defined and verified) the robot while
developing 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.
3.6. 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 MiR200
while in motion.
• 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.
3.7. Safety-related functions and interfaces
MiR200 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.
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Safety
3.8. Limiting safety-related functions
MiR200 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
MiR200 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.
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.
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.
Emergency stop
MiR200 has one emergency stop device.
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 actuation of the restart button.
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