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.