MIR MIR250 User manual

User Guide (en)
Date: 03/2021
Revision: v.1.4

MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
All rights reserved. No parts of this document 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 document. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2020-2021 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: 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 Shelf Carrier 11
2.2 External parts 13
2.3 Internal parts 21
2.4 How MiR Shelf Carrier 250 works 30
3. Warranty 31
4. Safety 32
4.1 Safety message types 32
4.2 General safety precautions 33
4.3 Intended use 38
4.4 Users 39
4.5 Foreseeable misuse 40
4.6 Warning label 41
4.7 Residual risks 41
5. Accessing the internal parts 43
5.1 Front compartment 44
5.2 Rear compartment 45
5.3 Side compartments 46
5.4 MiR Shelf Carrier 250 47
6. Getting started 48

MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 4
6.1 In the box 48
6.2 Unpacking MiR250 Shelf Carrier 50
6.3 Connecting the battery 53
6.4 Powering up the robot 55
6.5 Connecting to the robot interface 58
6.6 Driving the robot in Manual mode 59
6.7 Moving the robot by hand 62
6.8 Checking the hardware status 64
6.9 Mounting the nameplate 65
6.10 Enable the MiR250 Shelf Carrier feature 67
6.11 Testing the top module 69
6.12 Shutting down the robot 71
7. Battery and charging 73
7.1 Charging the robot 73
7.2 Disconnecting the battery 74
7.3 Enabling fast swap 75
7.4 Swapping out the lithium-ion battery 77
7.5 Battery storage 79
7.6 Battery disposal 80
8. IT security 82
8.1 Managing users and passwords 82
8.2 Software security patches 82
9. Navigation and control system 84
9.1 System overview 84

MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 5
9.2 User input 86
9.3 Global planner 86
9.4 Local planner 88
9.5 Obstacle detection 89
9.6 Localization 94
9.7 Motor controller and motors 97
9.8 Brakes 97
10. Safety system 99
10.1 System overview 99
10.2 Personnel detection 104
10.3 Overspeed avoidance 108
10.4 Stability 109
10.5 Emergency stop buttons 109
10.6 MiR Shelf Carrier 250 safety functions 110
10.7 Safety stop 112
10.8 Light indicators and speakers 113
11. Commissioning 117
11.1 Analysis of the work environment 117
11.2 Risk assessment 119
11.3 Shelf specifications 120
11.4 Creating and configuring maps 124
11.5 Markers 135
11.6 Positions 138
11.7 Creating missions 139

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11.8 Creating a footprint 142
11.9 Using operating hazard zones 145
11.10 Making a brake test 150
11.11 Creating user groups and users 151
11.12 Creating dashboards 154
11.13 Updating MiR250 Shelf Carrier software 156
11.14 Creating backups 157
11.15 System settings 157
12. Usage 166
12.1 Creating markers 166
12.2 Creating positions 172
12.3 Creating a marker type 174
12.4 Creating the mission Prompt user 177
12.5 Creating the mission Try/Catch 182
12.6 Creating the mission Variable docking 188
12.7 Creating the mission 80 cm doorway 196
12.8 Creating the mission Pick up and place shelf 203
12.9 Creating the mission Place shelf at VL-marker 208
12.10 Testing a mission 213
13. Unmounting the top module 215
14. Maintenance 220
14.1 Regular weekly checks and maintenance tasks 220
14.2 Regular checks and replacements 222
14.3 Battery maintenance 224

MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 7
15. Packing for transportation 226
15.1 Original packaging 226
15.2 Packing the robot for transportation 227
15.3 Battery 227
16. Disposal of robot 228
17. Payload distribution 229
17.1 Side view 230
17.2 Front view 232
17.3 Top view 234
18. Interface specifications 236
18.1 Left side interfaces 236
18.2 Right side interfaces 238
19. Error handling 243
19.1 Software errors 243
19.2 Hardware errors 244

1. About this document
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 8
1. About this document
This user guide explains how to set up and start operating your MiR250 Shelf Carrier robot
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 Shelf
Carrier along with instructions for proper maintenance of the robot. You will also find
information regarding safety and specifications needed to commission a safe MiR250 Shelf
Carrier 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. It comes 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 and
how to set up and use top modules and accessories, such as charging stations, hooks, shelf
lifts, and pallet lifts. User guides are available in multiple languages.
•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 MiR accessories or supported functions
that are mainly hardware-based, such as charging stations and shelf functions.
•Getting started guides describe how to set up MiR accessories 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.
•Best practice guides specify how much space MiR robots need to execute common
maneuvers.
•REST API references for MiR robots, MiR hooks, and MiR Fleet. HTTP requests can be
used to control robots, hooks, and MiR Fleet.
•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 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 9
1.2 Version history
This table shows current and previous versions of this document.
MiR250 Shelf Carrier
Revision Release date Description HW
1.0 2020-06-26 First edition 1.0
1.1 2020-07-01 General improvements throughout the
document.
1.0
1.2 2020-07-08 Update section: Operating hazard zones
General improvements throughout the
document.
1.0
1.3 2020-11-30 Added sections: Warranty, Markers, and
Positions.
Updated section: Battery storage with Power
save mode and Deep sleep mode.
General improvements throughout the
document.
1.0
1.4 2021-03-31 Added sections: Enabling fast swap and
Swapping out the lithium-ion battery.
General improvements throughout the
document.
1.0

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 10
2. Product presentation
MiR250 Shelf Carrier is an autonomous mobile robot with a top module mounted to it. It is
designed to transport wheeled shelves indoors within production facilities, warehouses, and
other industrial locations where access to the public is restricted.
Users operate MiR250 Shelf Carrier via a web-based user interface, which is accessed
through a browser on a PC, smartphone, or tablet. Each robot has its own network—see
Connecting to the robot interface on page58. 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 Shelf Carrier can be accessed via Google Chrome, Google
Chromium, 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84. The map can be created or imported
the first time the robot is used. While operating, the robot avoids obstacles that are not
mapped, like people and furniture.
MiR250 Shelf Carrier is available both in an ESD approved version, which is black, and a non-
ESD approved version, which is gray.
MiR250 Shelf Carrier transports shelves that are designed according to the specifications in
Shelf specifications on page120. To ensure that the robot has enough traction to transport a
total payload of up to 300 kg, a traction kit is installed within the robot.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 11
The total payload includes both the weight of the shelf and the load on the
shelf.
Specifications for MiR250 Shelf Carrier are available on the MiR website.
2.1 Main features of MiR250 Shelf Carrier
The main features of MiR250 Shelf Carrier are:
•Driving in a populated workspace
The robot is designed to operate among people and maneuvers safely and efficiently in
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 shelves
The robot is designed to automate transportation of loaded shelves with a weight of up to
300 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 mission Try/Catch
on page182.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 12
•Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are detected in
front of it.
•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—see Creating and
configuring maps on page124.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 13
2.2 External parts
This section presents the parts of MiR250 Shelf Carrier that are visible on the outside.
Figure 2.1. MiR250 Shelf Carrier external parts.
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21
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89
Table 2.1.
Identification of the external parts in Figure 2.1

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 14
Pos. Description Pos. Description
5 Nanoscan3 safety laser
scanner: two pcs, in
opposite corners—see
Obstacle detection on
page89
6 Status light: on all four sides
of the robot—see Light
indicators and speakers on
page113
7 Side cover: opens to side
compartment—see Internal
parts on page21
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21
11 Signal light: eight pcs, two
on each corner—see Light
indicators and speakers on
page113
12 Proximity sensor: eight pcs,
two in each corner behind
corner covers—see
Obstacle detection on
page89
13 Emergency stop button 14 Rear carrier pin
15 Front carrier pin
Identification label
MiR250 Shelf Carrier is delivered with identification labels mounted to each product. The
identification labels identify the product, the product serial number, and the hardware
version of the product.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 15
The identification label of MiR250 is located on the rear cover next to the battery.
Figure 2.2. Placement of the MiR250 identification label.
The identification label of MiR Shelf Carrier 250 is located on the left side of the shelf
carrier beneath its cover.
Figure 2.3. Placement of the MiR Shelf Carrier 250 identification label.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 16
Figure 2.4. Example of a MiR Shelf Carrier 250 identification label.
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR250 Shelf Carrier 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 mount the nameplate on the application—see
Mounting the nameplate on page65.
Figure 2.5. Example of a MiR250 Shelf Carrier nameplate.
Control panel
MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 17
The control panel buttons
Figure 2.6. The MiR250 Shelf Carrier control panel.
Pos. Description Pos. Description
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Table 2.2.
Identification of items on the control panel in Figure 2.6
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.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 18
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.
The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode
Puts the robot in Autonomous mode.

2. Product presentation
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 19
•Middle position: Locked
Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot
manually.
•Right position: Manual mode
Puts the robot in Manual mode.
For more information on operating modes, see Operating modes on the next page.
Manual brake release switch
The Manual brake release switch is located below the control panel and releases the
mechanical brakes on MiR250 Shelf Carrier. You release the robot's mechanical brakes by
turning the Manual brake release switch clockwise.

2. Product presentation
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Figure 2.7. The manual brake release switch is located below the control panel.
The mechanical brakes require electrical power to be released, so if the robot is without
power, the mechanical brakes cannot be released. You can see if the robot is powered, by
checking if the Power button on the control panel lights up.
If MiR250 Shelf Carrier shuts down due to low battery percentage, there is still
enough power to release the brakes for approximately a week after.
When driving in Autonomous mode, the robot engages and releases the mechanical brakes
automatically.
The robot cannot operate while the mechanical brakes are released manually.
Operating modes
MiR250 Shelf Carrier 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