MIR MIR250 User manual

Quick Start (en)
Date: 08/2022
Revision: v.1.5

MiR250 Quick Start (en) 08/2022 - v.1.5 ©Copyright 2020-2022: Mobile Industrial Robots A/S. 2
Table of contents
1. Version history 4
2. Safety 6
2.1 Safety message types 6
2.2 General safety precautions 8
2.3 Intended use 13
2.4 Users 14
2.5 Foreseeable misuse 16
2.6 Residual risks 17
2.7 Warning label 17
3. Storage 19
3.1 Preparing the robot for storage 19
3.2 Storage time 20
3.3 Inactive battery modes 20
4. Light indicators and speakers 22
4.1 Status lights 23
4.2 Signal lights 24
4.3 Speakers 24
5. Control panel 26
5.1 The control panel buttons 26
5.2 The Operating mode key 27
6. Accessing the internal parts 29
6.1 Front compartment 30

MiR250 Quick Start (en) 08/2022 - v.1.5 ©Copyright 2020-2022: Mobile Industrial Robots A/S. 3
6.2 Rear compartment 32
6.3 Side compartments 33
6.4 Top compartments 35
7. Cybersecurity 37
8. Getting started 38
8.1 In the box 38
8.2 Unpacking MiR250 39
8.3 Connecting the battery 43
8.4 Connecting to the robot interface 46
8.5 Driving the robot in Manual mode 48
8.6 Moving the robot by hand 51
8.7 Checking the robot 53
8.8 Mounting the nameplate 55
8.9 Shutting down the robot 57
8.10 Charging the robot 58

1. Version history
MiR250 Quick Start (en) 08/2022 - v.1.5 ©Copyright 2020-2022: Mobile Industrial Robots A/S. 4
1. Version history
This table shows current and previous versions of this document.
Revision Description
1.5 Date: 2022-08-12
Robot 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.
1.4 Date: 2022-03-31
Robot HW:1.0
•General improvements throughout the manual.
1.3 Date: 2020-11-30
Robot HW:1.0
•Added section: Charging the robot.
•General improvements throughout the manual.
MiR250

1. Version history
MiR250 Quick Start (en) 08/2022 - v.1.5 ©Copyright 2020-2022: Mobile Industrial Robots A/S. 5
Revision Description
1.2 Date: 2020-07-08
Robot HW:1.0
•General improvements throughout the manual.
1.1 Date: 2020-07-01
Robot HW:1.0
•General improvements throughout the manual.
1.0 Date: 2020-06-26
Robot 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.
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.

2. Safety
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NOTICE
Indicates important information, including situations that can result
in damage to equipment or property.

2. Safety
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2.2 General safety precautions
This section contains general safety precautions.
WARNING
Harmful electromagnetic interference might be the result of having
two radio modules transmitting at the same 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.

2. Safety
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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.

2. Safety
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•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.
•Modifications or manipulations of the battery may lead to
considerable safety risks and are 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.
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.

2. Safety
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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 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 for
MiR250 on the MiR website.
MiR250 is intended to be commissioned according to the guidelines in your
robot's user guide. This is a prerequisite for safe usage of MiR250.
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:
•Do not have any moving parts.
•Do not extend the physical dimensions of the robot.

2. Safety
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•Operate within the environmental conditions required for MiR250.
•Are 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:
•MiRShelfCarrier250 to transport MiR supported shelves
•MiRHook250 to tow carts
MiR250 can be used as a partly complete machine 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 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 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: commissioners, operators,
and direct users.

2. Safety
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Commissioners
Commissioners have thorough knowledge of all aspects of commissioning,
safety, use, and maintenance of MiR250 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, 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.
Operators
Operators have thorough knowledge of MiR250 and of the safety precautions
presented in this user guide. Operators have the following main tasks:
•Servicing and maintaining MiR250.
•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.
•Fastening loads to MiR250 securely.
•Loading and unloading from a paused robot.
All other persons in the vicinity of MiR250 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. Safety
MiR250 Quick Start (en) 08/2022 - v.1.5 ©Copyright 2020-2022: Mobile Industrial Robots A/S. 16
2.5 Foreseeable misuse
Any use of MiR250 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 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
The following list gives examples of custom modules that are foreseeable misuse
of MiR250:
•Top modules (including the payload) that increase the physical dimensions of
MiR250
•Conveyers (powered and non-powered)
•Industrial robot arms
•Devices that tow carts

2. Safety
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•Customized load transfer stations
•Top modules or modifications that use additional antennas or result in
transmitting radio signals simultaneously with the existing radio module.
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:
•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—see Cybersecurity on
page37.
NOTICE
Other significant hazards may be present in a specific robot
installation and must be identified during commissioning.
2.7 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
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Figure 2.1. The warning label must be placed on the robot or top module.

3. Storage
MiR250 Quick Start (en) 08/2022 - v.1.5 ©Copyright 2020-2022: Mobile Industrial Robots A/S. 19
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.
•The robot must be stored 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 upon separating from the battery charger or
robot. Never allow any moisture or foreign particles to get into the battery.
•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 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. Storage
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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.
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: