MIR 500 User Manual
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MIR 500 User Manual

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User Guide
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10/2018 v 1.0

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  • Page 1 User Guide 10/2018 v 1.0...
  • Page 2 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.

  • Page 3: Table Of Contents

    Table of contents 1 About this manual ......................1 1.1 Overview........................1 1.2 Document history ....................... 1 1.3 Where to find more information ................1 2 Safety ..........................3 2.1 Introduction........................ 3 2.2 Safety concept ......................3 2.3 General safety instructions..................4 2.3 1 Warning notes ....................
  • Page 4 4.2 1 What does the robot see? ................26 4.2 2 Possible hazards in the environment............. 28 4.3 Analysis of the users ....................29 4.3 1 Types of users ....................29 4.3 2 Interface and dashboards ................30 4.3 3 Training of the users ..................30 4.4 Creating a safe map ....................

  • Page 5: About This Manual

    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 the MiR500 robot for automatic battery charging at the charging station.
  • Page 6 About this manual • 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 product page http://www.mobile-industrial-robots.com/en/products This page contains specifications, pictures, and brochures for the robot.

  • Page 7: Safety

    Safety • • • • • • 2.1 Introduction This information must be read and understood before MiR500 is powered up for the first time. It is important to read the following safety information in order to operate MiR500 safely. This manual contains notices you have to observe to ensure your personal safety, as well as to prevent damage to property.

  • Page 8: General Safety Instructions

    Safety 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.

  • Page 9: Foreseeable Misuse

    • Overloading of the robot. Risk of personal injury and/or damage to the robot. The maximum payload for the load on top of the robot is 500 kg / 1100 lbs. If exceeded, it may cause overturning, falling load and damage to the robot.

  • Page 10: Residual Risks

    Safety • 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.

  • Page 11: Safety-Related Electrical Interfaces

    Safety The input can be used for a customized top module/manipulator when a MiR500 Lift or MiR500 EU Pallet Lift is not installed. The safe load position safety function must be manually deactivated by activation of the restart button. Overspeed The safety system monitors if the speed of each motor is above limits for maximum speed and hence avoidance an indication of speed control is lost for any reason.

  • Page 12: Safety-Related Electrical Outputs

    Safety Load This input can be used to apply the safe load position/position control of load safety function on a handling system with customized top module/manipulators. A variety of sensors or interlock switches that position/ detect load handling position or position of load can be connected and thereby enable the safe load position position safety function.

  • Page 13: Getting Started

    – CE declaration of conformity. • USB flash drive with the following content: – MiR500 User Guide. – MiR Robot Interface 2.0 Reference guide. – MiR robot REST API reference. – MiRCharge 500 Operating Guide. – MiR500 Lift Operating Guide.

  • Page 14: Unpacking Mir500

    Remove the screws that attach the walls of the box to the box lid and the base of the box. Remove the lid from the box. Take the folder with MiR printed documents and the USB drive out of the box. •...
  • Page 15 Getting started Step Action Remove the walls of the box and the protective foam blocks. Cut the protective straps. • • • , 10/2018 v.1.0 MiR500 User Guide • • •...
  • Page 16 Getting started Step Action 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. Remove the wheel stop board from the pallet to let the robot drive on the ramp. •...

  • Page 17: Commissioning

    Getting started 3.3 Commissioning Read the Safety chapter before powering up the robot. Commissioning consists of the following parts: 1. Powering up. 2. Connecting to the robot interface. 3. Checking the hardware status. 4. Charging the robot. 5. Shutting down the robot. For further steps, refer to the MiR500 User Guide.
  • Page 18 Getting started Step Action Turn the battery disconnect switch to position ON. The Power button turns blue. Close the maintenance hatch. • • • , 10/2018 v.1.0 MiR500 User Guide • • •...
  • Page 19 Getting started Step Action Ensure that all 4 emergency stop buttons are in the released state. Turn an emergency stop button clockwise to release it. Press the Power button for five seconds. The robot turns on the yellow indicator lights and starts the software initialization process. When the initialization process ends, the robot goes into the emergency stop mode.

  • Page 20: Connecting To The Robot Interface

    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.

  • Page 21: Driving The Robot In Manual Mode

    Getting started Step Action In a browser, go to the address mir.com and sign in. 3.3.3 Driving the robot in Manual mode To drive the robot in Manual mode: 1. Put the Operating mode key into the Manual mode (turn to the right).

  • Page 22: Checking The Hardware Status

    Getting started 5. Drive the robot using the joystick. 3.3.4 Checking the hardware status To check that all hardware components work normally: 1. Sign in to the robot interface. See section Connecting to the robot interface. 2. Go to Monitoring > Hardware health. •...

  • Page 23: Charging The Robot

    3. Check that all elements on the page have the OK status and that they have green dots on the left. For more information, see section Hardware health in the MiR Robot Interface 2.0 Reference Guide. 3.3.5 Charging the robot To charge MiR500 using the cable charger: 1.

  • Page 24: Shutting Down The Robot

    Getting started 2. Connect the charger cable to the charging connector on the robot. For information about the charging time, see the robot specifications. 3.3.6 Shutting down the robot To shut down MiR500: 1. Ensure that the robot is not moving or executing an action. 2.

  • Page 25: Mir500 Control Panel

    Getting started 3.4 MiR500 control panel MiR500 has a control panel in the rear-left corner of the robot. 3.4.1 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. •...

  • Page 26: The Control Panel Buttons

    Getting started 3.4.2 The control panel buttons The buttons on the control panel have the following functions. Button name Description 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: •...

  • Page 27: Mir500 Operating Modes

    Getting started 3.4.3 MiR500 operating modes MiR500 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.

  • Page 28: Packing For Transportation

    Getting started 3.5 Packing for transportation 3.5.1 Preparations Use the original packaging materials when transporting the robot. The packaging materials are: • The bottom of the box (the pallet). • The lid of the box (the ramp). • The walls of the box. •...
  • Page 29 Getting started 2. Open the rear maintenance hatch. 3. Turn the battery disconnect switch to position OFF. 4. Repeat the steps in section Unpacking MiR500 on page 10 in the reverse order. Pack and transport the robot in an upright position. Packing and transporting the robot in any other position voids the warranty.

  • Page 30: Planning

    The correct setup and thorough training of the users will result in a successful and safe installation of MiR500. For more details on the topics below, see MiR Robot interface 2.0 Reference guide. Please read Safety on page 3 before going through this chapter.
  • Page 31 Planning Figure 4.1. The laser scanners detect a dynamic object in the bottom left corner. Figure 4.2. Human eyes see the chair and surrounding details. Figure 4.3. MiR500’s laser scanners will only detect parts of the chair. Here, the scanners detect the four legs of the chair in the upper left corner of the map.

  • Page 32: Possible Hazards In The Environment

    Planning 4.2.2 Possible hazards in the environment This section will go through some of the possible hazards in the environment. The issues with and solutions to the hazards will be elaborated in Add zones on page 31. Identifying the potential hazards in the area where MiR500 is going to drive is one of the most important steps of planning to achieve a safe installation.

  • Page 33: Analysis Of The Users

    Planning Shelves Shelves are often placed in a certain height above the floor on four (or more) posts and will often appear as dots on a map for MiR500. This may cause the robot to believe that there is enough space (if the posts are far enough apart) below the shelf to pass through.

  • Page 34: Interface And Dashboards

    • What rights (edit and control) should the different users have? • What functions or widgets should be available for the different users? For more details on interface and dashboards, see MiR Robot interface 2.0 Reference guide. 4.3.3 Training of the users It is very important to spend time on training the different users of MiR500.

  • Page 35: Creating A Safe Map

    A good map is also the basis for a safe and efficient robot. If you have not created a map before, see MiR Robot interface 2.0 Reference guide and How- to guides on our Distributor website.
  • Page 36 Planning Downwards going staircases MiR500 can not see downwards going staircases and holes in the floor. Issue: The 3D camera can not detect downwards going staircases. Marking a staircase as a wall on the map will only confuse the robot as it will try to navigate from a wall that is not there. Solution: Mark staircases and areas surrounding staircases or holes in the floor as Forbidden zones on the map.
  • Page 37 Planning Transient work flow areas A transient work flow area is an area where humans often move around. This could be part of a production area where people are assembling a product. It could also be an area where forklifts or other machines are operated.
  • Page 38 Planning Doorways and ramps Going through narrow doorways can cause problems for MiR500 because of the small space. Going up a ramp can cause similar problems, because of the upwards angle. Narrow doorways can also cause dangerous situations for the people working near the robot, as they might be on the other side of the door and can not see the robot coming.
  • Page 39 Inform users of or near the robot of the safety issues regarding the Pallet Rack so they can take their precautions when working near the Pallet Rack. For more details on maps and zones, see MiR Robot interface 2.0 Reference guide. •...

  • Page 40: Creating Simple And Safe Missions

    MiR500 to work safely and efficiently. Before building the missions, consider how the tasks could be solved in the simplest and safest way. If you have not created a mission before, see MiR Robot interface 2.0 Reference guide and How-to guides on our Distributor website.

  • Page 41: Handover Testing

    Planning To clear an error, select the red warning indicator in the interface and select reset. For more details on setting up missions and error handling, see MiR Robot interface 2.0 Reference guide 4.7 Handover testing It is very important to schedule time for handover testing. The new users of MiR500 might have new questions after they start using the robot or new issues or situations might have appeared.
  • Page 42 • Preferred zones. • Directional zones. • Incorporation with other plant management systems, such as ERP. • MiR Fleet. • Rest calls. Stay in It is important to stay in contact with the users after the installation of MiR500. Make sure to follow...

  • Page 43: Product Presentation

    • • • • • • 5.1 About MiR500 MiR500 is an autonomous mobile robot that can transport loads up to 500 kg and pallets indoors within production facilities, warehouses, and other industrial locations. Users operate MiR500 via a web-based user interface, which is accessed via a browser on a PC, smartphone or tablet.

  • Page 44: Main Features Of Mir500

    (like people and objects). • Efficient transportation of heavy loads The robot is designed to automate transportation of loads up to 500 kg across industries, allowing employees to focus on higher value activities. • Sound and light signals The robot continuously signals with light and sounds indicating its current mode, for example waiting for job, driving to destination, destination reached or alert mode.

  • Page 45: Identification Label

    Product presentation 5.3 Identification label The identification label of MiR500 is placed above the MiR controller behind the rear maintenance hatch. Figure 5.1. Example of MiR500 CE marking and identification label • CE Mobile Industrial Robots ApS declares that MiR500 meets the requirements of the applicable EC directives.

  • Page 46: Mir500 External Parts

    Product presentation 5.4 MiR500 external parts This section presents the parts of MiR500 that are visible on the outside. Figure 5.2. MiR500 external parts 1. Left cover plate: access to power interface, GPIO Proximity sensors: eight pcs., two in each corner interface and Ethernet interface behind corner cover (see Sensor system on page 49) 2.
  • Page 47 Product presentation Figure 5.3. MiR500 Top cover M12 lifting holes; one in each corner used for M8 mooring holes for fixation of top module fixation of transportation eye bolts. The rest of the screw holes visible in the picture are for fixation of the top cover to the robot. •...

  • Page 48: Mir500 Internal Parts

    Product presentation 5.5 MiR500 internal parts Most internal parts of MiR500 are reached through maintenance hatches that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments 5.5.1 Front compartment The front compartment holds the electronic components that may need regular service or replacement, such as PC, main control board and safety PLC.

  • Page 49: Rear Compartment

    Product presentation Overview The front compartment contains the following main components: Figure 5.4. MiR500 front compartment Cable chain 5. Loudspeaker 2. Safe Torque Off contactors 6. Power board: controlling power distribution for motor controller, PC and safety PLC 3. Access point / Router 7.
  • Page 50 6. Battery with connector, main power to the robot 3. Connector for status light band 7. Connection interface for MiR Controller 4. Brake release button, shown in On position. When turned off, the brakes are released, and the robot can be pushed manually •...

  • Page 51: Side Compartments

    Product presentation 5.5.3 Side compartments The side compartments contain the right- and left-hand side bogies and drive wheels. To open a side hatch: turn the two screws 90 ° counterclockwise with a flat-head screwdriver, and pull the hatch. Overview The left- and right-hand side compartments contain the same components. Figure 5.6.

  • Page 52: Top Compartments

    Product presentation 5.5.4 Top compartments The two top compartments hold interfaces to external units, for example MiR500 EU Pallet lift or MiR500 Lift. To open a top compartment, remove four screws and lift off the top cover. Figure 5.7. The two top compartments contain interfaces for top applications and added safety functions. Overview The top compartments contain the following electrical interfaces for top applications.

  • Page 53: Sensor System

    360° visual protection around the robot. The safety laser scanners serve three purposes: 2. They are used for mapping, see also Planning on page 26 and the MiR Robot interface 2.0 Reference guide which can be downloaded from our website.
  • Page 54 Product presentation The safety laser scanners detect objects in a plane approximately 180 mm above ground. Objects above or below are not detected by the safety laser scanners. Figure 5.9. The two safety laser scanners together provide a full 360° view around the robot. When in motion, the safety laser scanners continuously scan the surroundings using a distance of up to 40 m while taking into account and weighting the viewed objects in a so-called “particle filter”...
  • Page 55 Product presentation Protective The protective fields are part of the robot’s personnel detection means. The protective fields consist fields of individually configured contours. The active protective field is automatically selected based on the speed of MiR500. A person or object within an active protective field will bring MiR500 to a protective stop and the robot will remain stopped until the protective field is free.

  • Page 56: Cameras

    Product presentation Muted When docking to pallet rack or a charging station, the protective fields are muted to avoid personnel unintended activation. Muted protective fields is part of the drive mode Muted personnel detection detection means where the robot also slows down the speed. For more information, see Muting of the means personnel detection means on page 23 5.6.2 3D cameras...
  • Page 57 Product presentation Figure 5.13. The two 3D cameras have a horizontal field of view of 114°. The cameras’ observations are used as 3D point cloud data. They are not recording recognizable objects or people. • • • MiR500 User Guide, 10/2018 v.1.0 •...

  • Page 58: Proximity Sensors

    Product presentation 5.6.3 Proximity sensors Proximity sensors placed in all four corners of the robot detect objects close to the floor that cannot be detected by the safety laser scanners. Using infrared light, the proximity sensors point downwards and make sure that the robot does not run into low objects such as pallets and forklift forks.
  • Page 59 Product presentation Status lights The LED light band running all the way around the robot indicates the robot’s current operational state. Colors may also be used as part of missions, but as standard, the robot is delivered with the following setup. Figure 5.15.

  • Page 60: Internal Sensors

    Product presentation 5.7 Internal sensors The internal sensor system of the robot consists of the following components: • Gyroscope (IMU) Measures the orientation and angular velocity of the robot. • Motor encoder Provides closed loop feedback signals by tracking the speed and/or position of the motor shaft.

  • Page 61: Applications

    You can install top modules on top of MiR500 for specific applications. For more information about top modules, go to the following page: http://www.mobile-industrial-robots.com/en/mir-tradeforum/ For instructions on how to mount top modules and accessories, refer to the application manuals at the Mobile Industrial Robots website or contact your distributor.
  • Page 62 Applications Certain top modules may lead to new hazards and/or increased risks which cannot be eliminated or reduced by the risk reduction measures applied by Mobile Industrial Robots. Perform risk assessment according to standard ISO 12100. Stay within the specifications for weight and the payload’s center of gravity, see Payload specifications on page 35.
  • Page 63 Applications • • • , 10/2018 v.1.0 MiR500 User Guide • • •...

  • Page 64: A Payload Specifications

    A Payload specifications • • • • • • The following drawings illustrate the center of mass (CoM) specifications for safe operation at different payloads. The specifications apply to payloads of up to 500 kg. Viewed from the side Units: mm •...
  • Page 65 Payload specifications Viewed from the front Units: mm • • • ,10/2018 v.1.0 MiR500 User Guide • • •...

  • Page 66: B Interface Specifications

    B Interface specifications • • • • • • B.1 Introduction This appendix describes the specifications of the top application interface. To see where the interfaces are placed on MiR500, please read Product presentation on page 39. Please read Safety on page 3 for more details on using the electrical interface. B.2 Electrical Interface Definition There are five electrical interfaces on MiR500: •...
  • Page 67 Interface specifications Pin number Signal name Max. current Remarks 48V power Always on when robot is on. Intended for high power loads like motors or actuators. Ground. 48V safe power Turns off in case of a “protective stop” (emergency stop). Intended for high power loads like motors or actuators.
  • Page 68 Interface specifications A variety of top applications requires a general purpose and “simple-to-use” digital I/O (GPIO). The GPIO supports low current/power devices like relays, contactors, lamps and/or separate PLC units. Figure B.4. Example of general use of I/O. The GPIO has the following features: •...
  • Page 69 Interface specifications Pin number Signal name Max. current Remarks Protected output. PNP Input 3. Protected output. PNP Input 4. Protected output. Unassigned Unassigned. Figure B.5. GPIO interface. Ethernet An Ethernet connection is provided in the top left-hand side compartment. Figure B.6. Ethernet connection. Pin numbers (left) and wiring diagram (right). The communication interface is 10/100 Mbit Ethernet using a M12 connector.
  • Page 70 Interface specifications B.2.1 Safety interface Auxiliary An Auxiliary Emergency Stop connection is provided in the top right-hand side compartment. Emergency Stop Figure B.8. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). Auxiliary Emergency Stop is designed to support emergency stop and other safety functions. Pin number Signal name Remarks...
  • Page 71 Interface specifications Figure B.10. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). Auxiliary Safety Functions is designed to support emergency stop and other safety functions. • • • ,10/2018 v.1.0 MiR500 User Guide • • •...
  • Page 72 Interface specifications Pin number Signal name Remarks Test output Test output Safeguarded stop 1 Safeguarded stop 2 Locomotion 1 Locomotion 2 Shared E-stop out 1 Shared emergency stop out 1. Shared E-stop out 2 Shared emergency stop out 2. Shared E-stop in 1 Shared emergency stop in 1.

  • Page 73: C Declaration Of Conformity

    C Declaration of conformity • • • • • • • • • ,10/2018 v.1.0 MiR500™ User Guide • • •...

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