Mobile Industrial Robots MiR1000 User manual

Quick start
MiR1000
en
Revision: 1.0
Date: 2019/05

Table of contents
1. Getting started 2
1.1. In the box 3
1.2. Unpacking MiR1000 3
2. Commissioning 7
2.1. Powering up 8
2.2. Connecting to the robot interface 9
2.3. Driving the robot in manual mode 10
2.4. Checking the hardware status 13
2.5. Charging the robot 13
2.6. MiR1000 control panel 14
2.6.1. The Operating mode key 14
2.6.2. The control panel buttons 15
2.7. MiR1000 operating modes 16
2.7.1. Muting of the personnel detection means 16
2.8. Packing for transportation 17
2.8.1. Original packaging 17
2.8.2. Packing the robot for transportation 18
2.8.3. Battery 18
3. Safety 19
3.1. Safety message types 20
3.2. General safety precautions 20
3.3. Intended use 21
3.4. Foreseeable misuse 22
3.5. Risk assessment 22
3.6. Residual risks 23
3.7. Safety-related functions and interfaces 23
3.8. Limiting safety-related functions 23
3.9. Safety-related electrical interfaces 24
3.9.1. Safety-related electrical inputs 24
3.9.2. Safety-related electrical outputs 25
3.10. Lithium battery 26

Getting started
1. Getting started
This section describes how to get started with MiR1000.
The section contains the following topics:
1.1. In the box 3
1.2. Unpacking MiR1000 3
MiR1000 quick start, 2019/05, rev.1.0 2

Getting started
1.1. In the box
This section describes the content of the MiR1000 box.
The box contains:
1. The MiR1000 robot
2. MiR1000 document folder containing the printed documents and the USB flash drive.
3. Printed documents:
• MiR1000 Quick Start.
• MiR username and passwords.
• CE declaration of conformity.
• High visibility stickers.
4. USB flash drive with the following content:
• MiR1000 User Guide.
• MiR Robot Interface 2.0 Reference guide.
• MiR robot REST API reference.
• MiRCharge48V Operating Guide.
• MiR1000 Lift Operating Guide.
• MiR username and passwords.
• CE declaration of conformity.
1.2. Unpacking MiR1000
This section describes how to unpack MiR1000.
Note
Keep the original packaging for the future transportation of the robot.
MiR1000 quick start, 2019/05, rev.1.0 3

Getting started
Note
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.
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.
MiR1000 quick start, 2019/05, rev.1.0 4

Getting started
6. Cut the protective straps.
Tip
For increased visibility, you can add the supplied high visibility stickers to the four
corners of the robot.
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.
MiR1000 quick start, 2019/05, rev.1.0 5

Getting started
8. Remove the wheel stop board from the pallet to let the robot drive on the ramp.
MiR1000 quick start, 2019/05, rev.1.0 6

Commissioning
2. Commissioning
This section describes how to get started with MiR1000.
NOTICE
Read the Safety chapter before powering up the robot.
The section contains the following topics:
2.1. Powering up 8
2.2. Connecting to the robot interface 9
2.3. Driving the robot in manual mode 10
2.4. Checking the hardware status 13
2.5. Charging the robot 13
2.6. MiR1000 control panel 14
2.7. MiR1000 operating modes 16
2.8. Packing for transportation 17
MiR1000 quick start, 2019/05, rev.1.0 7

Commissioning
2.1. Powering up
Follow these steps to power up MiR1000.
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 MiR1000 control panel on page14.
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.
MiR1000 quick start, 2019/05, rev.1.0 8

Commissioning
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.
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 accessing the web
interface are in the MiR username and passwords document. The document is in the box with
the robot.
MiR1000 quick start, 2019/05, rev.1.0 9

Commissioning
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_VXXXX.
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:
MiR1000 quick start, 2019/05, rev.1.0 10

Commissioning
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.
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.
MiR1000 quick start, 2019/05, rev.1.0 11

Commissioning
5. Drive the robot using the joystick.
MiR1000 quick start, 2019/05, rev.1.0 12

Commissioning
2.4. Checking the hardware status
To check that all hardware components work normally:
Sign in to the robot interface. See section Connecting to the robot interface.
Go to Monitoring >Hardware health.
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.
2.5. Charging the robot
Note
A charger cable and an external charger is not part of the MiR1000 standard delivery.
To charge MiR1000 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.
MiR1000 quick start, 2019/05, rev.1.0 13

Commissioning
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.
2.6. MiR1000 control panel
MiR1000 has a control panel in the rear-left corner of the robot.
2.6.1. 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.
MiR1000 quick start, 2019/05, rev.1.0 14

Commissioning
• Right position: Manual mode.
Puts the robot in the Manual mode.
For more information on operating modes, see MiR1000 operating modes on the next page.
2.6.2. 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:
• 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.
MiR1000 quick start, 2019/05, rev.1.0 15

Commissioning
• Green: Normal operation.
• Red: The robot detected an error.
• Yellow: The battery level is low.
2.7. MiR1000 operating modes
MiR1000 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.
2.7.1. 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.
MiR1000 quick start, 2019/05, rev.1.0 16

Commissioning
2.8. Packing for transportation
This section describes how to pack the robot for transportation.
2.8.1. 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 transport straps.
• Screws.
MiR1000 quick start, 2019/05, rev.1.0 17

Commissioning
2.8.2. 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2 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.
2.8.3. 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 previous page. Different regulations
apply depending on the mode of transportation: Land, sea, or air.
Contact your distributor for more information.
CAUTION
Lithium batteries are subject to special transportation regulations according to United Nations
Regulation of Dangerous Goods, UN 3171. Special transport documentation is required to
comply with these regulations. This may influence both transport time and costs.
MiR1000 quick start, 2019/05, rev.1.0 18

Safety
3. 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 can not be held responsible
for any damages caused to MiR1000, accessories or any other equipment due to programming
errors or malfunctioning of MiR1000.
The section contains the following topics:
3.1. Safety message types 20
3.2. General safety precautions 20
3.3. Intended use 21
3.4. Foreseeable misuse 22
3.5. Risk assessment 22
3.6. Residual risks 23
3.7. Safety-related functions and interfaces 23
3.8. Limiting safety-related functions 23
3.9. Safety-related electrical interfaces 24
3.10. Lithium battery 26
MiR1000 quick start, 2019/05, rev.1.0 19