MIR MIR250 User manual

MiR250 Dynamic Integrator Manual
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-dynamic-hw-20-sw-2-
v1/

Copyright and disclaimer
MiR250 Dynamic Integrator Manual (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 Dynamic Integrator Manual (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. About this document 6
1.1 Where to find more information 6
1.2 Version history 8
2. Product presentation 10
2.1 External parts 10
2.2 Internal parts 15
2.3 Light indicators and speaker 19
3. Safety 24
3.1 System manufacturer 24
3.2 Safety message types 25
3.3 General safety precautions 26
3.4 Intended use 29
3.5 Foreseeable misuse 29
3.6 In case of fire 30
3.7 Warning label 30
3.8 Residual risks 31
4. Unboxing 32
4.1 In the box 32
4.2 Unpacking MiR250 Dynamic 32
4.3 Connecting the battery 36
4.4 Powering up the robot 39
4.5 Shutting down the robot 41
4.6 Connecting to the robot interface 42
4.7 Connecting the robot to a Wi-Fi network 44
4.8 Enabling dynamic footprint and SICK configuration 46

Table of contents
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 4
4.9 Moving the robot by hand 49
4.10 Checking the robot 51
5. Storage 54
5.1 Preparing the robot for storage 54
5.2 Storage time 54
6. Battery and charging 56
6.1 Enabling fast swap 58
6.2 Disconnecting the battery 61
7. Usage 64
7.1 Work environment requirements 64
7.2 Operating the robot 66
7.3 Types of stop 69
8. Safety-related functions and interfaces 73
8.1 Safety functions overview 74
8.2 Safety-related functions 81
8.3 Safety-related interfaces for top modules 91
9. Mounting a top module 96
10. Payload distribution 98
10.1 Side view 99
10.2 Front view 101
10.3 Top view 103
11. Electrical interfaces 105
11.1 Left side interfaces 105
11.2 Right side interfaces 113
11.3 Connector list 122
12. Specifications 124
13. Maintenance 126
13.1 Before performing maintenance 126

Table of contents
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 5
13.2 Accessing the internal parts 127
13.3 Periodic checks 134
13.4 Updating software 145
13.5 Creating backups 145
14. Error handling 147
14.1 Software errors 147
14.2 Hardware errors 148
14.3 Error codes and solutions 149
15. Transportation 155
15.1 Lifting MiR250 Dynamic 155
15.2 Packing the robot for transportation 157
15.3 Transporting the battery 158
16. Disposal 160
17. Commissioning overview 161
18. Glossary 163

1. About this document
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 6
1. About this document
This manual contains the information you need to operate and handle MiR250 Dynamic safely
and correctly. For more information about how to commission the robot and how the robot
works, see MiR Commissioning Guide and MiR250 Technical Guide. You can find these guides on MiR
Support Portal.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information
For the full documentation package and translations of manuals for MiR250 Dynamic, go to:
https://www.mobile-industrial-robots.com/product-documents/mir250-dynamic-hw-20-sw-2-v1/.
For online courses to strengthen your understanding of MiR products, go to MiRAcademy, and
make a free Academy account.
If you are looking for more documentation about all MiR products, go to MiRSupportPortal.
Make a free Support Portal account to gain access to the following resources:
Documentation
lIntegrator Manuals provide all the information you need to operate and maintain MiR robots.
Integrator Manuals are available in multiple languages. These guides are intended for PCM
(partly completed machinery)robots.
lQuick 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.
lUser guides provide all the information you need to operate and maintain MiR products 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.
lRisk assessment guide describes how to conduct a risk assessment and provides some risk
assessed use cases.
lCommissioning guide provides examples and guidelines to commission your robot
successfully.

1. About this document
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 7
lInterface guides contain descriptions of all the elements of the robot interface and MiRFleet
interface. Interface guides are available in multiple languages.
lBest practice guides provide helpful information you can use when commissioning or
operating your robot.
lREST API references for MiR robots, MiR hooks, and MiRFleet. HTTP requests can be used to
control robots, hooks, and MiRFleet.
lMiR Network and Wi-Fi guide specifies the performance requirements of your network and
how you must configure it for MiR robots and MiRFleet to operate successfully.
lCybersecurity guide provides important information and instructions to increase the
cybersecurity of your MiR product.
lHow-to guides are short guides providing instruction for maintenance, replacement,
commissioning, and other tasks related to MiRproducts.
lTroubleshooting guides can help you determine the cause of an issue you are experiencing
with your MiR product and how to resolve it.
lRelease notes of new products and hardware updates that describe what has been changed
and why.
lService notes notify of issues identified in MiR products and changes that are applied.
lSpare parts and additional products list all spare parts and accessories you can order for
robots.
lWarranty describes the MiR standard warranty agreement.
lCertificates and declarations for MiR products that prove compliance with standards.
lTechnical guides provide in-depth information about how MiR products work.
Models and drawings
lWiring diagrams are graphic representations of how the components in MiR robots are wired.
lCAD files of the robots that are made to scale can be used to help determine the dimensions
of the robot or for illustrative purposes.

1. About this document
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 8
Resources
lMiRLogAnalytics and MiR Insights are tools you can use to analyze how well your robots or
fleet are performing. MiR Log Analytics is a free tool that lets you analyze recorded
performance from error logs, and MiR Insights requires a paid license, but runs continuously
alongside MiR Fleet to give real-time data on several metrics.
lAprilTag collection can be used instead of generating your own AprilTags.
lSpace calculator determines the approximate amount of space your MiR robot will need to
operate depending on the size of its footprint.
lCommunity is a forum of MiR users with a collection of questions, recommendations,
webinars and other community driven material.
lMarketing and brand portal is a collection of our graphical elements where you can
download color schemes, rendered images of the robots, and icons.
1.2 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 description of how to apply the MiR250Dynamic SICK
configuration and dynamic footprint.
Added section: Enable dynamic footprint and SICK configuration.
lCorrected maximum current and voltage range for Isolated 24V pin.
Affects section:Electrical interfaces.
lAdded notice that the robot cannot detect forklift forks and empty
pallets reliably.
Affects section:General safety precautions.

1. About this document
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 9
Revision Description
2.0 Date: 2023-06-29
Robot HW: 2.0
lUpdated for hardware 2.0.
Affects sections:Getting the robot online, System emergency stop,
Nameplate, IDlabel.
lExpanded list of material you can find on MiR Support Portal and
added a link to a documentation package page.
Affects section:Where to find more information
lAdded performance level of the safety functions, improved the safety
function descriptions and section structure, and added information
about safety configuration.
Affects section:Safety-related functions and interfaces.
lAdded information about storage of robot.
Added section:Storage
lRestructured and moved sections.
Affects sections:Cybersecurity, Commissioning checklist, Work
environment requirements
lUpdates with new rendered images.
1.0 Date: 2021-09-17
Robot HW: 1.0
lFirst edition.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 10
2. Product presentation
MiR250 Dynamic is a component which is designed to be used as a generic base when designing
an autonomous mobile robot (AMR) for a specific application. The structure and electrical
interfaces allow a wide variety of top applications to be designed and integrated so that it forms a
complete AMR.
MiR250 Dynamic has a wide variety of functions and safety features required when designing an
application-specific AMR for material handling in an industrial environment.
2.1 External parts
Figure 2.1 MiR250 Dynamic external parts

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 11
Pos. Description Pos. Description
1 Corner bumper: four pcs., one
on each corner
2 Signal light: eight pcs., two on
each corner—see "Light
indicators and speaker" on
page19
3 3D depth camera: two pcs.,
both in the front
4 Caster wheel with foot guard:
four pcs., one in each corner
5 nanoScan3 safety laser scanner:
two pcs., in opposite corners
6 Drive wheel:two pcs., one on
each side of the robot.
7 Status light: on all four sides of
the robot—see "Light indicators
and speaker" on page19
8 Proximity sensor: eight pcs.,
two in each corner behind
corner covers
9 Control panel—see "Control
panel" below
10 Manual brake release switch—
see "Control panel" below
11 Top cover 12 Antenna:two pcs., one on each
top compartment cover
13 Nameplate 14 Left top compartment—see
"Top compartments" on
page18
15 Right top compartment—see
"Top compartments" on
page18
Table 2.1 Identification of the external parts in Figure 2.1
Control panel
MiR250 Dynamic has a control panel in the rear-left corner of the robot.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 12
Figure 2.2 The MiR250 Dynamic 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 2.2
Manual stop button
Pressing this button stops the robot. After pressing this button, you must press the Resume
button to let the robot continue operating.
Color indication:
lRed: It is possible to engage the Manual stop.
Resume button
Pressing this button:
lClears the Emergency or Protective stop state.
lLets the robot continue operating after the Manual stop button was pressed or after the
operating mode changes.
lLets the robot start operating after powering up.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 13
Color indication:
lBlinking blue: The robot is waiting for a user action. For example, press the button to clear a
Protective stop or acknowledge the change of operating mode.
Power button
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
lBlinking green: The robot is starting up.
lGreen: Normal operation.
lBlinking blue: The robot is checking that the battery level is high enough to start up.
lBlinking 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.
lLeft position: Autonomous mode. Puts the robot in Autonomous mode.
lMiddle position: Locked mode. Locks the robot. The robot blocks the wheels; you cannot start a
mission or drive the robot manually.
lRight position: Manual mode. Puts the robot in Manual mode.
Manual brake release switch
The Manual brake release switch is located below the control panel and releases the mechanical
brakes on MiR250 Dynamic. You release the robot's mechanical brakes by turning the Manual
brake release switch clockwise.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 14
Figure 2.3 Turn the Manual brake release switch clockwise to release the brakes
The mechanical brakes require electrical power to be released. To release the brakes, the robot
must be connected to an active and charged battery when you turn the switch—see "Connecting
the battery" on page36.
When the robot is driving, the robot engages and releases the mechanical brakes automatically.
You should only release the brakes manually when you want to move the robot by hand.
When you release the brakes manually, all power to the motors is cut. This means the robot loses
connection to some of the CAN bus nodes and the robot does not receive data that it needs to
localize itself. After moving the robot manually, you must correct the robot's location on the
map—see the guide How to use adjust localization. You can find this guide on MiR Support Portal.
Once you engage the automatic brake system, the connection to the CAN bus nodes is re-
established, and the robot can update its location on the map automatically.
The robot cannot operate while the mechanical brakes are released manually.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 15
2.2 Internal parts
Most internal parts of MiR250 Dynamic are accessed through covers that open to different
compartments—see "Accessing the internal parts" on page127.
CAUTION
Removing covers from the robot exposes parts connected to the power supply,
which can result in a short circuit that will damage the robot and could injure
personnel.
lBefore removing any covers, turn off the robot.
lStart by removing the rear cover, and disconnect the battery—see "Disconnecting
the battery" on page61.
Front compartment
Figure 2.4 Internal parts of the front compartment

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 16
Pos. Description Pos. Description
1 Robot computer 2 Motor controller carrier board
3 Loudspeaker 4 Charging pads under robot and
broom
5 3D cameras
Table 2.3 Identification of internal parts in Figure 2.4
Rear compartment
Figure 2.5 Internal parts of the rear compartment
Pos. Description Pos. Description
1 Battery 2 Battery connector
Table 2.4 Identification of internal parts in Figure 2.5

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 17
Pos. Description Pos. Description
3 Battery lever 4 Cable charging interface
5 Ethernet port 6 Battery lever lock
7 Safety PLC 8 Power board
9 Identificationlabel
Side compartments
NOTICE
The unique nameplate of your robot is on the right side compartment cover. Make
sure you do not swap the cover with covers from other robots.
Figure 2.6 Internal parts of the left side compartment

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 18
Pos. Description Pos. Description
1 Safe Stop 1 (SS1) contactor 2 Safe Torque Off (STO) contactor
3 Safe Torque Off (STO) contactor 4 Bogie and drivetrain
Table 2.5 Identification of internal parts in Figure 2.6
Figure 2.7 Internal parts of the right side compartment
Pos. Description Pos. Description
1 Switch 2 Safe Stop 1 (SS1) contactor
3 Bogie and drivetrain
Table 2.6 Identification of internal parts in Figure 2.7
Top compartments
For more information on electrical interfaces, see "Electrical interfaces" on page105.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 19
Figure 2.8 Interfaces in the top compartments
Pos. Description Pos. Description
1 Ethernet 2 Auxiliary power connector
3 Emergency stop 4 Left top compartment
5 Right top compartment 6 General purpose outputs
7 General purpose inputs 8 Auxiliary safety functions I/Os A
9 Auxiliary safety functions I/Os B
Table 2.7 Identification of interfaces in Figure 2.8
2.3 Light indicators and speaker
NOTICE
Warning sounds and indicator lights must be adjusted to the site during
commissioning—see MiR Commissioning Guide. You can find his guide on MiR
Support Portal.

2. Product presentation
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 20
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 2.9 Light indicators on MiR250 Dynamic
Pos. Description Pos. Description
1 Signal lights 2 Status lights
Table 2.8 Identification of light indicators in Figure 2.9