Mobile Industrial Robots MiR500 User manual

User guide
MiR500
en
Revision: 1.1
Date: 2019/03

Copyright and disclaimer
All rights reserved. No parts of this manual may be reproduced in any form without the express written
permission of Mobile Industrial Robots ApS (MiR). MiR makes no warranties, express or implied, in respect of
this document or its contents. In addition, the contents of the document is 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.
Copyright © 2017-2019 by Mobile Industrial Robots.
Contact the manufacturer:
Mobile Industrial Robots
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

Table of contents
1. About this document 3
1.1. Where to find more information 3
1.2. Document history 4
2. Safety 5
2.1. Safety message types 6
2.2. General safety precautions 6
2.3. Intended use 7
2.4. Foreseeable misuse 7
2.5. Risk assessment 8
2.6. Residual risks 8
2.7. Safety-related functions and interfaces 9
2.8. Limiting safety-related functions 9
2.9. Safety-related electrical interfaces 10
2.9.1. Safety-related electrical inputs 10
2.9.2. Safety-related electrical outputs 11
2.10. Lithium battery 11
3. Getting started 12
3.1. In the box 13
3.2. Unpacking MiR500 13
4. Commissioning 16
4.1. Powering up 17
4.2. Connecting to the robot interface 18
4.3. Driving the robot in manual mode 19
4.4. Checking the hardware status 21
4.5. Charging the robot 21
4.6. Shutting down the robot 22
4.7. Creating and configuring a map 23
5. Planning 24
5.1. Analysis of the work environment 25
5.1.1. What does the robot see? 25
5.2. MiR500 user roles 27
5.2.1. Types of users 27
5.2.2. Interface and dashboards 28
5.2.3. Training of the users 28
5.3. Creating an efficient map 29
5.3.1. Use zones on the map 29
5.4. Creating efficient missions 33

5.5. Error handling 33
5.6. Handover testing 34
6. Product presentation 36
6.1. Main features of MiR500 37
6.2. Identification label 38
6.3. MiR500 control panel 38
6.3.1. The Operating mode key 39
6.3.2. The control panel buttons 39
6.4. MiR500 operating modes 40
6.4.1. Muting of the personnel detection means 40
6.5. MiR500 external parts 41
6.6. MiR500 internal parts 43
6.6.1. Front compartment 43
6.6.2. Rear compartment 45
6.6.3. Side compartments 46
6.6.4. Top compartments 47
6.7. Sensor system 48
6.7.1. Safety laser scanners 48
6.7.2. 3D cameras 51
6.7.3. Proximity sensors 54
6.7.4. Internal sensors 54
6.8. Light indicators 54
7. Maintenance 56
7.1. Regular weekly checks and maintenance tasks 57
7.2. Regular checks and replacements 57
7.3. Packing for transportation 59
7.3.1. Original packaging 59
7.3.2. Packing the robot for transportation 59
7.3.3. Battery 60
8. Applications 61
8.1. Mounting a top module 61
9. Payload specifications 63
10. Interface specifications 65
10.1. General purpose interfaces 65
10.2. Safety interfaces 69
10.3. Connector list 71

About this document
1. About this document
This document contains the following information:
• How to start up and operate MiR500.
• Product presentation.
• Typical applications.
• Guidelines for proper maintenance of the robot.
1.1. Where to find more information
At www.mir-robots.com, the following extra resources are available. To access the pages in the Distributor site,
sign in with your distributor account at http://www.mobile-industrial-robots.com/en/account/.
• Distributor site > Manuals
http://www.mobile-industrial-robots.com/en/account/manuals/
This page contains the following resources:
• MiR500 Quick Start
The short guide that lets you start operating the robot quickly. This document is in the box with the
robot in the printed format. Available in multiple languages.
• MiR500Lift Operating guide
The operating guide that describes how to set up and use MiR500 with MiR500Lift.
• MiR500EUPalletLift Operating guide
The operating guide that describes how to set up and use MiR500 with MiR500EUPalletLift.
• MiRCharge500 Operating guide
The operating guide that describes how to set up MiRCharge500 and configure MiR500 for
automatic battery charging at the charging station.
• MiR Robot Interface 2.0 Reference Guide
The reference that describes the elements of MiR500 interface. Available in multiple languages.
• MiR500 REST API reference.
The REST API reference for the robot.
• Distributor site > Download
http://www.mobile-industrial-robots.com/en/account/download/
This page contains the following resources:
• CAD drawings.
Click Show CAD-files to see the list of available CAD drawings.
• Certificates.
Click Show Certificates to see the list of certificates for the robot.
• Distributor site > How to
http://www.mobile-industrial-robots.com/en/account/how-to/
This page contains how-to articles that describe how to perform specific tasks with the robot.
MiR500 user guide, 2019/03, rev.1.1 3

About this document
• MiR500 product page
http://www.mobile-industrial-robots.com/en/products/mir500/
This page contains specifications, pictures, and brochures for MiR500.
1.2. Document history
This table shows latest and previous versions of this document and their interrelations with product software
releases.
Revision Release date Description SW HW
1.0 2018-10-29 First edition. 2.4.0 1.0
1.1 2019-01-31 New section: Maintenance.
Updated styles.
2.6.0 1.0
MiR500 user guide, 2019/03, rev.1.1 4

Safety
2. Safety
Read the information in this section before powering up and operating MiR500.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR500 or its accessories are
damaged, changed or modified in any way. Mobile Industrial Robots can not be held responsible
for any damages caused to MiR500, accessories or any other equipment due to programming
errors or malfunctioning of MiR500.
The section contains the following topics:
2.1. Safety message types 6
2.2. General safety precautions 6
2.3. Intended use 7
2.4. Foreseeable misuse 7
2.5. Risk assessment 8
2.6. Residual risks 8
2.7. Safety-related functions and interfaces 9
2.8. Limiting safety-related functions 9
2.9. Safety-related electrical interfaces 10
2.10. Lithium battery 11
MiR500 user guide, 2019/03, rev.1.1 5

Safety
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.
• Take proper precautions to avoid damage or injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or moderate injury. Alerts
against unsafe practices.
• Take proper precautions to avoid damage or injury.
NOTICE
Indicates important information, including situations that can result in damage to equipment or
property.
2.2. General safety precautions
This section contains general safety precautions.
WARNING
If the load on the robot is not positioned or fastened correctly, the load may fall or the robot may
overturn.
• Ensure that the load is positioned according to the specifications and fastened
correctly. See Payload specifications on page63.
WARNING
Using a charger different from the one supplied by the manufacturer can cause a fire.
• Use only the original charger.
CAUTION
The robot can not see staircases going downwards and holes in the floor.
• Mark staircases or holes on maps with Forbidden zones.
• Keep the maps up to date.
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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.
2.3. Intended use
MiR500 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 robot should operate, see Technical
specifications on our website.
MiR500 is equipped with special safety-related features, which are purposely designed for collaborative
operation, where the robot operates without fences and/or together with humans.
MiR500 can be used with the lift modules MiR500Lift, MiR500EUPalletLift and pallet racks
MiR500LiftPalletRack and MiR500EUPalletRack, or it can be used with a customized top module or top
manipulator. See details for add-ons on our website or in the operating guides.
2.4. Foreseeable misuse
Any use or application deviating from the intended use is deemed to be impermissible misuse. This includes, but
is not limited to:
•Use of the robot to transport people.
Risk of personal injury and/or damage to the robot.
•Steep ramps on the route.
Risk of personal injury and/or damage to the robot. Steep surface grades (ramps etc.) may cause the
robot to skid. See Technical specifications on the website.
•Use outdoor.
Risk of personal injury and/or damage to the robot. MiR500 is designed and intended for indoor use
only.
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Safety
•Overloading of the robot.
Risk of personal injury and/or damage to the robot. If the maximum payload on top of the robot is
exceeded, it may cause overturning, falling load and damage to the robot. See Technical specifications
on the website.
•Failure to follow the guidelines for commissioning.
See Getting started on page12 and Planning on page24.
•Failure to make a risk assessment of the full installation.
See Risk assessment below. This applies to the robot with any extra modules installed.
•Failure to configure audible and light warning signal(s) according to the environment.
The risk reduction is not sufficient.
•Operation outside the permissible operating rating parameters and environmental
specifications.
Risk of instability, impact or tipping over.
•Transportation of liquids or food.
Risk of instability.
•Use in potentially explosive environments.
•Use in medical and life critical applications.
•Use for towing.
•Use on board ships.
Risk of personal injury and/or damage to the robot. Unstable surface caused by moving vessel may
cause the robot to skid.
2.5. Risk assessment
One of the most important steps in achieving a safe installation is to make a risk assessment. The risk
assessment is the responsibility of the individuals who are commissioning MiR500 in the environment it will be
used in. Most often it will be an integrator who also designs and/or builds work cells or other required
infrastructure related to MiR500.
The risk assessment must cover not only MiR500 itself, but also take into account potential top
module/manipulator, load transfer, work cells and the environment it will be used in.
It is recommended that the integrator uses guidelines in ISO 12100, EN 1525, ANSI B56.5 or other relevant
standards to conduct the risk assessment.
The risk assessment should consider two scenarios:
• Teaching (setup where maps are made and the missions are defined and verified) the robot while
developing the robot installation.
• Normal operation of the robot installation.
In EN 1525, clause 4 there is a list of significant hazards, hazardous situations and events which can be used for
inspiration.
2.6. Residual risks
Mobile Industrial Robots has identified the potential significant hazards listed below as hazards that must be
considered by the integrator.
MiR500 user guide, 2019/03, rev.1.1 8