Mobile Industrial Robots MiR 100 User manual

User Guide
October 2017 v.1.02017 v.1.2
with MiR Robot Interface 2.0
08/2018 v1.1
en

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 © 2017-2018 by Mobile Industrial Robots
For more material
,
go to our website
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 manual .............................................................................................................3
1.1 Overview......................................................................................................................3
1.2 Document history ........................................................................................................3
1.3 Where to find more information .................................................................................3
2 Safety.................................................................................................................................4
2.1 Overview......................................................................................................................4
2.2 Safety concept .............................................................................................................4
2.3 General safety instructions..........................................................................................5
2.3 1 Warning notes ..................................................................................................5
2.3 2 Caution notes....................................................................................................6
2.3 3 Notices..............................................................................................................7
2.4 Lithium battery ............................................................................................................7
2.5 Safety circuit ................................................................................................................8
3 Certifications......................................................................................................................9
3.1 Overview......................................................................................................................9
3.2 Certificates...................................................................................................................9
3.3 Applied standards........................................................................................................9
4 Getting started.................................................................................................................11
4.1 In the box...................................................................................................................11
4.2 Unpacking the MiR100™............................................................................................12
4.2 1 Unboxing.........................................................................................................12
4.2 2 Powering up....................................................................................................13
4.3 Getting connected .....................................................................................................16
4.4 Charging the robot.....................................................................................................17
4.5 Testing the robot .......................................................................................................18
4.6 Shutting down the robot ...........................................................................................19
5 Product presentation.......................................................................................................20
5.1 About the MiR100™...................................................................................................20
5.2 Identification label.....................................................................................................20
5.3 MiR100™ Outer parts ................................................................................................21
5.4 MiR100™ Inner parts .................................................................................................22
5.5 Sensor systems ..........................................................................................................23
5.6 Light indicators ..........................................................................................................25
5.7 Main features of the MiR100™..................................................................................25
6 Applications .....................................................................................................................26
6.1 Overview....................................................................................................................26
6.2 Placing the top module..............................................................................................26
7 Technical specifications ...................................................................................................27
7.1 Main specifications....................................................................................................27
7.2 Dimension drawing....................................................................................................29
8 Maintenance....................................................................................................................30
8.1 Overview....................................................................................................................30

8.1 1 Regular checks and maintenance tasks ..........................................................30
8.1 2 Regular checks and replacements ..................................................................31
9 Repacking for transport...................................................................................................32
9.1 Preparations ..............................................................................................................32
9.2 Packing the robot for transportation.........................................................................33
A Payload specifications .......................................................................................................34
B Connectors - pinout...........................................................................................................38
C Certificates ........................................................................................................................40
D Declaration of conformity.................................................................................................42

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MiR100™ User Guide, Robot Interface 2.0, 08/2018 v.1.1 3
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1 About this manual
1.1 Overview
This User Guide contains all essential information about how to start up and operate a MiR100™
robot. It also includes necessary information about safe handling of the robot, technical
specifications, troubleshooting and guidelines for proper maintenance of the robot. The User
Guide is intended for Mobile Industrial Robots’ distributors as well as end users responsible for the
daily operation of the MiR100™ robot.
1.2 Document history
This table shows latest and previous versions of this document and their interrelation with product
software releases.
1.3 Where to find more information
Manuals are available on the product pages of the MiR website where you will also find video
tutorials, product pictures and technical specifications.
For example:
• Quick starts - a short getting started manual (also delivered in printed format with the robot)
• MiR Robot Interface Reference guide - describes all features of the MiR Robot interface
Available in various languages
Product pages: www.mobile-industrial-robots.com/en/products.
The Distributor login page, available to all MiR distributors, contains additional information such as
How-to articles, wiring diagrams, CAD drawings and certificates:
•Distributor login page: www.mobile-industrial-robots.com/en/account.
Doc version Release date Description SW rel HW rel
1.0 2017-11-27 First edition 2.0.2 1.0
1.1 2018-08-17 • Updated for Hardware release 2.1
• Updates and improvements throughout manual
2.2.0 and
higher
2.1

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MiR100™ User Guide, Robot Interface 2.0, 08/2018 v.1.1 4
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2 Safety
2.1 Overview
This manual contains notices you have to observe to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the
manual by a safety alert symbol. The notices shown below are graded by signal words to indicate
degree of danger.
2.2 Safety concept
Indicates an immanently hazardous situation that will result in death or severe personal injury if proper
precautions are not taken.
Indicates a potentially hazardous situation that could result in death or severe personal injury if proper
precautions are not taken.
Indicates a situation that could result in minor personal injury or damage to the equipment if proper
precautions are not taken.
Indicates a situation that could result in property damage if proper precautions are not taken.

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2.3 General safety instructions
This section contains general safety notes. Some safety notes are repeated or further specified in
other sections of the manual and further safety notes are present throughout the manual.
2.3.1 Warning notes
• Ensure proper mounting of loads during transport
Danger of personal injury from overturning robot or falling load.
All accessories and loads mounted on top of the robot should be fastened correctly and meet specifications.
See on page 30.
• Avoid leakage of fluid during transport
Danger of personal injury from leaking fluid.
Make sure that loads containing fluids do not leak during transport.
• Use only the original charger
Danger of personal injury and/or damage to the robot.
Use of other charger than the one supplied by the manufacturer can ruin the battery and may cause fire.
• Update maps to avoid hazards on the route
Danger of personal injury and/or damage to the robot.
Make sure to update maps to avoid driving in hazardous zones such as close to stairways.
• Do not drive vehicle irresponsibly
Danger of personal injury and/or damage to the robot.
The robot should not be driven over edges or in other ways operated irresponsibly.

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2.3.2 Caution notes
• Do not use the robot to transport people
Risk of personal injury and/or damage to the robot.
The robot should never be used to transport people. This will revoke compliance with the standard EN 1525
Safety for unmanned trucks.
• Avoid gradients above 5% on the route
Risk of personal injury and/or damage to the robot.
The surface grade (ramps etc.) cannot exceed 5% as this may cause the robot to skid.
• Only drive on even and dry surface
Risk of personal injury and/or damage to the robot.
Wet and uneven surfaces may cause the robot to skid.
• Do not overload the robot
Risk of personal injury and/or damage to the robot.
The maximum payload for the load on top of the robot is 100 kg - 220 lbs. If exceeded, it may cause
overturning, falling load and damage to the robot. See also Appendix .
• Do not use robot 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.
• Turn off the main power immediately after removal of the top cover
Risk of personal injury and/or damage to the robot.
Turn off main power relay to avoid short circuit. See Product presentation on page 17

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2.3.3 Notices
2.4 Lithium battery
Lithium batteries are primary power sources with high energy content designed to represent the
highest possible degree of safety.
• Indoor use only
Risk of damage to the robot.
The robot is made for indoor use only and should never be used outdoor.
• Avoid small objects on the floor in the robot’s area
Risk of property damage and/or minor damage to the robot.
The robot cannot detect obstacles lower than 50 mm and may overrun smaller objects.
• Remove unwanted objects from the floor in the robot’s area
Risk of inefficient execution of orders.
The robot will go around objects that are not parts of the map, but this may influence the efficiency of the
planned route.
• Avoid overheating of components
Risk of damage to the robot or robot components.
The ambient temperature in the robot’s environment must not exceed 50° C - 122° F.
• Avoid exposure of the robot to excessively humid or dry environment
Risk of damage to the robot or robot components.
The ambient humidity in the robot’s environment must be within the specifications, see Technical
specifications on page 23.
Potential hazard
Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused
electrically or mechanically.
Observe the following precautions handling and using lithium batteries:
• Shut off the battery when not in use.
• 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 and always follow the instructions from the battery manufacturer.

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2.5 Safety circuit
If a person or other moving object enters the safety zones of the robot where the planner due to
response time, errors etc. does not respond, the safety circuit will force the robot into emergency
stop, and the robot stops immediately. When the person or object is out of the safety zone again,
the robot will automatically reset the emergency stop.
MiR100™ is designed with total redundant electrical safety circuit including Sick Safety components.
If any internal errors in the safety circuit occur, the robot will immediately go into emergency stop
which means that all moving parts will be voltage free by mechanical disconnection. Only when the
redundancy is provided, it is possible to reset the emergency stop and continue.

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3 Certifications
3.1 Overview
This chapter presents certificates and declarations applying to the robot.
Copies of the CE declarations of conformity in various languages and 3rd party certificates are
posted and can be downloaded from the Distributor login site: (http://www.mir-robots.com/
downloads/certificates).
3.2 Certificates
The MIR100™ has been tested and awarded the following certificate by a recognized test institute.
Cleanroom The MiR100™ has been assessed and rated suited for operation in cleanrooms fulfilling the
specifications of Air Cleanliness Classes according to ISO 14644-1.
A signed copy of the certificate is found in the appendix on page 42.
3.3 Applied standards
The MiR100™ is certified and fulfills all relevant provisions according to the EU directives or
regulations listed below.
The European directives are available on the official website: https://eur-lex.europa.eu
Reference to the harmonized standards used, as referred to in Article 7(2):
Ref. no. Title
2006/42/EC Directive 2006/42/EC of the European Parliament and of the Council of 17 May
2006 on machinery, and amending Directive 95/16/EC (recast) (1).
Ref. no. Title
EN 60204-1:2006+A1:2009 Safety of machinery – Electrical equipment of machines – Part 1: General
requirements
EN ISO 12100:2010 Safety of machinery – General principles for design – Risk assessment and risk
reduction (ISO 12100:2010)
EN ISO 13849-1:2015 Safety of machinery – Safety related parts of control systems – Part 1: General
principles for design (ISO 13849-1:2015)
EN ISO 13849-2:2012 Safety of machinery – Safety related parts of control systems – Part 2: Validation
(ISO 13849-2:2012)
EN ISO 13850:2015 Safety of machinery – Emergency stop function – Principles for design (ISO
13850:2015)
EN 1175-1:1998+A1:2010 Safety of industrial trucks – Electrical requirements – Part 1: General
requirements for battery powered trucks

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Reference of the other technical standards and specifications used:
See also signed copy of Declaration of conformity in Appendix D on page 42.
Ref. no. Title
EN 1525:1997-09 Safety of industrial trucks – Driverless trucks and their systems

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4 Getting started
4.1 In the box
Figure 4.1. The shipment
1. The robot
2. MiR100 Kit
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Emergency stop box, external antenna and 4 pcs. M10x40 bolts
• Two charging cables, one for 110 V and one for 220 V
3. MiR folder containing:
• Printed documents: MiR100 Quick start in English and local language if applicable, Passwords sheet, CE
declaration of conformity, mounting instructions for emergency stop
• USB flash drive: Getting started video, MiR100™ User Guide, CE declaration of conformity, other
manuals

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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 12
4.2 Unpacking the MiR100™
4.2.1 Unboxing
Follow these steps to unbox the MiR100™
Step Action
1 Remove pallet lid and take out the box with the MiR100 kit.
2 Remove the top foam, foam blocks on the sides and the pallet frames.
3 Place the pallet cover as a ramp at the robot’s rear end.
Keep the packaging for any future transportation of the robot.

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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 13
4.2.2 Powering up
Step Action
1 Grab the two rounded corners and carefully lift off
the cover.
2 Connect one of the two battery cables to the plug
on top of the battery box.
The second cable is for an extra battery.
Switch on the four relays placed in the corner by the
front laser scanner. Start with 32A main power, i.e.
from the outer frame in.
3 Before putting the cover back on, make sure that
the battery disconnect switch is on (the two
yellow indicators pointing to On).

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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 14
4
Carefully fit the cover correctly over the
connector openings.
Mount and connect the emergency stop box on top
of the robot cover.
If a top module is going to be mounted on top of the robot, the emergency stop must be
placed in a position where it is easy to reach. See Placing the top module on page 22.
5 Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the
connector before fixing the antenna.
The antenna can be lowered and rotated in all directions to fit under a top module.
Step Action

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6
Push the blue power button in the corner to turn
on the robot.
The robot lights up with a yellow running light for
a short moment, then enters emergency stop
mode indicated by a constant red light.
Press the reset button on the emergency stop when
it has lit up.
The robot light now switches to yellow constant light,
indicating that the robot is paused and ready to
operate.
Step Action

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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 16
4.3 Getting connected
Step Action
1
On a PC, tablet or smartphone, go
to the WiFi menu, find the name of
your robot and connect to it.
Open a browser and go to mir.com.
Log in to the MiR Robot.
Access name and
passwords required to
log on to the robot’s
WiFi and the robot
interface are found on
the enclosed paper slip,
see In the box on
page 11.
2 When logged in, press Manual
control on the joystick icon to put
the robot in manual driving mode,
and use the joystick to drive the
robot down the ramp.
The robot light switches
to blue, indicating that
the robot is in manual
mode and can be
controlled by the
joystick.
3 It is recommended to reverse the robot down the ramp.

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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 17
4.4 Charging the robot
The robot arrives with a charged battery and can drive for up to three hours before recharging is
required. Follow these steps to charge the robot using the enclosed charging cable:
Step Action
1
Remove the rear corner by pulling it towards
you. You may have to apply a bit of force the
first couple of times.
To avoid fast discharging, it is
recommended to turn off the
robot while charging.
Then connect the charging cable to the robot’s
charging socket and to a power outlet. Turn on the
LED switch to start the charging.
Use only the original charging cable.
2 After a maximum of three hours, the robot is fully charged. The robot emits a green light when the
battery is full.
3 Turn off the LED switch and disconnect the charging cable from the robot. Slide the corner cover back
on.

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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 18
4.5 Testing the robot
Before using the robot, you are recommended to check that all components and processes inside
the robot work as intended.
1. Log on to the MiR Robot interface, see Getting connected on page 16.
2. Go to Monitoring > Hardware health.
3. When all components in a group are OK, it is marked with a green dot. If one or more
components in a group are not in perfect condition, the group will be marked with a yellow or
red dot and you can expand the group by clicking on the green arrow and see which
components are not functioning correctly and why.
Figure 4.2. Extract of Hardware Health menu. Message: OK indicates that the components of the group are OK.