Mir Shelf lift User manual

Operating guide (en)

Date: 12/2019

Revision: v.1.0

express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties,

express or implied, in respect of this document or its contents. In addition, the contents of

the document are subject to change without prior notice. Every precaution has been taken in

the preparation of this manual. Nevertheless, MiR assumes no responsibility for errors or

omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mobile-industrial-robots.com

Phone: +45 20 377 577

Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 5

1.1 Where to find more information 5

1.2 Version history 6

2. Safety 7

2.1 Safety message types 7

2.2 Users 8

3.1 General safety precautions 9

3.2 Risk assessment 11

3.3 Intended use 11

3.4 Foreseeable misuse 12

3.5 Residual risks 12

4. Product presentation 14

4.1 Shelf specifications 14

5. Getting started 19

5.1 In the box 19

5.2 Mounting MiRShelf Lift 19

5.3 Enable MiRShelf Lift feature 29

5.4 Testing MiRShelf Lift 31

6. Commissioning 33

6.1 Using MiRShelf Lift 33

6.2 Resetting Lift after turning on the robot 33

6.3 Lift modifications 35

6.4 Adjusting the protective field sets 37

6.5 Mark potentially hazardous floor areas 41

7. Usage 47

7.1 Creating a marker type 47

7.2 Setting shelf positions on the map 50

7.3 Placing positions closer using VL-markers 52

7.4 Creating footprint 58

7.5 Creating a pick up shelf and place shelf mission 60

7.6 Reverse docking shelf mission/creating marker type 65

8. Maintenance 72

8.1 Regular weekly checks and maintenance tasks 72

8.2 Regular checks and replacements 72

9. Troubleshooting 74

9.1 Shelf options are not available in the robot interface 74

9.2 Robot docking imprecisely or not docking at all to shelf 74

9.3 Robot turning strangely when docking 74

9.4 Robot placing shelf imprecisely 74

9.5 Robot going into protective stop while driving with shelves 75

10. Glossary 76

1. About this document

This guide describes how to set up and use MiRShelf Lift for MiR500/MiR1000. It includes

information regarding safe usage, how to commission and operate MiRShelf Lift, and how

to create missions that use MiRShelf Lift.

1.1 Where to find more information

At www.mobile-industrial-robots.com, several additional resources are available. To access

more information, sign in to the Distributor site with your distributor account at

http://www.mobile-industrial-robots.com/en/account/. The following resources are

available:

•Distributor site > Manuals

http://www.mobile-industrial-robots.com/en/account/manuals/

This page contains the following resources:

•Quick starts describe how you start operating MiR robots quickly. This document is in

print in the box with the robots. Quick starts are available in multiple languages.

•User guides provide all the information you need to operate and maintain MiR robots.

User guides are available in multiple languages.

•Risk Analysis Guides include guidelines for how to create a risk assessment of your

robot solution.

•Commissioning guides describe how to commission your robot safely and prepare it to

operate in the workplace.

•Operating guides describe how to set up and use add-ons, such as charging stations,

hooks, shelf lifts, and pallet lifts.

•Getting started guides describe how to set up products that are mainly software

based, such as MiR Fleet and MiR AI Camera.

•Reference guides contain descriptions of all the elements of the robot and MiR Fleet

interface. Reference guides are available in multiple languages.

•REST API references for robots, MiRHook, and MiR Fleet.

•MiR network requirements specify the performance requirements of your network

for MiR robots and MiR Fleet to operate successfully.

1. About this document

•Distributor site > Download

http://www.mobile-industrial-robots.com/en/account/download/

This page contains the following resources:

•Software and Product Release Notes for your MiR product are displayed by selecting

your product in the drop-down menu.

•CAD drawings of MiR products are displayed by selecting Show CAD-files.

•Certificates for the MiR products and Declarations of Conformity are displayed by

selecting Show Certificates.

•Distributor site > FAQ

https://www.mobile-industrial-robots.com/en/account/faq/

This page contains frequently asked questions regarding MiR products.

•Distributor site > How to

http://www.mobile-industrial-robots.com/en/account/how-to/

This page contains how-to guides that describe how to perform specific tasks with MiR

products.

•Distributor site > Troubleshooting

https://www.mobile-industrial-robots.com/en/account/troubleshooting/

This page contains troubleshooting guides to solve common issues with MiR products.

•MiRShelf Lift product page

robots.com/en/products/mir-add-ons/mir-shelf-lift/

This page contains specifications, pictures, and brochures for MiRShelf Lift.

1.2 Version history

This table shows current and previous versions of this document and their interrelations with

hardware releases.

Revision Release date Description HW

1.0 2019-10-20 First edition. 1.0

2. Safety

Read the information in this section before powering up and operating MiRShelf Lift.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiRShelf Lift or its

accessories are damaged, changed, or modified in any way. Mobile Industrial

Robots cannot be held responsible for any damages caused to MiRShelf Lift,

accessories, or any other equipment due to programming errors or

malfunctioning of MiRShelf Lift.

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 serious injury or

death.

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.

NOTICE

Indicates important information, including situations that can result in damage

to equipment or property.

2. Safety

2.2 Users

MiRShelf Lift is only intended to be used by personnel that have received training in their

required tasks.

There are three types of intended users for MiRShelf Lift:

Commissioners

Commissioners1have received extensive training in the full use of MiRShelf Lift and have

the following main tasks:

•Commissioning the product. This includes creating maps and restricting the user interface

for other users.

•Making the risk assessment.

•Determining the payload limit, weight distribution, and safe fastening methods of loads

on MiRShelf Lift.

•Ensuring the safety of nearby personnel when the robot is accelerating, braking, and

maneuvering.

Operators

Operators have thorough knowledge of MiRShelf Lift and of the safety precautions

presented in the user guide of MiR500/MiR1000 and operating guide of MiRShelf Lift.

Operators have the following main tasks:

•Servicing and maintaining MiRShelf Lift.

•Creating and changing missions and map positions in the robot interface.

Direct users

Direct users are familiar with the safety precautions in the operating guide and have the

following main tasks:

•Assigning missions to MiRShelf Lift.

•Fastening loads to MiRShelf Lift properly.

All other persons in vicinity of MiRShelf Lift are considered indirect users and must know

how to act when close to the robot. For example, they must be aware that visibly marked

operating hazard zones must be respected.

1A user group responible for: comissioning the robot, creating a risk assessment, and

determining safe payloads and methods of fastening loads.

3.1 General safety precautions

This section contains general safety precautions.

WARNING

Risk of injury if MiRShelf Lift is not running on the correct software and is

therefore not functioning properly.

•Ensure that MiRShelf Lift is always running on the correct software.

WARNING

Risk of injury if a person is standing next to MiRShelf Lift when it is docking to

a shelf.

•Ensure that docking positions are clearly marked as operating hazard zones

with visible tape or similar marking, and that all personnel are instructed

not to stand close to MiRShelf Lift when it is docking to a shelf.

WARNING

Risk of injury, damage, and mechanical failure if MiRShelf Lift is used to

transport pallets or anything other than safely commissioned shelves.

•Only use MiRShelf Lift to transport safely commissioned shelves.

WARNING

Risk of injury if a person puts their foot under a shelf that is being lowered by

MiRShelf Lift.

•All personnel must be instructed not to enter operating hazard zones and to

wear safety shoes.

WARNING

Risk of injury if a person is standing in the blind spot of MiRShelf Lift when

pivoting with a shelf.

•Ensure that all nearby personnel are instructed not to stand close to

MiRShelf Lift when it is pivoting.

WARNING

Risk of serious hand injury if a person reaches in between MiRShelf Lift and a

shelf when the shelf is being picked up.

•Ensure that docking positions are clearly marked as operating hazard zones

with visible tape or similar marking, and that all personnel are instructed

not to stand close to MiRShelf Lift when it is docking to a shelf.

WARNING

Risk of serious hand injury if a person reaches in between MiRShelf Lift and

MiR500/MiR1000 when the lift is being lowered.

•Ensure that docking positions are clearly marked as operating hazard zones

with visible tape or similar marking, and that all personnel are instructed

not to stand close to MiRShelf Lift when it is placing a shelf.

CAUTION

Zones intended for placing and picking up shelves must be designated

operating hazard zones.

•Ensure that all nearby personnel is instructed to stay clear of operating

hazard zones when MiR500/MiR1000 with MiRShelf Lift is in the zone or

approaching the zone.

3.2 Risk assessment

You must make a risk assessment to achieve a safe installation. The risk assessment is the

responsibility of the commissioner who must ensure that MiRShelf Lift is commissioned

safely in the environment it will be used in.

The risk assessment must cover not only MiRShelf Lift itself, but also take into account

potential load transfer stations, work cells, the work environment, and the robot that it is

operating on. MiR does not take any responsibility for the creation of the risk assessment,

but we provide information and guidelines that may be used in the MiR 500 and MiR1000

Risk Analysis Guide found on the Distributor Site under Manuals.

It is recommended that the commissioner follows the guidelines in ISO 12100, EN 1525, ANSI

B56.5, or other relevant standards to conduct the risk assessment.

In EN 1525, clause 4, there is a list of significant hazards, hazardous situations, and events

that can be used for inspiration.

3.3 Intended use

MiRShelf Lift is a partly completed machine as defined in the EU machinery directive and

does not have a CE mark. A correctly installed MiRShelf Lift is covered by the CE mark of

MiR500/MiR1000. However, a CE marked product does not guarantee a CE marked setup. It

is the responsibility of the commissioner to safely commission MiRShelf Lift.

MiRShelf Lift 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 MiR500/MiR1000 should operate, see technical specifications on our website.

MiRShelf Lift is intended to be commissioned according to Commissioning on page33. This

is a prerequisite for safe usage of MiRShelf Lift.

MiRShelf Lift is intended to transport shelves that fulfill the dimension specifications

described in Shelf specifications on page14.

NOTICE

The safety sections in this guide only addresses shelves with asymmetric legs

and the corresponding configuration of the safety laser scanners.

3.4 Foreseeable misuse

Any use of MiRShelf Lift deviating from the intended use is deemed as misuse. This includes,

but is not limited to:

•Using MiRShelf Lift to transport people

•Using MiRShelf Lift on inclines

•Exceeding the maximum payload

•Positioning or fastening load incorrectly according to the specifications

Refer to the user guide of your robot for payload specifications.

•Failing to make a risk assessment of the full installation

Refer to Risk assessment on the previous page.

•Failing to follow the guidelines for commissioning

Refer to Commissioning on page33.

•Driving with anything other than safely commissioned shelves

•Use in medical and life critical applications

•Operating outside the permissible operating parameters and environmental

specifications

•Use in potentially explosive environments

•Use outdoors

•Use in hygiene zones

3.5 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners

must inform personnel about and take all precautions to avoid:

•Risk of being run over, drawn in, trapped, or impacted when a person stands in the path

of MiR500/MiR1000 or walks towards MiR500/MiR1000 while it is docking to a shelf.

•Risk of being crushed or trapped between MiRShelf Lift and a shelf while the lift is

picking up the shelf. Please notice the safety stickers on MiRShelf Lift.

NOTICE

Other significant hazards may be present in a specific robot installation and

must be identified during commissioning.

NOTICE

All risks and foreseeable misuses relevant to MiR500/MiR1000 also apply to

MiRShelf Lift. Refer to the MiR500/MiR1000 User guide for more

information.

4. Product presentation

MiRShelf Lift is a top application that can be mounted on a MiR500/MiR1000 robot and

autonomously pick up and place shelves. The robot with a MiRShelf Lift works indoors within

production facilities, warehouses, and in a host of other industrial locations.

The payload of MiRShelf Lift is 1,000 kg, but the payload consists of both the weight of the

shelf and its load, and when mounted on MiR500/MiR1000, robot payloads apply.

•When mounted on MiR500, the maximum payload is 500 kg minus the weight of the shelf

and MiRShelf Lift.

•When mounted on MiR1000, the maximum payload is 1,000 kg minus the weight of the

shelf and MiRShelf Lift.

The commissioner or operator provides the destination of product delivery or pick up via the

web-based robot interface. MiR500/MiR1000 with a MiRShelf Lift can be set up to run a

fixed route, be called on demand, and perform complex missions.

MiRShelf Lift picks up standalone shelves that are not required to be in a docking station,

pallet rack, or similar. MiR500/MiR1000 locate shelves solely by shelf positions on the map.

For increased precision when docking, it is possible to use markers, such as VL-markers, to

specify an exact position where the robot can dock to pick up a shelf.

MiRShelf Lift is the only MiR Lift that can drive with the lift raised and thus the only lift that

can transport shelves.

MiR500/MiR1000 with a MiRShelf Lift drives with the same speed when transporting

shelves as when driving without a top application. See technical specifications for

MiR500/MiR1000 on the MiR website.

For MiRShelf Lift to comply with safety standards and to function properly, shelves must be

designed according to specifications supplied in Shelf specifications below.

4.1 Shelf specifications

MiR supports four variations of shelves for MiR Shelf Lift:

•Narrow shelf with asymmetric legs.

•Wide shelf with asymmetric legs.

•Narrow shelf with symmetric legs.

•Wide shelf with symmetric legs.

4. Product presentation

MiR Shelf Lift is intended to be used with shelves with asymmetric legs. MiR has described

safety and residual risks according to intended use and has tested the docking procedure

with this application. MiR only provides standard configurations for the safety laser scanners

for shelves with asymmetric legs.

Shelves with symmetric legs create significantly larger blind spots for the robot compared to

shelves with asymmetric legs because the legs interfere more with the field of view of the

safety laser scanners. Therefore, MiR Shelf Lift is not intended to be used with shelves with

symmetric legs. MiR has tested the docking procedure with shelves with symmetric legs but

does not deliver standard configurations for the safety laser scanners nor describe safety or

residual risks with this application.

NOTICE

Avoid making the legs of the shelves in high gloss material as this might affect

docking.

4. Product presentation

Shelf with asymmetric legs

When building a shelf with asymmetric legs, it is important to use transverse stabilizers to

keep the structure from tipping.

Figure 4.1. To be in compliance with the intended use of MiRShelf Lift, follow these measurements when

making narrow or wide shelves for MiR Shelf Lift with asymmetric legs.

4. Product presentation

Shelf with symmetric legs

CAUTION

Risk of injury if MiRShelf Lift is used to transport a shelf with symmetric legs

outside operating hazard zones.* See Mark potentially hazardous floor areas

on page41

•Only use MiR Shelf Lift in operating hazard zones when operating with

shelves with symmetric legs.

*An operating hazard zone is a zone where the personnel detection means of

the robot are reduced or muted, and where persons therefore risk colliding with

the robot. The operating hazard zone must be clearly indicated by suitable

signs or preferably floor markings. Confusion with other markings and signs

must be avoided.

4. Product presentation

Figure 4.2. To be in compliance with MiR's docking tests, follow these measurements when making narrow or

wide shelves for MiR Shelf Lift with symmetric legs.

Payload

The payload of MiRShelf Lift is 1000 kg.

However, the same payload restrictions for MiR500/MiR1000 apply when MiRShelf Lift is

mounted to it. The maximum safe payload depends on the design of the shelf.

See Product presentation on page14 for more information.

CAUTION

Risk of injury if excessive or incorrectly distributed loads are fastened to

MiRShelf Lift.

•Determine the maximum safe payload for your shelf and a secure fastening

solution during commissioning.

5. Getting started

This section describes how to get started with MiRShelf Lift. To be able to use MiRShelf Lift

with MiR500/MiR1000, your robot must be running software version 2.8.0 or higher.

The procedure for getting started with MiRShelf Lift is the same for MiR500 and MiR1000

robots.

NOTICE

Read Safety on page7 before powering up the robot.

5.1 In the box

This section describes the content of the MiRShelf Lift box.

The box contains:

1. MiRShelf Lift including cables

2. Four safety stickers

3. Anti-slip paper

4. A MiRShelf Lift document folder containing the following printed documents:

•MiRShelf Lift Mounting guide

•EC declaration of incorporation

5.2 Mounting MiRShelf Lift

This section describes how to mount MiRShelf Lift on MiR500/MiR1000. Before mounting,

turn off the robot and read the section Safety on page7.

5. Getting started

Figure 5.1. Top view of MiR500/MiR1000

Label Description Label Description

1 Left cover plate 2 Right cover plate

Table of contents

Popular Robotics manuals by other brands

YASKAWA

YASKAWA MOTOMAN-MPL80 II instructions

Slamtec

Slamtec Mercury H2 product manual

Endress+Hauser

Endress+Hauser analytikjena CyBio Carry Assembly instructions

Spectron Toys

Spectron Toys ROBO MAX TR41573 instructions

AC Air Technology

AC Air Technology AC TRACKTECH T1X4 instruction manual

Toshiba

Toshiba TH650A instruction manual

4M KidzRobotix Drummer Robot instruction manual

Erector

Erector SpyKee instruction manual

ABB

ABB IRB 760 Product specification

Microbric

Microbric Edison V3 Getting started

XYZrobot

XYZrobot A1-16 user manual

Mime Industries

Mime Industries MeArm v1.0 Assembly manual

Epson

Epson VT Series Maintenance manual

ZoraBots

ZoraBots Billy-Billy quick guide

dji

dji Robomaster S1 quick start guide

Steren

Steren K-715 manual

SOFT ROBOTICS

SOFT ROBOTICS mGrip P4Y quick start guide

SoftBank

SoftBank Pepper manual

MIR Shelf Lift User manual

Popular Robotics manuals by other brands