MIR MIR500 User manual

Quick start (en)
Date: 07/2019
Revision: v.1.2

Table of contents
1. Getting started 3
1.1 In the box 3
1.2 Unpacking MiR500 4
2. Commissioning 7
2.1 Powering up 7
2.2 Connecting to the robot interface 9
2.3 Driving the robot in manual mode 10
2.4 Checking the hardware status 12
2.5 Shutting down the robot 14
2.6 Charging the robot 14
2.7 MiR500 control panel 15
2.8 MiR500 operating modes 17
2.9 Packing for transportation 19
3. Safety 22
3.1 Safety message types 22
3.2 General safety precautions 23
3.3 Intended use 24
3.4 Foreseeable misuse 25
3.5 Risk assessment 26
3.6 Residual risks 26
3.7 Safety-related functions and interfaces 27
3.8 Limiting safety-related functions 27
3.9 Safety-related electrical interfaces 28
3.10 Lithium battery 31

1. Getting started
MiR500 Quick start (en) 07/2019 - v.1.2 ©Copyright 2019: Mobile Industrial Robots A/S. 3
1. Getting started
This section describes how to get started with MiR500.
1.1 In the box
This section describes the content of the MiR500 box.
The box contains:
1. The MiR500 robot
2. MiR500 document folder containing the printed documents and the USB flash drive.
3. Printed documents:
•MiR500 Quick Start
•MiR username and passwords
•CE declaration of conformity
4. USB flash drive with the following content:
•MiR500 User Guide
•MiR Robot Interface 2.0 Reference guide
•MiR robot REST API reference
•MiRCharge48V Operating Guide
•MiR500Lift Operating Guide
•MiR500EUPalletLift Operating Guide
•MiR username and passwords
•CE declaration of conformity

1. Getting started
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1.2 Unpacking MiR500
This section describes how to unpack MiR500.
Keep the original packaging for the future transportation of the robot.
The robot is shown with a EU pallet lift.
1. Place the box with the robot so that there is 3m of free space at the front or the back of
the box. This is necessary since the robot drives out of the box on the ramp.
2. Remove the screws that attach the walls of the box to the box lid and the base of the box.
3. Remove the lid from the box.

1. Getting started
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4. Take the folder with the printed documents and the USB drive out of the box.
5. Remove the walls of the box and the protective foam blocks.
6. Cut the protective straps.

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7. Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush
with the base of the box.
8. Remove the wheel stop board from the pallet to let the robot drive on the ramp.

2. Commissioning
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2. Commissioning
This section describes how to get started with MiR500.
NOTICE
Read Safety on page22 before powering up the robot.
2.1 Powering up
Follow these steps to power up MiR500.
1. Open the rear maintenance hatch. To open the hatch, push two buttons on the hatch and
pull the hatch.
2. Turn the battery disconnect switch to position ON.
3. The On/Off button turns blue.
See MiR500 control panel on page15.

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4. Close the maintenance hatch.
5. Ensure that all four emergency stop buttons are in the released state. Turn an emergency
stop button clockwise to release it.
6. Press the On/Off button for five seconds.
7. The robot turns on the red indicator lights and starts the software initialization process.
When the initialization process ends, the robot goes into the emergency stop mode.

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8. Press the Restart button to clear the emergency stop. The robot is ready for operation,
the status lights turn constant red.
2.2 Connecting to the robot interface
When the robot is on, it enables the connection to its WiFi access point. The name of the
access point appears in the list of available connections on your PC, tablet or phone.
NOTICE
The username and password for the robot’s WiFi access point and for access-
ing the web interface are in the MiR username and passwords document. The
document is in the box with the robot.
Follow these steps to connect to the robot interface:
1. Using your pc, tablet or phone, connect the WiFi access point of the robot. The access
point name has the following format: MiR_UXXXX.

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2. In a browser, go to the address mir.com and sign in.
3. Switch to manual mode, and drive the robot down the ramp, see section Driving the
robot in manual mode on page1.
2.3 Driving the robot in manual mode
To drive the robot in Manual mode:
1. Put the Operating mode key into the Manual mode (turn to the right).
2. In the robot interface, select the joystick icon. The joystick control appears.
3. Select Manual control. The Restart button on the robot starts blinking.

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4. Press the Restart button. The status lights turn blue indicating that the robot is in Manual
mode.
Note! The robot is shown with an EU pallet lift.

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5. Drive the robot using the joystick.
2.4 Checking the hardware status
To check that all hardware components work as intended follow the steps below:
1. Sign in to the robot interface. See the section Connecting to the robot interface on
page1.
2. Go to Monitoring >Hardware health.

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3. Check that all elements on the page have the OK status and that they have green dots on
the left.
For more information, see Hardware health in MiR Robot Interface 2.0 Reference Guide.

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2.5 Shutting down the robot
To shut down MiR500:
1. Ensure that the robot is not moving or executing an action.
2. Press the On/Off button for five seconds.
3. The robot starts the shutdown process. Status lights blink yellow, the On/Off button blinks
red.
4. When the robot finishes the shutdown process, the status and the signal lights go off, the
On/Off button turns blue.
If shutting the robot down for transportation or service/repair, the battery disconnect switch
must be turned off as well and the battery cable disconnected, see MiR500 User guide.
2.6 Charging the robot
A charger cable and an external charger is not part of the MiR500 standard
delivery.
To charge MiR500 using the cable charger:
1. Open the maintenance hatch at the back of the robot. To open the hatch, push two
buttons on the hatch and pull the hatch.

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2. Connect the charger cable to the charging connector on the robot.
For information about the charging time, see the robot specifications at www.mir-
robots.com.
2.7 MiR500 control panel
MiR500 has a control panel in the rear-left corner of the robot.

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The Operating mode key
The Operating mode key lets you switch between operating modes.
•Left position: Autonomous mode.
Puts the robot in the Autonomous mode.
•Middle position: Stop.
Stops the robot. The robot blocks the wheels, you cannot start a mission or drive the robot
manually.
•Right position: Manual mode.
Puts the robot in the Manual mode.
For more information on operating modes, see MiR500 operating modes on the next page.
The control panel buttons
The buttons on the control panel have the following functions.
1. Stop 3. On/Off
2. Restart
Stop
Pressing the button stops the robot. After pressing this button, you must press the Restart
button to let the robot continue operating.
Color indication:
•Red: The robot is on.
Restart
Pressing this button:

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•Clears the emergency stop state.
•Lets the robot continue operating after the Stop button was pressed.
•Lets the robot continue operating after powering up or after the operating mode change.
Color indication:
•Blinking red: The robot is waiting for a user action (clear the emergency stop state,
acknowledge the change of operating mode, etc.)
On/Off
Pressing this button for five seconds turns the robot on or shuts it down.
Color indication:
•Blue: The robot is off.
•Blinking green: The robot is starting up.
•Green: Normal operation.
•Red: The robot detected an error.
•Yellow: The battery level is low.
2.8 MiR500 operating modes
MiR500 has the following operating modes:
Manual mode
In this mode, you can drive the robot manually using the joystick in the robot interface. Only
one person can control the robot manually at a time. To ensure that nobody else takes
control of the robot, the robot issues a token to the device on which you activate the Manual
mode.
For information about activating this mode, see section Driving the robot in manual mode on
page10.
Autonomous mode
In this mode, the robot executes the programmed mission. After switching the key to this
mode, you can remove the key and the robot will continue driving autonomously. The
joystick is disabled in the robot interface.

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Muting of the personnel detection means
When performing tasks that require to move very close to surrounding objects, the robot
mutes the personnel detection means. Docking to a pallet rack is the example of such task.
When muting the personnel detection means, the robot does the following:
•Reduces the size of the safety zones.
•Turns the collision detection off.
•Decreases the speed.
•Flashes the yellow indicator lights.
You can also mute the personnel detection means using the robot interface:
•Put the robot into the Manual mode. See section Driving the robot in manual mode on
page10
•In the robot interface, in the Joystick control, select Mute personnel detection means.
•In the prompt dialog, select Yes to acknowledge the muting of personnel detection means.
The status and the signal lights start flashing yellow, the robot is ready to drive with muted
personnel detection means.

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2.9 Packing for transportation
This section describes how to pack the robot for transportation.
Original packaging
Use the original packaging materials when transporting the robot.
Note! The robot is shown with a EU pallet lift.
The packaging materials are:
•The bottom of the box (the pallet).
•The lid of the box (the ramp).
•The walls of the box.
•The wheel stop board.
•Protective foam blocks: Side blocks and the top layer.
•Protective corner braces. The braces prevent the robot from being damaged by the trans-
port straps.
•Screws.

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Packing the robot for transportation
To pack the robot for transportation:
1. Shut down the robot. See section .
2. Open the rear maintenance hatch.
3. Turn the battery disconnect switch to position OFF.
Repeat the steps in section Getting started on page3 in the reverse order.
NOTICE
Pack and transport the robot in an upright position. Packing and transporting
the robot in any other position voids the warranty.
Battery
The lithium battery is subject to transport regulations. Make sure that you follow the safety
precautions in this section and the instructions in section Packing for transportation on the