MIR MIR250 User manual

Quick Start (en)
Date: 07/2020
Revision: v.1.2

MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 2
Table of contents
1. About this document 4
1.1 Where to find more information 4
1.2 Version history 4
2. Safety 6
2.1 Safety message types 6
2.2 General safety precautions 7
2.3 Intended use 10
2.4 Users 11
2.5 Foreseeable misuse 12
2.6 Residual risks 13
2.7 Warning label 13
3. Light indicators and speakers 15
3.1 Status lights 16
3.2 Signal lights 16
3.3 Speakers 17
4. Control panel 18
4.1 The Operating mode key 18
4.2 The control panel buttons 19
5. Accessing the internal parts 22
5.1 Front compartment 22
5.2 Rear compartment 23
5.3 Side compartments 25
5.4 Top compartments 25

MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 3
6. IT security 27
6.1 Managing users and passwords 27
6.2 Software security patches 27
7. Getting started 29
7.1 In the box 29
7.2 Unpacking MiR250 30
7.3 Connecting the battery and powering up 33
7.4 Connecting to the robot interface 36
7.5 Driving the robot in Manual mode 38
7.6 Moving the robot by hand 40
7.7 Checking the hardware status 42
7.8 Mounting the nameplate 42
7.9 Shutting down the robot 44

1. About this document
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 4
1. About this document
This guide explains how to set up and start operating your MiR250. You will also find
information regarding safety precautions that must be considered when operating MiR250.
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.
1.2 Version history
This table shows current and previous versions of this document.

1. About this document
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 5
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. 1.0

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 6
2. Safety
Read the information in this section before powering up and operating MiR250.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR250 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR250,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR250.
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.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 7
2.2 General safety precautions
This section contains general safety precautions.
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 the original charger.
WARNING
MiR250 may drive over the feet of personnel, causing injury.
•All personnel must be informed of the side protective fields of MiR250 and
be instructed to wear safety shoes near an operating robot.
WARNING
Contact with live electrical parts can cause electric shock.
•Do not touch any internal components of MiR250 while it is powered.
WARNING
MiR250 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.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 8
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 descending staircases and holes as forbidden zones on maps.
•Keep the maps up to date.
•Inform personnel that the robot cannot detect descending staircases and
holes in the floor in time to stop.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 9
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.
•Use only the original charger (cable charger or charging station) and
always follow the instructions from the battery manufacturer.
•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 colors.
•The battery case is deformed or otherwise differs from the normal
electrical or mechanical condition.
•Modifications or manipulations of the battery may lead to considerable
safety risks and are therefore prohibited.
•Do not use the battery on anything other than MiR250.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 10
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
MiR250 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
MiR250 should operate, see specifications for MiR250 on the MiR website.
MiR250 is intended to be commissioned according to the guidelines in your robot's user
guide. This is a prerequisite for safe usage of MiR250.
MiR250 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.
MiR250 is intended to be used with top modules supported by MiR or custom modules that:
•Do not have any moving parts.
•Do not extend the footprint of the robot.
•Operate within the environmental conditions required for MiR250.
If used with custom modules, all obligations of a manufacturer apply to the individual who
performs the modifications, in accordance with the machinery directive.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 11
MiR250 is designed for and all risks are considered when used with one of the following
types of top modules:
•MiR Shelf Carrier 250 to transport wheeled carts.
MiR250 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 MiR250 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. The following list gives examples of
applications which are not intended use of MiR250:
The following list gives examples of modules that are not intended use of MiR250:
•Top modules (including total payload) that increase the footprint of MiR250
•Conveyers (powered and non-powered)
•Industrial robot arm
•Devices that tow carts
•Customized load transfer station
NOTICE
A safe machine does not guarantee a safe system. Follow the guidelines in
your robot's user guide to ensure a safe system.
2.4 Users
MiR250 is only intended to be used by personnel that have received training in their
required tasks.
There are three types of intended users for MiR250: commissioners, operators, and direct
users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR250 and have the following main tasks:
•Commissioning of the product. This includes creating maps and restricting the user
interface for other users and making brake tests with a full payload.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 12
•Conducting the risk assessment.
•Determining the payload limit, weight distribution, safe fastening methods, safe loading
and unloading of loads on MiR250, 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 MiR250 and of the safety precautions presented in
this User guide. Operators have the following main tasks:
•Servicing and maintaining MiR250.
•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 MiR250.
•Fastening loads to MiR250 securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR250 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.
2.5 Foreseeable misuse
Any use of MiR250 deviating from the intended use is deemed as misuse. This includes, but
is not limited to:
•Using MiR250 to transport people
•Using MiR250 on steep surface grades, such as ramps
•Using the wrong SICK configuration
•Driving MiR250 on cross slopes
•Exceeding the total payload
•Using the Emergency stop button for anything other than emergency stops

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 13
•Positioning or fastening loads incorrectly according to the specifications
•Using MiR250 in medical and life critical applications
•Operating MiR250 outside the permissible operating parameters and environmental
specifications
•Using MiR250 in potentially explosive environments
•Using MiR250 outdoors
•Using MiR250 in hygiene zones
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:
•You risk being run over, drawn in, trapped, or struck if you stand in the path of MiR250 or
walk towards MiR250 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. It will only drive 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 MiR250 while it is in motion.
•You risk being crushed, run over, drawn in, or trapped if the robot places a load outside a
designated drop-off area due to faulty localization.
•You risk losing control of MiR250 if it is accessed by unauthorized users. Consider
increasing the IT security of your product.
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
2.7 Warning label
MiR250 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.

2. Safety
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 14

3. Light indicators and speakers
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 15
3. Light indicators and speakers
The robot uses two types of light indicators to let people in the environment know what the
robot is currently doing or planning to do.
•Status lights
An LED light band on all four sides of the robot uses 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 backwards. Front lights are white and rear lights are red. Right and left turns
are indicated by blinking.
Pos. Description Pos. Description
1 Status lights 2 Signal lights

3. Light indicators and speakers
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 16
3.1 Status lights
The LED light band running all the way around the robot indicates the robot’s current
operational state. Colors may also be used as part of missions, but as standard, the robot is
delivered with the following setup.
NOTICE
When the robot's battery reaches a critically low level of power (0-1%), the
ends of the status lights flash red.
3.2 Signal lights
Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-
backwards-braking and left-right turns.

3. Light indicators and speakers
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 17
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 personnel detection means, for example when docking to
a marker, all signal lights blink yellow.
3.3 Speakers
When the robot drives with muted personnel detection means it emits a warning sound. In
System > Settings > Safety system, you can choose which sound the robot makes and the
volume of the sound.
CAUTION
Changing the safety system can cause the robot to not comply with safety
standards.
NOTICE
It is the responsibility of the commissioner to ensure that the warning sounds
are audible in the robot's work environment.

4. Control panel
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 18
4. Control panel
MiR250 has a control panel in the rear-left corner of the robot.
4.1 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.

4. Control panel
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 19
•Right position: Manual mode
Puts the robot in Manual mode.
4.2 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

4. Control panel
MiR250 Quick Start (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 20
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.
Other manuals for MIR250
7
This manual suits for next models
1
Table of contents
Other MIR Robotics manuals
Popular Robotics manuals by other brands

WOLFF
WOLFF ROBO-STRIPPER 230 V Translation of the original instruction

Kuka
Kuka IONTEC KR 20 R3100 Assembly instructions

Delta Electronics
Delta Electronics DRV70/90L7 user manual

ALAVs
ALAVs Transitional Species Blubber Bot manual

Hyundai Heavy Industries
Hyundai Heavy Industries HCA Series instruction manual

Xiaomi
Xiaomi Mi Robot Builder user manual