MIR MIR250 User manual

Quick Start (en)
Date: 01/2023
Revision: v.1.2

Copyright and disclaimer
MiR250 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: 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:
•The materials are used for internal informational purposes only.
•A MiR copyright notice appears on every copy of the material and any portion thereof.
•No materials or related graphics are modified or altered in any way. Any rights not expressly
granted herein are reserved by MiR.
Copyright © 2021–2023 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 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 3
Table of contents
Copyright and disclaimer 2
Table of contents 3
1. Version history 5
2. Safety 7
2.1 Safety message types 7
2.2 General safety precautions 9
2.3 Intended use 13
2.4 Users 14
2.5 Foreseeable misuse 15
2.6 Residual risks 16
2.7 Warning label 16
3. Storage 18
3.1 Preparing the robot for storage 18
3.2 Storage time 18
3.3 Inactive battery modes 19
4. Light indicators and speakers 20
4.1 Status lights 21
4.2 Signal lights 21
4.3 Speakers 22
5. Control panel 23
5.1 The control panel buttons 23
5.2 The Operating mode key 24
6. Accessing the internal parts 26
6.1 Front compartment 26
6.2 Rear compartment 28
6.3 Side compartments 29

Table of contents
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6.4 Top compartments 31
6.5 MiRHook250 34
7. Cybersecurity 37
8. Getting started 38
8.1 In the box 38
8.2 Unpacking MiR250 Hook 39
8.3 Connecting the battery 42
8.4 Connecting to the robot interface 45
8.5 Driving the robot in Manual mode 46
8.6 Moving the robot by hand 51
8.7 Checking the robot 52
8.8 Mounting the nameplate 54
8.9 Shutting down the robot 56
8.10 Charging the robot 57

1. Version history
MiR250 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 5
1. Version history
This table shows current and previous versions of this document.
Revision Description
1.2 Date: 2023-01-19
Robot HW:1.0
Top module HW:2.0
•Updated for hardware version 2.0.
•Updated status light table.
Affects section:Light indicators and speakers
•Updated copyright.
•Updated reference to robot or MiR Fleet reference guide to interface
guide.
•Updated style.
1.1 Date: 2022-08-12
Robot HW:1.0
Top module HW:1.0
•Added more information about storage of robots and batteries.
New section: Storage.
•Added notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.
•General improvements throughout the manual.

1. Version history
MiR250 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 6
Revision Description
1.0 Date: 2021-06-15
Robot HW:1.0
Top module HW:1.0
•First edition

2. Safety
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2. Safety
Read the information in this section before powering up and operating MiR250 Hook.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR250 Hook or its
accessories are damaged, changed, or modified in any way. Mobile Industrial Robots
cannot be held responsible for any damages caused to MiR250 Hook, accessories, or
any other equipment due to programming errors or malfunctioning of MiR250 Hook.
MiR250 Hook is a partly complete machine and there are steps you need to take before it can be
put into operation.
This manual contains instructions for commissioning and instructions for creating a risk
assessment of MiR250 Hook. However, it does not cover instructions for designing, installing, and
operating a complete robot system neither does it cover local legalization. Thus, this manual does
not guarantee a safe robot system but is only an informative document.
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.

2. Safety
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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
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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.
•Do not attach an access point or additional radio modules to the robot while it is
connected to a wireless network.
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.
•Ensure that the robot is always running the correct software.
WARNING
When the robot is in an operating hazard zone, there is a risk of injury to any
personnel within the zone.
•Ensure that all personnel are instructed to stay clear of operating hazard zones
when the robot is in the zone.
WARNING
The robot may drive over the feet of personnel, causing injury.
•All 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
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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.
•Don't 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.
•Mark all descending staircases and holes as Forbidden zones on maps.
•Install 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.
•Keep the maps up to date.
•Inform 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.
•Do not touch any internal components of the robot while it is powered.
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 an original MiR charger.

2. Safety
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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.
•In case of fire, use water to put out the fire. There is no need for special
extinguishing media. An ambient fire can be fought with class D extinguishing
media.
•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 color.
•The battery case is deformed or otherwise differs from the normal electrical or
mechanical condition.
•Do not modify or manipulate of the battery. This may lead to considerable safety
risks and is therefore prohibited.
•Never smoke or allow an open spark or flame in the vicinity of the robot's battery.
•Do not use the battery for anything other than MiR250 Hook.

2. Safety
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WARNING
Load falling or robot overturning if the load on the robot is not positioned or
fastened correctly can cause fall injuries to nearby personnel or damage to
equipment.
•Ensure that the load is positioned according to the specifications and is fastened
correctly—see the user guide of your robot for safe payload distribution.
CAUTION
This equipment is not intended for use in residential environments and may not
provide adequate protection to radio reception in such environments.
•Do not use the robot in residential environments.
WARNING
Personnel standing next to the robot when it is picking up or placing a cart risk being
injured by an impact.
•Ensure that areas for picking up and placing carts are clearly marked as operating
hazard zones with visible tape or similar marking and that all personnel are
instructed not to stand in the hazard zone when the robot is operating in it.
WARNING
When the robot is turning while towing a cart, there is a risk of injury to personnel
close to the cart.
•Instruct personnel to maintain a safe distance from the robot when it is turning
while towing a cart.
WARNING
When the robot is driving while the hook brake is released without being connected
to a cart, the hook can rotate freely. Nearby personnel may be hit by the hook.
•Never release the hook brakes while the robot is driving without a cart.

2. Safety
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WARNING
When a robot is picking up a cart, personnel risk serious hand injuries if they reach in
between the hook gripper and a cart gripper bar when the robot is picking up the
cart.
•Ensure that docking positions are clearly marked as operating hazard zones with
visible tape or similar marking and that all personnel are instructed not to stand
close to the robot when it is picking up a pallet.
•Inform personnel not to touch the hook gripper or a cart's gripper bar while the
robot is docking to the cart.
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 Hook 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
Hook should operate, see specifications for MiR250 Hook on the MiR website.
MiR250 Hook is intended to be commissioned according to the guidelines in your robot's user
guide. This is a prerequisite for safe usage of MiR250 Hook.
MiR250 Hook 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.

2. Safety
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The robot cannot detect objects between the robot and the cart, and it cannot detect objects
behind the cart (the robot does not reverse as part of the route; however, it can reverse when
placing a cart). For this reason, it is not possible to drive more than one cart at a time by chaining
carts together.
MiR250 Hook is a partly complete machine as defined in the EU machinery directive. Those who
design, manufacture, or commission a system that does not meet the limitations of use of
MiR250 Hook 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.
NOTICE
A safe machine does not guarantee a safe system. Follow the commissioning
guidelines in your robot's user guide to ensure a safe system.
2.4 Users
MiR250 Hook 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 Hook: commissioners, operators, and direct
users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR250 Hook 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.
•Conducting the risk assessment.
•Determining the payload limit, weight distribution, safe fastening methods, safe loading and
unloading of loads on MiR250 Hook, 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.

2. Safety
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Operators
Operators have thorough knowledge of MiR250 Hook and of the safety precautions presented in
this user guide. Operators have the following main tasks:
•Servicing and maintaining MiR250 Hook.
•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 Hook.
•Fastening loads to MiR250 Hook securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR250 Hook 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 Hook deviating from the intended use is deemed as misuse. This includes, but
is not limited to:
•Using the robot to transport people
•Using the robot on inclines outside the robot's specifications
•Making changes to the SICK configuration
•Driving the robot on cross slopes
•Exceeding the maximum payload
•Positioning or fastening loads incorrectly according to the specifications
•Using Emergency stop buttons for anything other than emergency stops
•Using the robot to tow carts not fulfilling the technical specifications
•Driving with more than one cart at a time

2. Safety
MiR250 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 16
•Making the robot use a MiRFleet controlled elevator while it is towing a cart
•Using the robot in medical and life critical applications
•Operating the robot outside the permissible operating parameters and environmental
specifications
•Using the robot in potentially explosive ATEX environments
•Using the robot outdoors
•Using the robot in hygiene zones
•Using the robot together with an external radio module that in any way results in
simultaneously active radio transmitters
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 when working with MiR250 Hook:
•You 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.
•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. The robot only drives 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 the robot while it is in motion.
•You risk being crushed or trapped if the robot places a load outside a designated drop-off area
due to faulty localization.
•You 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.
•Identify all hazards specific to your robot installation during commissioning.
2.7 Warning label
MiR250 Hook is supplied with a warning label that specifies that it is strictly prohibited to ride on
the robot.

2. Safety
MiR250 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 17
The label must be placed on the robot or top module so that it is clearly visible.
Figure 2.1 The warning label must be placed on the robot or top module.

3. Storage
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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:
•Charge the robot's battery before storage.
•Store the robot in an area at room temperature with a non-condensing relative air humidity—
see specifications on the MiR website. Temperatures and humidity below or above the
specifications will shorten the service life of the battery.
•Protect the battery immediately after disconnecting it from the battery charger or robot. Never
allow any moisture or foreign particles to get into the battery. You can protect the battery by
storing it in a clean and airtight container or plastic wrap.
•Disconnect 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.
•Check 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.
Keep in mind that the storage times in this guide apply for new batteries. Over time, the storage
time will shorten.

3. Storage
MiR250 Hook Quick Start (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 19
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.
•Always check that the battery is disconnected before storing the robot. If the
battery is connected to the robot, the storage time is reduced significantly.
•Check the battery percentage and charge the battery regularly to ensure it is not
undercharged.
3.3 Inactive battery modes
If the battery is not used for a period of time or the battery percentage is low, it can enter one of
two states where it tries to preserve its state of charge and cannot power the robot:
•If the battery percentage is low (but not critically low) or the battery has been unused for a
period of time, the battery enters Power save mode. You can activate the battery again in two
ways depending on the battery percentage:
•The fastest way to activate a battery in Power save mode is to disconnect the battery from
the robot for 30 seconds, reconnect it to the robot, wait 30 seconds, and then turn on the
robot.
•If disconnecting and reconnecting the battery does not activate the battery, the battery
percentage is too low. To activate the battery, you must either connect a 48V cable charger
directly to the battery while the battery is disconnected from the robot, or you must connect
MiR Cable Charger Lite 48V 3A to the robot's charging interface while the battery is
connected to the robot.
•If the battery percentage is critically low and the battery cells may soon take damage, the
battery enters 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.
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. This guide provides more detailed information about
determining exactly which state the battery is in and how to safely and securely
restore the battery without damaging the robot or battery.

4. Light indicators and speakers
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4. Light indicators and speakers
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.
•Status 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.
•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 backward. Front lights are white and rear lights are red. Right and left turns are indicated by
blinking.
•Speaker
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 Indicator lights on MiR250 Hook.
Pos. Description Pos. Description
1 Signal lights 2 Status lights
Table 4.1 Identification of indicator lights in Figure 4.1