MIR MIR250 User manual

User Guide (en)
Date: 07/2020
Revision: v.1.2

MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: 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,
expressed 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 © 2020 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
the MiR website
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 3
Table of contents
1. About this document 8
1.1 Where to find more information 8
1.2 Version history 9
2. Product presentation 10
2.1 Main features of MiR250 11
2.2 Top modules 12
2.3 External parts 13
2.4 Internal parts 20
3. Accessing the internal parts 26
3.1 Front compartment 26
3.2 Rear compartment 27
3.3 Side compartments 29
3.4 Top compartments 29
4. Safety 31
4.1 Safety message types 31
4.2 General safety precautions 32
4.3 Intended use 35
4.4 Users 36
4.5 Foreseeable misuse 37
4.6 Warning label 38
4.7 Residual risks 38
5. Getting started 40
5.1 In the box 40

MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 4
5.2 Unpacking MiR250 41
5.3 Connecting the battery and powering up 44
5.4 Connecting to the robot interface 47
5.5 Driving the robot in Manual mode 49
5.6 Moving the robot by hand 51
5.7 Checking the hardware status 53
5.8 Mounting the nameplate 53
5.9 Shutting down the robot 55
6. Battery and charging 57
6.1 Charging the robot 57
6.2 Enabling fast swap and swapping out the lithium-ion battery 58
6.3 Battery storage 62
6.4 Battery disposal 62
7. IT security 64
7.1 Managing users and passwords 64
7.2 Software security patches 64
8. Navigation and control system 66
8.1 System overview 66
8.2 User input 68
8.3 Global planner 68
8.4 Local planner 70
8.5 Obstacle detection 71
8.6 Localization 76
8.7 Motor controller and motors 79

MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 5
8.8 Brakes 79
9. Safety system 81
9.1 System overview 81
9.2 Collision avoidance 86
9.3 Overspeed avoidance 91
9.4 Stability 92
9.5 Emergency stop circuit 92
9.6 Safeguarded stop 93
9.7 Locomotion 94
9.8 Shared emergency stop 95
9.9 Reduced speed 96
9.10 Robot computer 97
9.11 Light indicators and speakers 97
10. Commissioning 101
10.1 Analysis of the work environment 101
10.2 Risk assessment 103
10.3 Creating and configuring a map 104
10.4 Creating markers and positions 118
10.5 Creating a mission 126
10.6 Creating a footprint 130
10.7 Operating hazard zones 135
10.8 Brake test 136
10.9 Creating user groups and users 137
10.10 Creating dashboards 140

MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 6
10.11 Updating MiR250 software 141
10.12 Creating backups 142
10.13 System settings 143
11. Usage 150
11.1 Creating the Prompt user mission 150
11.2 Creating the Try/Catch mission 155
11.3 Creating the Variable footprint mission 161
11.4 Creating the 80 cm doorway mission 164
11.5 Testing a mission 171
12. Applications 173
12.1 Mounting a top module 173
13. Maintenance 175
13.1 Regular weekly checks and maintenance tasks 175
13.2 Regular checks and replacements 176
13.3 Battery maintenance 180
14. Packing for transportation 181
14.1 Original packaging 181
14.2 Packing the robot for transportation 182
14.3 Battery 183
15. Disposal of robot 184
16. Payload specifications 185
16.1 Side view 186
16.2 Front view 188
16.3 Top view 190

MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 7
17. Interface specifications 192
17.1 Left side interfaces 192
17.2 Right side interfaces 197
17.3 Connector list 204
18. Error handling 206
18.1 Software errors 206
18.2 Hardware errors 207

1. About this document
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR250 and provides
examples of simple missions you can expand to your purposes. This guide also contains
information regarding the external and internal components of MiR250 along with a guide
for proper maintenance of the robot. You will also find information regarding safety and
specifications needed to commission a safe MiR250 robot application.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
At the MiR website, you can find the following resources under the Manuals tab on each
product page:
•Quick starts describe how you start operating MiR robots quickly. This document is in
print in the box with the robots. Quick starts are available in multiple languages.
•User guides provide all the information you need to operate and maintain MiR robots.
User guides are available in multiple languages.
•Risk Analysis Guides include guidelines on how to create a risk assessment of your robot
solution.
•Commissioning guides describe how to commission your robot safely and prepare it to
operate in the workplace.
•Operating guides describe how to set up and use top modules and accessories, such as
charging stations, hooks, shelf lifts, and pallet lifts.
•Getting started guides describe how to set up products that are mainly software-based,
such as MiR Fleet.
•Reference guides contain descriptions of all the elements of the robot interface and MiR
Fleet interface. Reference guides are available in multiple languages.
•REST API references for MiR robots, MiR hooks, and MiR Fleet.
•The MiR network and WiFi guide specifies the performance requirements of your
network and how you must configure it for MiR robots and MiR Fleet to operate
successfully.

1. About this document
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of this document.
Revision Release date Description HW
1.0 2020-06-26 First edition 1.0
1.1 2020-07-01 Minor corrections throughout manual. 1.0
1.2 2020-07-08 Minor correction throughout manual.
Changes in Operating hazard zones on
page135.
1.0

2. Product presentation
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 10
2. Product presentation
MiR250 is an autonomous mobile robot that can transport loads up to 250 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR250 via a web-based user interface, which is accessed via a browser on a
PC, smartphone, or tablet. Each robot has its own network—see Connecting to the robot
interface on page47. The robot can be set up to run a fixed route, be called on demand, or
perform more complex missions.
The robot interface of MiR250 can be accessed via Google Chrome, Apple Safari, Mozilla
Firefox, and Microsoft Edge browsers.
The robot uses a map of its work area to navigate and can move to any position on the
map—see Navigation and control system on page66. The map can be created or imported
the first time the robot is used. While operating, the robot avoids obstacles, like people and
furniture, that are not mapped.
MiR250 is supplied with a fast swap removable lithium-ion battery.
MiR250 is available both in an ESD approved version, which is black, and a non-ESD
approved version, which is gray.