Mobile industrial robots Mir1000 User manual

User guide (en)

Date: 09/2019

Revision: v.1.2

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 6

1.1 Where to find more information 6

1.2 Version history 7

2. Safety 8

2.1 Safety message types 8

2.2 General safety precautions 9

2.3 Intended use 11

2.4 Users 12

2.5 Foreseeable misuse 13

2.6 Risk assessment 14

2.7 Residual risks 14

2.8 Safety-related functions and interfaces 15

2.9 Lithium battery 15

3. Product presentation 21

3.1 Main features of MiR1000 21

3.2 Identification label 23

3.3 MiR1000 control panel 24

3.4 MiR1000 operating modes 26

3.5 External parts 28

3.6 MiR1000 internal parts 35

3. Safety functions 48

3.7 What does the robot see? 48

3.8 Sensor system 50

3.9 Light indicators and warning sounds 57

3.10 Limiting safety-related functions 60

3.11 Safety-related electrical interfaces 62

4. Getting started 64

4.1 In the box 64

4.2 Unpacking MiR1000 65

4.3 Powering up 68

4.4 Connecting to the robot interface 71

4.5 Driving the robot in manual mode 72

4.6 Checking the hardware status 74

4.7 Charging the robot 75

4.8 Shutting down the robot 77

5. Commissioning 78

5.1 Analysis of the work environment 78

5.2 Creating markers and positions 79

5.3 Operating hazard zones 85

5.4 Creating and configuring a map 86

5.5 Creating user groups and users 99

5.6 Creating dashboards 102

6.1 Updating MiR1000 software 105

6. Usage 107

6.2 Creating a mission 107

6.3 Mission editor 110

6.4 Creating a pick up shelf and a place shelf mission 112

6.5 Handover testing 116

7. Applications 119

7.1 Mounting a top module 119

7.2 Lift modifications 124

8. Maintenance 127

8.1 Regular weekly checks and maintenance tasks 127

8.2 Regular checks and replacements 128

8.3 Packing for transportation 131

9. Payload specifications 134

9. Disposal and environment 140

9.1 Battery disposal 140

10. Interface specifications 141

10.1 General purpose interfaces 141

10.2 Safety interfaces 149

10.3 Connector list 152

10. Troubleshooting 154

10.4 Shelf options are not available in the robot interface 154

10.5 Robot docking imprecisely or not docking at all to shelf 154

10.6 Robot turning strangely when docking 154

10.7 Robot placing shelf imprecisely 154

10.8 Robot going into protective stop while driving with shelves 154

10.9 Error handling 155

1. About this document

This document contains the following information:

•How to start up and operate MiR1000

•Product presentation

•Typical applications

•Guidelines for proper maintenance of the robot

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 on 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.

•MiR1000 product page

http://www.mobile-industrial-robots.com/en/products/mir1000/

This page contains specifications, pictures, and brochures for MiR1000.

•Universal Robots:

http://www.universal-robots.com/support

1.2 Version history

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

hardware releases.

Revision Release date Description SW HW

1.0 2020-03-01 First edition. 2.9.X 1.0

2. Safety

Read the information in this section before powering up and operating MiR1000.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR1000 or its

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

Robots cannot be held responsible for any damages caused to MiR1000,

accessories, or any other equipment due to programming errors or

malfunctioning of MiR1000.

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 General safety precautions

This section contains general safety precautions.

WARNING

Using a charger different from the one supplied by the manufacturer can

cause a fire.

•Only use the original charger.

WARNING

The protective fields on the site of MiR 250 is only 10-15 mm. MiR1000 may

drive over the feet of personnel. Risk of injury.

•All personnel must be instructed to wear safety shoes near an operating

robot.

WARNING

Contact with live parts can cause electric shock.

•Do not touch any internal components of MiR1000 while it is powered.

WARNING

Unstable mounting of the UR robot arm. Risk of injury.

Make sure the UR Robot Arm is properly and securely bolted in place.

Unstable mounting can lead to accidents.

2. Safety

WARNING

Lithium battery packs may get hot, explode or ignite and cause serious injury if

they are abused electrically or mechanically.

Observe the following precautions when handling and using lithium batteries:

•Do not short-circuit, recharge or connect with false polarity.

•Do not expose to temperature 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.

•Use only the original charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

•Do not touch damaged batteries with bare hands. Only qualified personnel

should handle damaged batteries with suitable Personal Protection

Equipment (PPE) and tools.

•Isolate the battery and keep clear if the following conditions are observed:

Battery exhibits abnormally high temperatures, emits abnormal odors,

changes colors, case is deformed, or otherwise differs from the normal

electrical or mechanical condition.

•Modifications or manipulations in the battery may lead to considerable

safety risks and are therefore prohibited.

WARNING

MiR1000 may drive into a ladder with a person on it. Risk of injury.

•Don't place ladders in the robot's work environment.

2. Safety

CAUTION

The robot cannot see staircases going downwards and holes in the floor. Risk

of damage and injury.

•Mark staircases or holes on maps with Forbidden zones.

•Keep the maps up to date.

WARNING

Attempting to charge batteries outside the robot can lead to electrical shock

or burns.

•Never charge the batteries outside the robot.

2.3 Intended use

MiR1000 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

the MiR1000 robot should operate, see Technical specifications on our website.

MiR1000 is intended to be commissioned according to Commissioning on page78 and

prepared to the environment according to the guidelines. This is a prerequisite for safe

usage of MiR1000.

MiR1000 is designed for and all risks are considered when used with one of the following

types of top applications:

•MiR1000 Pallet Lift used with MiR Lift Pallet Rack.

•MiR1000 EU Pallet Lift used with MiR EU Pallet Rack.

•MiR 250 Cart Carrier

•A custom designed top application (including payload) designed to fulfill the following

requirements:

•Must not increase the footprint of MiR1000 and be within the requirements in Payload

specifications on page134

•Must not have any moving parts

2. Safety

MiR1000 can be used as a partly complete machine as defined in the EU machinery

directive, with top applications that do not meet above limitations. Those who design,

manufacture or commission a system that does not meet the limitations of use of MiR1000

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. Examples of top applications,

which are not intended use of MiR1000, but not limited to, are:

•Shelf on supporting legs (with or without wheels)

•Top applications (including payload) which increase the footprint of MiR1000

•Conveyers (power and non-powered)

•Industrial robot arm

•Towing of trailers

•Customized load transfer station

2.4 Users

MiR1000 is only intended to be used by personnel that have received training in their

required tasks.

There are three types of intended users for MiR1000: commissioners, operators, and direct

users.

Commissioners

Commissioners have received extensive training in the full use of MiR1000 and have the

following main tasks:

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

for other users and making brake tests with a full payload.

•Making the risk assessment.

•Determining the payload limit, weight distribution, safe fastening methods, safe loading

and unloading of loads on MiR1000 and ergonomic loading and unloading methods if

relevant.

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

maneuvering.

Operators

Operators have thorough knowledge of MiR1000 and of the safety precautions presented in

the user guide of MiR 250MiR Fleet PCMiR1000 and operating guide of MiR1000. Operators

have the following main tasks:

2. Safety

•Servicing and maintaining MiR1000.

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

Direct users

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

main tasks:

•Assigning missions to MiR1000MiR Fleet PC.

•Fastening loads to MiR1000 properly.

•Loading and unloading from a paused robot.

All other persons in vicinity of MiR1000MiR Fleet PC 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.

2.5 Foreseeable misuse

Any use of MiR1000 deviating from the intended use is deemed as misuse. This includes, but

is not limited to:

•Using MiR1000 to transport people

•Using MiR1000 on steep surface grades, such as ramps

•Driving MiR1000 on cross slopes

•Exceeding the maximum payload

•Using the emergency button for anything other than emergency stops. It is not

designed for frequent use.

•Positioning or fastening load incorrectly according to the specifications

See Payload specifications on page134

•Failing to make a risk assessment of the full installation

Refer to Risk assessment on the next page.

•Failure to configure audio and light signals according to the environment

•Failing to follow the guidelines for commissioning

Refer to Commissioning on page78.

•Failing to make a brake test

Refer to Brake test.

•Use in medical and life critical applications

•Operating outside the permissible operating parameters and environmental

specifications

See Analysis of the work environment on page78.

2. Safety

•Use in potentially explosive environments

•Use outdoors

•Use in hygiene zones

2.6 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 MiR1000 is commissioned safely in

the environment it will be used in.

The risk assessment must cover not only MiR1000 itself, but also take into account potential

load transfer stations, work cells, and the work environment. 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.

2.7 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners

must inform personnel about and take all precautions to avoid:

•You risk being run over, drawn in, trapped, or impacted if you stand in the path of

MiR1000 or walk towards MiR1000 while it is driving in reverse. MiR1000 will only drive

in reverse when parking or picking up a cart or undocking from a marker such as MiR

Charge48V.

•You risk being run over, drawn in, trapped, or impacted if you stand in the path of

MiR1000 or walk towards MiR1000 while it is in motion.

•You risk being run over, drawn in, trapped, or impacted if you stand in the path of MiR

Fleet PC or walks towards MiR Fleet PC while it is docking to a .

•You risk being crushed or trapped if you touch MiR1000 while in motion.

•You risk being crushed, drawn in, or trapped at pallet racks or other load transfer stations,

work cells, or charging stations.

2. Safety

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 MiR Fleet PC also apply to

MiR1000. Refer to the MiR Fleet PC User guide for more information.

2.8 Safety-related functions and interfaces

MiR1000 is equipped with a range of built-in safety-related functions as well as safety-

related electrical interfaces designed for integration with a top module and/or top

manipulator. Each safety function and interface is designed according to the standard ISO

13849-1.

The safety-related functions and interfaces are selected to support compliance with EN

1525.

See Safety-related functions and interfaces above and Safety-related electrical interfaces on

page62.

2.9 Lithium battery

This section describes how to change the battery on MiR1000.

MiR1000 is supplied with a fast swap removable 47.71 V nominal voltage and 34,2Ah

Nominal capacity lithium battery with a running time of 10 hours and a 1:8 charging ratio

(one hour of charging provides eight hours of running time).

The battery can be swaped fast and charged both inside and outside of the robot. It is

possible to purchase extra batteries from MiR. See the Spare parts list on the Distributor site

on the MiR website.

2. Safety

This section contains safety precautions related to lithium batteries in MiR robots.

NOTICE

MiR does not support any additional batteries applied to the MiR1000 by the

customer.

WARNING

Lithium battery packs may get hot, explode or ignite and cause serious injury if

they are abused electrically or mechanically.

Observe the following precautions when handling and using lithium batteries:

•Do not short-circuit, recharge or connect with false polarity.

•Do not expose to temperature 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.

•Use only the original charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

•Do not touch damaged batteries with bare hands. Only qualified personnel

should handle damaged batteries with suitable Personal Protection

Equipment (PPE) and tools.

•Isolate the battery and keep clear if the following conditions are observed:

Battery exhibits abnormally high temperatures, emits abnormal odors,

changes colors, case is deformed, or otherwise differs from the normal

electrical or mechanical condition.

•Modifications or manipulations in the battery may lead to considerable

safety risks and are therefore prohibited.

The rear compartment holds the robot’s battery.

2. Safety

To change the battery:

1. Push the two black buttons on the back of the robot.

2. Pull the hatch.

2. Safety

3. To access the battery, first pull the bottom metal lever and push the top lever, as shown

in the photo.

4. Then press down on the top lever.

2. Safety

5. Separate the battery connector from the robot connector.

2. Safety

6. Pull out the battery.

7. Do the steps in reverse when putting in the battery.

Storage

The battery should be stored in an area with a room temperature between 15°C and 25°C.

Temperatures below or above this range will shorten the service life of the battery.

The battery should be stored in an area with at maximum of 80% (non-condensing) relative

air humidity.

The battery should not be exposed to nor submerged in any liquid.

Charge the battery before storage.

The battery is maintenance-free but may be cleaned occasionally. When cleaning, the

battery must be removed from any power source. Only use a dry and soft cloth to clean the

housing of the battery and do not use abrasives or solvents.

For disposal of batteries, see Disposal and environment on page140

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