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

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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

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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

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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

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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.

2. Product presentation
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 11
Specifications for MiR250 are available on the MiR website.
2.1 Main features of MiR250
The main features of the MiR250 are:
•Driving in a populated workspace
The robot is designed to operate among people and maneuvers safely and efficiently in
even highly dynamic environments.
•Overall route planning and local adjustments
The robot navigates autonomously to find the most efficient paths to its destinations. The
robot adjusts the path when it encounters obstacles that are not on the map, like
personnel and vehicles.
•Efficient transportation of heavy loads
The robot is designed to automate transportation of loads up to 250 kg.
•Sound and light signals
The robot continuously signals with light and sounds indicating where it will drive and its
current status, for example waiting for a mission, driving to a destination, or destination
reached.
•User-friendly and flexible
The web-based user interface, accessed from a PC, tablet, or smartphone, gives easy
access to operation and monitoring of the robot and can be programmed without any
prior experience. Different user group levels and tailored dashboards can be set up to suit
different users.
•Alert for 'lost'
If the robot enters a situation where it is unable to find a path to its destination, it stops,
turns on the yellow-purple running error light, and a custom defined Try/Catch action
may be used to alert personnel or take other actions—see Creating the Try/Catch mission
on page155.
•Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are detected in
front of it.

2. Product presentation
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•Internal map
The robot can either use a floor plan from a CAD drawing, or a map can be created by
manually driving the robot around the entire site in which the robot is going to operate.
When the robot is mapping, the robot’s sensors detect walls, doors, furniture, and other
obstacles, and the robot then creates a map based on these input. After you've finished
mapping, you can add positions and other features in the map editor.
2.2 Top modules
The following top modules are available for MiR250:
•MiR 250 Shelf Carrier
A top application that allows MiR250 to tow shelves.
To read more about the top modules, go to the MiR website.

2. Product presentation
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 13
2.3 External parts
This section presents the parts of MiR250 that are visible on the outside.
Pos. Description Pos. Description
1 Corner bumper: four pcs, one
on each corner
2 Front cover: opens to front
compartment—see Internal
parts on page20
3 Swivel wheel with foot guard:
four pcs, one in each corner
4 3D depth camera: two pcs,
both in the front—see
Obstacle detection on
page71

2. Product presentation
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Pos. Description Pos. Description
5 Nanoscan3 safety laser
scanner: two pcs, in opposite
corners—see Obstacle
detection on page71
6 Status light: on all four sides
of the robot—see Light
indicators and speakers on
page97
7 Side cover: opens to side
compartment—see Internal
parts on page20
8 Control panel—see Control
panel on page16
9 Manual brake release
switch—see Control panel on
page16
10 Rear cover: opens to rear
compartment—see Internal
parts on page20
11 Signal light: eight pcs, two on
each corner—see Light
indicators and speakers on
page97
12 Proximity sensor: eight pcs,
two in each corner behind
corner covers—see Obstacle
detection on page71
13 Top plate 14 Left top compartment:
Access to auxiliary power,
emergency stop, and
Ethernet interfaces. Antenna
RP-SMA connector is
available on the top side of
the hatch—see Internal parts
on page20
15 Right top compartment:
Access to Safe I/Os and GPIO
interface. Antenna RP-SMA
connector is available on the
top side of the hatch—see
Internal parts on page20

2. Product presentation
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Identification label
MiR250 is delivered with an identification label mounted to the product. The identification
label identifies the product, the product serial number, and the hardware version of the
product.
The identification label of MiR250 is located behind the rear cover next to the battery.
Figure 2.1. Example of a MiR250 identification label.
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR250 identifies the application model and serial number and includes the
CE mark, the technical specifications, and the address of Mobile Industrial Robots. The
nameplate identifies the complete MiR application, for example, a robot with a top module.
It is the responsibility of the commissioner to place the nameplate on the application—see
Mounting the nameplate on page53.
Figure 2.2. Example of a MiR250 nameplate.

2. Product presentation
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 16
Control panel
MiR250 has a control panel in the rear-left corner of the robot.
The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode
Puts the robot in Autonomous mode.
•Middle position: Locked
Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot
manually.

2. Product presentation
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•Right position: Manual mode
Puts the robot in Manual mode.
For more information on operating modes—see Operating modes on page19.
The control panel buttons
The following table identifies the three buttons on the control panel.
Pos. Description Pos. Description
1 Manual stop 2 Resume
3 Power

2. Product presentation
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 18
Manual stop
Pressing this button stops the robot. After pressing this button, you must press the Resume
button to let the robot continue operating.
Color indication:
•Red: It is possible to engage the Manual stop.
Resume
Pressing this button:
•Clears the Emergency stop state.
•Lets the robot continue operating after the Manual stop button was pressed or after the
operating mode changes.
•Lets the robot start operating after powering up.
Color indication:
•Blinking blue: The robot is waiting for a user action (clear the Emergency stop state,
acknowledge the change of operating mode).
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
•Blue: The robot is off.
•Blinking green: The robot is starting up.
•Green: Normal operation.
•Blinking red: The battery level is too low to start without additional charging or, the robot
is shutting down.
Manual brake release switch
The manual brake release switch is located below the control panel and releases the
mechanical brakes on MiR250. You release the brakes by turning the Manual brake release
switch clockwise.

2. Product presentation
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The mechanical brakes require electrical power to be released, so if the robot is without
power, the mechanical brakes cannot be released.
When driving in Autonomous mode, the robot engages and releases the mechanical brakes
automatically.
The robot cannot operate while the mechanical brakes are released.
Operating modes
MiR250 has two operating modes: Manual mode and Autonomous mode.
Manual mode
In this mode, you can drive the robot manually using the joystick in the robot interface. Only
one person can control the robot manually at a time. To ensure that nobody else takes
control of the robot, the robot issues a token to the device on which you activate the Manual
mode.
For information about activating this mode—see Driving the robot in Manual mode on
page49.

2. Product presentation
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Autonomous mode
In this mode, the robot executes the programmed missions. After switching the key to this
mode, you can remove the key, and the robot will continue driving autonomously. In
autonomous mode, the joystick is disabled in the robot interface.
2.4 Internal parts
Most internal parts of MiR250 are accessed through covers that open to different
compartments:
•Front compartment
•Rear compartment
•Side compartments
•Top compartments
CAUTION
Removing covers from the robot exposes parts connected to the power supply,
risking damage to the robot from a short circuit and electrical shock to
personnel.
•Disconnect the battery by unlocking the Battery lever and pressing the lever
down—see Packing the robot for transportation on page182.
Front compartment
The front compartment holds several electronic components, such as the robot computer
and the carrier board.
To open the front compartment, see Accessing the internal parts on page26.
Front compartment components
The front compartment contains the following components: