MIR MIR250 User manual

MiR250 Quick Start
Date: 09/2023
Version: 2.1 (en)
Robot hardware version: 2.0
For the full documentation package and for translated guides for your robot, go to:
https://www.mobile-industrial-robots.com/product-documents/mir250-hw-20-sw-2-v1/

Copyright and disclaimer
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 2
Copyright and disclaimer
Mobile Industrial Robots A/S (MiR) makes no warranties, expressed or implied, in respect of this
document or its contents. In addition, the contents of this 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.
MiR authorizes you to view, copy, print, and distribute materials available in this document
provided that:
lThe materials are used for internal informational purposes only.
lA MiR copyright notice appears on every copy of the material and any portion thereof.
lNo materials or related graphics are modified or altered in any way. Any rights not expressly
granted herein are reserved by MiR.
Copyright © 2020–2023 by Mobile Industrial Robots A/S.
Original instructions (English)
Contact the manufacturer:
Mobile Industrial Robots A/S
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mobile-industrial-robots.com
Phone: [phone]
Email: [email protected]
CVR: 35251235

Table of contents
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 3
Table of contents
Copyright and disclaimer 2
Table of contents 3
1. Version history 5
2. Safety 8
2.1 Safety message types 8
2.2 General safety precautions 9
2.3 Intended use 12
2.4 Foreseeable misuse 13
2.5 Residual risks 14
2.6 Warning label 14
3. Storage 16
3.1 Preparing the robot for storage 16
3.2 Storage time 16
4. Light indicators and speaker 18
4.1 Status lights 19
4.2 Signal lights 19
4.3 Speaker 20
5. Control panel 22
6. Accessing the internal parts 24
6.1 Front compartment 24
6.2 Rear compartment 26
6.3 Side compartments 28
6.4 Top compartments 30
7. Getting started 32
7.1 In the box 32
7.2 Unpacking MiR250 32

Table of contents
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 4
7.3 Connecting the battery 36
7.4 Enabling fast swap 39
7.5 Powering up the robot 42
7.6 Connecting to the robot interface 43
7.7 Connecting the robot to a Wi-Fi network 45
7.8 Driving the robot in Manual mode 48
7.9 Moving the robot by hand 50
7.10 Checking the robot 52
7.11 Shutting down the robot 54
7.12 Battery and charging 55

1. Version history
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 5
1. Version history
This table shows current and previous versions of this document.
Revision Description
2.1 Date: 2023-09-21
Robot HW: 2.0
lAdded section:Enabling fast swap.
lAdded warning to ensure all personnel wear safety shoes.
Affects section:General safety precautions.
lAdded notice that the robot cannot detect forklift forks and empty
pallets reliably.
Affects section:General safety precautions.

1. Version history
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 6
Revision Description
2.0 Date: 2023-06-29
Robot HW:2.0
lUpdated process to sign into robot interface and connect to an
external network.
New section:Connecting the robot to a Wi-Fi network
Affects section:Connecting to the robot interface
lAdded link to a documentation package page.
Affects section:Front cover
lUpdated status light table.
Affects section:Light indicators and speakers
lRemoved instructions for charging with cable charger.
Affects section:Battery and charging
lRemoved sectionCybersecurity
lUpdated copyright.
lUpdated reference to robot or MiR Fleet reference guide to interface
guide.
lUpdated style.
1.5 Date: 2022-08-12
Robot HW:1.0
lAdded more information about storage of robots and batteries.
New section: Storage.
lAdded notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.
lGeneral improvements throughout the manual.

1. Version history
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 7
Revision Description
1.4 Date: 2022-03-31
Robot HW:1.0
lGeneral improvements throughout the manual.
1.3 Date: 2020-11-30
Robot HW:1.0
lAdded section: Charging the robot.
lGeneral improvements throughout the manual.
1.2 Date: 2020-07-08
Robot HW:1.0
lGeneral improvements throughout the manual.
1.1 Date: 2020-07-01
Robot HW:1.0
lGeneral improvements throughout the manual.
1.0 Date: 2020-06-26
Robot HW:1.0
lFirst edition

2. Safety
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 8
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.
Tells you where you can find more information about the topic.

2. Safety
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 9
2.2 General safety precautions
This section contains general safety precautions.
CAUTION
Harmful electromagnetic interference might be the result of having two radio
modules transmitting at the same time. The robot is certified to have only one radio
module active at any given time.
lDo not attach an access point or additional radio modules to the robot while it is
connected to a wireless network.
CAUTION
If the robot starts up unexpectedly, there is a risk of injury to nearby personnel or
damage to equipment.
lInform personnel that robots may start driving without any warning.
lDesign missions so the robot indicates to personnel that it will begin an action that
makes it move. You can, for example, use a Play sound or Show light action to
warn nearby personnel.
WARNING
If the robot is not running the correct software and is therefore not functioning
properly, the robot may collide with personnel or equipment causing injury or
damage.
lEnsure that the robot is always running the correct software.
WARNING
The robot may drive over the feet of personnel, causing injury.
lAll personnel must be informed of the side Protective fields of the robot and be
instructed to wear safety shoes near an operating robot.

2. Safety
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 10
WARNING
The robot 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.
lDo not place ladders, scaffolds, or similar equipment in the robot's work
environment.
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.
lMark all descending staircases and holes as Forbidden zones on maps.
lInstall physical barriers around descending staircases and holes that are in the
robot's operating area. If the hazard is not close to the robot's operating area, it
may be sufficient to use a Forbidden zone on its own.
lKeep the maps up to date.
lInform personnel that the robot cannot detect descending staircases and holes in
the floor in time to stop.
WARNING
Contact with live electrical parts can cause electric shock.
lDo not touch any internal components of the robot while it is powered.
CAUTION
This equipment is not intended for use in residential environments and may not
provide adequate protection to radio reception in such environments.
lDo not use the robot in residential environments.

2. Safety
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NOTICE
The robot cannot reliably detect forklift forks or empty pallets. The robot may drive
into forks or pallets causing damage to the robot's load, the robot, or equipment.
lAvoid leaving empty forklifts in the robot's operating environment.
lInform personnel that the robot will not detect forklift forks or empty pallets.
lInform personnel that the safety laser scanners are the only safety-rated sensors,
but are limited to the scanner detection plane and are not intended for detecting
forks and pallets. At any other height, only the 3D cameras and proximity sensors
can potentially detect obstacles.
lAny modifications to the camera filter settings or the Obstacle clearing settings
may affect how well the robot can detect obstacles in front of the robot, above or
below the safety laser scanner detection plane. Test and evaluate the robot’s
performance after applying any changes to ensure the robot performs as
intended.
CAUTION
Robot malfunctions can cause an electrical fire, causing damage and injury to
equipment and personnel.
lPersonnel 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.
lPersonnel operating near the robot must be informed on how to engage the
robot's Emergency stop function in emergency situations.
lEnsure that all personnel are instructed to stay clear of operating hazard zones
when the robot is in the zone.

2. Safety
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 12
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 the manual for your robot application.
MiR250 is intended to be commissioned according to the guidelines in MiR Commissioning Guide.
This is a prerequisite for safe usage of MiR250. You can find this guide on MiR Support Portal.
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 Mobile Industrial Robots or
custom modules that:
lDo not have any moving parts.
lDo not extend the physical dimensions of the robot.
lOperate within the environmental conditions required for MiR250.
lAre within the weight distribution requirements—see your robot's user guide.
If used with custom modules, all obligations of a manufacturer apply to the individual who
performs the modifications. All modifications must be in accordance with the machinery directive.
MiR250 is designed for and all risks are considered when used with one of the following types of
top modules:
lMiRShelfCarrier250 to transport MiR supported shelves
lMiRHook250 to tow carts
MiR250 can be used as partly completed machinery 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 must ensure a safe design according to EN ISO 12100. Guidelines outlined in
this manual are not sufficient.
NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in MiR Commissioning Guide to ensure a safe system. You can find this
guide on MiR Support Portal.

2. Safety
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2.4 Foreseeable misuse
Any use of MiR250 deviating from the intended use is deemed as misuse. This includes, but is not
limited to:
lUsing the robot to transport people
lUsing the robot on inclines outside the robot's specifications
lMaking changes to the SICK configuration
lDriving the robot on cross slopes
lExceeding the maximum payload
lPositioning or fastening loads incorrectly according to the specifications
lUsing Emergency stop buttons for anything other than emergency stops
lUsing the robot in medical and life critical applications
lOperating the robot outside the permissible operating parameters and environmental
specifications
lUsing the robot in potentially explosive ATEX environments
lUsing the robot outdoors
lUsing the robot in hygiene zones
lUsing MiR top modules that are not specifically made for the robot
lUsing the robot together with an external radio module that in any way results in
simultaneously active radio transmitters
The following list gives examples of custom modules that are foreseeable misuse of MiR250:
lTop modules (including the payload) that increase the physical dimensions of MiR250
lConveyors (powered and non-powered)
lIndustrial robot arms
lDevices that tow carts
lCustomized load transfer stations
lTop modules or modifications that use additional antennas or result in transmitting radio
signals simultaneously with the existing radio module

2. Safety
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 14
2.5 Residual risks
Mobile Industrial Robots has identified the following potential hazards that commissioners must
inform personnel about and take all precautions to avoid when working with MiR250:
lYou risk being run over, drawn in, trapped, or struck if you stand in the path of the robot or
walk towards the robot or its intended path while it is in motion.
lYou 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. The robot only drives in reverse when undocking
from a marker, such as a charging station or load transfer station.
lYou risk being crushed or trapped if you touch the robot while it is in motion.
lYou risk being crushed or trapped if the robot places a load outside a designated drop-off area
due to faulty localization.
lYou risk losing control of the robot if it is accessed by unauthorized users. Consider increasing
the IT security of your product.
WARNING
Other significant hazards may be present in a specific robot installation. Failure to
identify hazards may result in injury to personnel or damage to equipment.
lIdentify all hazards specific to your robot installation during commissioning.
2.6 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) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 15
Figure 2.1 The warning label must be placed on the robot or top module

3. Storage
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 16
3. Storage
The main component that can be affected by storage is the robot's battery. It is important to keep
track of the battery percentage both before and while the robot or battery is in storage to ensure
the battery is not damaged by being undercharged.
3.1 Preparing the robot for storage
If you are taking the robot out of operation for any duration, we recommend the following:
lCharge the robot's battery before storage.
lStore the robot in an area at room temperature with a non-condensing relative air humidity—
see specifications on MiR Support Portal. Temperatures and humidity below or above the
specifications will shorten the service life of the battery.
lDisconnect the battery from the robot before storing the robot. You can store the battery
inside the robot, but keeping the battery connected to the robot greatly reduces the storage
time. Make sure to disconnect the battery completely.
lProtect the battery immediately after removing it from the battery charger or robot. Never
allow any moisture or foreign particles to get into the battery. If you store the battery outside
the robot, you can protect the battery by storing it in a clean and airtight container or plastic
wrap.
lCheck the state of charge of the battery regularly, and make sure to recharge the battery if the
state of charge is low. Always disconnect the battery after checking or charging it.
3.2 Storage time
The storage time of the robot and battery depends on the battery's state of charge, the storage
conditions, and the battery version. For more information about storage time, see MiR 48V Battery
Technical Guide. You can find this guide on MiR Support Portal.
The storage times in this guide apply for new batteries. Over time, the storage time will shorten.

3. Storage
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 17
CAUTION
If the battery is stored incorrectly or stored for too long, it will reach an
undercharged state where the battery cells may be damaged or the battery shuts
down permanently.
lAlways check that the battery is disconnected before storing the robot. If the
battery is connected to the robot, the storage time is reduced significantly.
lCheck the battery percentage and charge the battery regularly to ensure it is not
undercharged.
Battery
percentage
Mode Reactivate method
Low or battery
unused for
longer time
Power save
mode
lDisconnect the battery from the robot for 30
seconds, reconnect it to the robot, wait 30
seconds, and then turn on the robot.
lConnect a 48V cable charger directly to the battery
while the battery is disconnected from the robot,
or connect MiR Cable Charger Lite 48V 3A to the
robot's charging interface while the battery is
connected to the robot.
Critically low Deep sleep
mode
Depending on how long the battery has been in Deep
sleep, you may be able to revive it using MiR Cable
Charger Lite 48V 3A.
Table 3.1 Overview of battery modes where the battery stops supplying power
To properly troubleshoot any battery issues and for information about the exact time
periods and battery voltages that trigger the transitions between states, see MiR 48V
Battery Technical Guide. You can find this guide on MiR Support Portal.

4. Light indicators and speaker
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 18
4. Light indicators and speaker
The robot uses its speaker and two types of light indicators to let people in the environment know
what the robot is currently doing or planning to do.
lStatus lights
The LED light bands on all four sides of the robot use colors and light motion patterns to signal
the current status of the robot.
lSignal lights
The signal lights at the front and back of the robot show if the robot is about to turn a corner or
go backward. Front lights are white and rear lights are red. Right and left turns are indicated by
blinking.
lSpeaker
The speaker plays sounds to alert personnel. You can trigger sounds using zones and mission
actions, and you can enable the robot to play warning sounds whenever the Protective fields
are muted.
Figure 4.1 Light indicators on MiR250
Pos. Description Pos. Description
1 Signal lights 2 Status lights
Table 4.1 Identification of light indicators in Figure 4.1

4. Light indicators and speaker
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 19
4.1 Status lights
The LED light bands running all the way around the robot indicate the robot’s current operational
state. Colors may also be used as part of missions, but as standard, status lights indicate the
statuses described below.
Red
Emergency stop or
Protective stop
Green
Ready for job
Cyan
Drives to
destination
Purple
Goal/Path blocked
Wavering white
Planning path
Orange
Mission paused
Wavering orange
Startup signal
before PCis active
Fading orange
Shutting down
robot
Blinking orange
Relative move,
ignoring obstacles
Wavering purple
and orange
General error
Blue
Manual drive
Wavering blue
Mapping
State of charge
Chargingat
charging station
Wavering cyan
Waiting for
MiRFleet resource
or for another MiR
robot to move
When the robot's battery reaches a critically low level of power (0-1%), the ends of the status
lights flash red.
4.2 Signal lights
Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-
backwards-braking and left-right turns.

4. Light indicators and speaker
MiR250 Quick Start (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 20
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 Protective fields, for example, when docking to a charging
station, all signal lights blink yellow.
4.3 Speaker
In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of the
default sounds.
Sounds can be used in missions and zones to alert or to attract people's attention.
For more information about how to set up sounds, see MiR Commissioning Guide. You can find this
guide on MiR Support Portal.
When the robot drives with muted Protective fields it emits a warning sound. In System >
Settings > Safety system, you can choose which sound the robot makes and the volume of the
sound.
Figure 4.2 In the Safety system settings, you can modify the sounds the robot plays when the robot mutes
its Protective fields