MIR MIR250 User manual

MiR250 User Guide
Date: 09/2023
Version: 2.1 (en)
Robot hardware version: 2.1

Copyright and disclaimer
MiR250 User Guide (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 User Guide (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 13
2.1 Intended use 13
2.2 Specifications 14
2.3 Required space 16
2.4 Compatible products 18
2.5 External parts 19
2.6 Internal parts 20
2.7 System overview 25
2.8 Warranty 26
3. Safety 27
3.1 Safety message types 27
3.2 General safety precautions 28
3.3 Warning label 31
3.4 Foreseeable misuse 31
3.5 Residual risks 32
4. Getting started 34
4.1 In the box 34
4.2 Unpacking MiR250 35
5. Usage 39
5.1 Powering up the robot 40
5.2 Shutting down the robot 41
5.3 Connecting to the robot interface 42

Table of contents
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 4
5.4 Connecting the robot to a Wi-Fi network 44
5.5 Control panel 46
5.6 Preventing unauthorized use 48
5.7 Operating the robot 49
5.8 Moving the robot by hand 53
5.9 Types of stop 54
5.10 Manual brake release switch 57
5.11 Light indicators and speaker 58
5.12 Error handling 62
6. Safety-related functions and interfaces 65
6.1 Safety functions overview 66
6.2 Safety-related functions 73
6.3 Safety-related interfaces for top modules 83
7. User training and responsibilities 88
7.1 User responsibilities 88
7.2 User training 89
8. Accessing the internal parts 97
8.1 Front compartment 97
8.2 Rear compartment 99
8.3 Side compartments 101
8.4 Top compartments 103
9. Maintenance 105
9.1 Weekly cleaning tasks for all users 105
9.2 Maintenance tasks for operators 107
10. Storage 116
10.1 Preparing the robot for storage 116
10.2 Storage time 116
11. Battery and charging 118
11.1 Connecting the battery 120
11.2 Disconnecting the battery 123

Table of contents
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 5
11.3 Enabling fast swap 125
11.4 Swapping out the lithium-ion battery 127
12. Operating hazard zones 129
13. Commissioning overview 130
14. Brake test 132
14.1 Dependent factors 132
14.2 Brake test method 134
15. Mounting a top module 142
16. Electrical interfaces 144
16.1 Left side interfaces 144
16.2 Right side interfaces 152
16.3 Connector list 161
17. Transportation 163
17.1 Lifting MiR250 163
17.2 Packing the robot for transportation 165
17.3 Transporting the battery 166
18. Disposal 168
19. Payload distribution 169
19.1 Side view 170
19.2 Front view 172
19.3 Top view 174
20. Declaration of conformity example 176
21. Glossary 177

1. About this document
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 6
1. About this document
This user guide explains how to set up and start operating your MiR250 robot. This guide also
contains information regarding the external and internal components of MiR250 along with
instructions for proper maintenance of the robot. You will also find information regarding safety
and specifications needed to commission a safe MiR250 robot application.
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, go to: https://www.-
mobile-industrial-robots.com/product-documents/mir250-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 User Guide (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 User Guide (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.

1. About this document
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 9
Revision Description
2.1 Date: 2023-09-21
Robot HW:2.0
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.
lDescription of how to lift the robot.
Affects section:Transportation.
lAdded warning to ensure all personnel wear safety shoes.
Affects section:General safety precautions.
lAdded warning regarding clearing missions and re-added section Error
handling section.
Affects section:Error handling

1. About this document
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 10
Revision Description
2.0 Date: 2023-06-29
Robot HW:2.0
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.
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
lChanged name of Shared emergency stop function to System
emergency stop function.
Affects sections:Electrical interfaces and Safety-related functions and
interfaces.
lUpdated sizes of the Protective fields.
Affects section:Personnel detection.
lAdded information about the new Ethernet port in the rear
compartment.
Affects section:Internal parts.
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 ESDcheck and safety component replacement to maintenance,
and added description of effects if maintenance is neglected.
Affects section:Maintenance.
lRemoved commissioning section and added reference to MiR
Commissioning Guide instead.
Affects section:Commissioning.
lUpdated status light table.
Affects section:Light indicators and speakers.
lAdded sections:Specifications and Space requirements.
lChanged structure and order of content
lUpdated copyright.
lUpdated reference to robot or MiR Fleet reference guide to interface
guide.
lUpdated style.

1. About this document
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 11
Revision Description
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.
lUpdated sections: Applications, Obstacle detection, Battery disposal,
Disposal of robot, Interface specifications, Markers, and External parts.
lUpdated manual to ensure compliance with radio equipment
directives.
Affects sections: General safety precautions and Foreseeable misuse.
lAdded warning not to use two chargers to charge the robot
simultaneously.
lAdded notice that cable chargers only charge the robot's battery to
80–90%.
Affects section: Charging the robot.
lAdded information about laser scanner range.
Affects section:Obstacle detection.
lAdded information about camera vertical angle.
Affects section:Obstacle detection.
lAdded information about wheel wear down tolerance.
Affects section:Maintenance.
lGeneral improvements throughout the manual.

1. About this document
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 12
Revision Description
1.4 Date: 2022-03-31
Robot HW:1.0
lAdded sections: Enabling fast swap and Swapping out the lithium-ion
battery.
lGeneral improvements throughout the manual.
1.3 Date: 2020-11-30
Robot HW:1.0
lAdded sections: Warranty, Markers, and Positions.
lUpdated section: Battery storage with Power save mode and Deep
sleep mode.
lGeneral improvements throughout the manual.
1.2 Date: 2020-07-08
Robot HW:1.0
lUpdated section: Operating hazard zones.
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. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 13
2. Product presentation
MiR250 is an autonomous mobile robot that can transport loads up to 250 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR250 via a web-based user interface—see "Connecting to the robot interface" on
page42.
Program missions to send the robot to locations in its work areas. Missions can be initiated on
demand or scheduled to run autonomously using an externalsystem. The robot uses a map of its
work area to plan paths between positions. While operating, the robot automatically avoids
obstacles and personnel and replans its route if its chosen route is blocked.
For more information about how to set up the site, see MiR Commissioning Guide. You
can find this guide on MiR Support Portal.
2.1 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" on the next page.
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—see
"Safety-related functions and interfaces" on page65.
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 "Payload distribution" on page169.

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 14
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.
2.2 Specifications
For a complete list of all the robot specifications, see MiR Support Portal.
Robot specifications
Model MiR250
Maximum speed 2m/s
IPrating IP21
Maximum payload 250kg

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 15
Battery
Battery model MiR 48VBattery
Battery type Lithium-ion
Battery weight 14kg
Battery dimensions 495×210×75mm
Environment
Maximum incline/decline 5% at 0.5 m/s
Maximum traversable gap 20mm
Maximum traversable step 20mm
Storage temperature (3 month
storage) -20–45°C
Operation temperature 5–40°C
Floor surface condition Clean and dry
Floor to wheel frictional coefficient 0.60–0.80 (recommended)
Material the robots cannot detect
reliably Transparent, translucent, glossy, reflective, and light emitting 1
Optimal light conditions Even and steady lighting (strong directional light can cause the
robot to detect non-existent obstacles)
1We recommend either avoiding these materials, covering them with opaque and matte material the robot can detect, or
ensuring the robot does not operate in areas with these materials.

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 16
2.3 Required space
The required space dimensions for your robot are illustrated in the following images.
For more information about how you can use zones and modified settings to reduce
the space requirements, see MiR250 Space Requirement Best Practices. If you modify
the footprint of the robot, you can use the Space calculator to determine an estimate
of how much space the robot needs. You can find the guide and calculator on MiR
Support Portal.
Figure 2.1 The required space when the robot drives straight
Figure 2.2 The required space when the robot takes a 90° turn

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 17
Figure 2.3 The required space when the robot drives through a doorway
Figure 2.4 The required space when two robots pass each other
Figure 2.5 The required space when the robot pivots

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 18
2.4 Compatible products
The following top modules are available for MiR250:
lMiRShelfCarrier250
A top module that allows MiR250 to tow shelves.
lMiRHook250
A top module that allows MiR250 to tow carts.
For more information about top modules from MiR, see MiR Accessories on
www.mobile-industrial-robots.com. For more information about top modules from
third parties, see MiRGo on www.mobile-industrial-robots.com.
The following accessories are available for MiR250:
lMiRFleet
MiRFleet offers centralized control of robots throughout all of your facility. MiRFleet is
available as an installation file you can install on a server of your choice or as a computer
server where MiRFleet comes pre-installed.
lMiRCharge48V
MiRCharge48V enable MiR robots to recharge their batteries. Together with MiRFleet,
charging of robots can be fully automated, ensuring that robots never run out of power during
missions.

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 19
2.5 External parts
Figure 2.6 MiR250 external parts
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58
3 3D depth camera: two pcs.,
both in the front
4 Caster wheel with foot guard:
four pcs., one in each corner
Table 2.1 Identification of the external parts in Figure 2.6

2. Product presentation
MiR250 User Guide (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 20
Pos. Description Pos. Description
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58
8 Proximity sensor: eight pcs.,
two in each corner behind
corner covers
9 Control panel—see "Control
panel" on page46
10 Manual brake release switch—
see "Control panel" on page46
11 Top cover 12 Antenna:two pcs., one on each
top compartment cover
13 Nameplate 14 Left top compartment—see
"Top compartments" on
page24
15 Right top compartment—see
"Top compartments" on
page24
2.6 Internal parts
Most internal parts of MiR250 are accessed through covers that open to different
compartments—see "Accessing the internal parts" on page97.
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123.