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Mobile Industrial Robots MiR500 User Manual

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

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Summary of Contents for Mobile Industrial Robots MiR500

  • Page 1 User guide MiR500 Revision: Date: 2019/03...
  • 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

    4.7. Creating and configuring a map 5. Planning 5.1. Analysis of the work environment 5.1.1. What does the robot see? 5.2. MiR500 user roles 5.2.1. Types of users 5.2.2. Interface and dashboards 5.2.3. Training of the users 5.3. Creating an efficient map 5.3.1.
  • Page 4 5.5. Error handling 5.6. Handover testing 6. Product presentation 6.1. Main features of MiR500 6.2. Identification label 6.3. MiR500 control panel 6.3.1. The Operating mode key 6.3.2. The control panel buttons 6.4. MiR500 operating modes 6.4.1. Muting of the personnel detection means 6.5.

  • Page 5: About This Document

    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.

  • Page 6: Document History

    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...

  • Page 7: Safety

    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.

  • Page 8: Safety Message Types

    • 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. MiR500 user guide, 2019/03, rev.1.1...

  • Page 9: Intended Use

    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.

  • Page 10: 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.

  • Page 11: Safety-Related Functions And Interfaces

    Safety • Being run over, drawing-in, trapping or impact if a person steps into the route or walks towards MiR500 while in motion. • Crushing, drawing-in or trapping at load transfer stations, work cells or charging stations. NOTICE Other significant hazards might be present in a specific robot installation.

  • Page 12: Safety-Related Electrical Interfaces

    Must be manually deactivated by activation of the restart button. Safeguard stop input This input can be used to issue a category 0 stop followed by a controlled brake which brings MiR500 to a stop. Will be automatically deactivated when signal is driven high again.

  • Page 13: Safety-Related Electrical Outputs

    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. MiR500 user guide, 2019/03, rev.1.1...

  • Page 14: Getting Started

    Getting started 3. Getting started This section describes how to get started with MiR500. The section contains the following topics: 3.1. In the box 3.2. Unpacking MiR500 MiR500 user guide, 2019/03, rev.1.1...

  • Page 15: In The Box

    This section describes the content of the MiR500 box. The box contains: 1. The MiR500 robot 2. MiR500 document folder containing the printed documents and the USB flash drive. 3. Printed documents: • MiR500 Quick Start. • MiR username and passwords.
  • Page 16 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. MiR500 user guide, 2019/03, rev.1.1...
  • Page 17 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. 8. Remove the wheel stop board from the pallet to let the robot drive on the ramp. MiR500 user guide, 2019/03, rev.1.1...

  • Page 18: Commissioning

    Commissioning 4. Commissioning This section describes how to get started with MiR500. NOTICE Read the Safety chapter before powering up the robot. The section contains the following topics: 4.1. Powering up 4.2. Connecting to the robot interface 4.3. Driving the robot in manual mode 4.4.

  • Page 19: Powering Up

    Commissioning 4.1. Powering up Follow these steps to power up MiR500. 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.

  • Page 20: Connecting To The Robot Interface

    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. MiR500 user guide, 2019/03, rev.1.1...

  • Page 21: Driving The Robot In Manual Mode

    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. MiR500 user guide, 2019/03, rev.1.1...
  • Page 22 Commissioning 4. Press the Restart button. The status lights turn blue indicating that the robot is in Manual mode. 5. Drive the robot using the joystick. MiR500 user guide, 2019/03, rev.1.1...

  • Page 23: Checking The Hardware Status

    4.5. Charging the robot Note A charger cable and an external charger is not part of the standard MiR500 delivery. To charge MiR500 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.

  • Page 24: Shutting Down The Robot

    4. When the robot finishes the shutdown process, the status and the signal lights go off, the On/Off button turns blue. If shutting the robot down for transportation or service/repair, the battery disconnect switch must be turned off as well and the battery cable disconnected, see ... MiR500 user guide, 2019/03, rev.1.1...

  • Page 25: Creating And Configuring A Map

    The robot requires a map to operate. For information about creating a map, refer to MiR Robot Interface 2.0 Reference Guide. Section Creating an efficient map on page 29 describes how to make the map efficient and how to mitigate potential risks. MiR500 user guide, 2019/03, rev.1.1...

  • Page 26: Planning

    Before considering and installing the following, it is worth spending some time defining what tasks MiR500 must do in the work environment. 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, refer to the MiR Robot Interface 2.0 Reference...

  • Page 27: Analysis Of The Work Environment

    MiR500 requires to operate safely and successfully. 5.1.1. What does the robot see? Before preparing the environment for MiR500, it is worth understanding how the robot works, what it can see and what it uses for navigation. MiR500 is an autonomous and collaborative robot. The robot relies on localization techniques to orient itself in its environment.
  • Page 28 Laser scanners of the robot 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. The 3D camera will detect more details of the chair when it is close enough to it. MiR500 user guide, 2019/03, rev.1.1...

  • Page 29: Mir500 User Roles

    The direct user also needs to know who is responsible for MiR500, so they can get help if the robot is not running missions as it should.

  • Page 30: Interface And Dashboards

    5.2.3. Training of the users It is very important to spend time on training the different users of MiR500. It is unlikely that all users will need to know all the features of the robot. Teaching should be done at different levels, to make it as simple as possible for the different users.

  • Page 31: Creating An Efficient Map

    After the preliminary analyses of the work environment and the work flows of the people working there, spending time on creating a good map is important for MiR500 to work safely and efficiently. Creating a robust, reliable map for dynamic environments will pay off, as the map is the basis of the robot’s ability to navigate its surroundings.
  • Page 32 It could also be an area where forklifts or other machines are operated. Issue: MiR500 will stop if a person steps out in front of it. In a transient work flow area, the robot will stop and reassess its paths many times a day, thereby wasting valuable time.
  • Page 33 Add blink and beep zones in narrow doorways to attract attention. This will warn people near the doorway that the robot is coming through. Narrow doorways can be marked with a Blink and/or beep zone (marked with yellow) to warn people that it is coming through. MiR500 user guide, 2019/03, rev.1.1...
  • Page 34 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. MiR500 will then plan a path underneath the shelves, but when it comes closer, the camera will see the obstacle.

  • Page 35: Creating Efficient Missions

    Planning 5.4. Creating efficient missions After creating a good map, it is worth spending time on creating and testing simple missions for MiR500 to work safely and efficiently. Before building the missions, consider how the tasks could be solved in the simplest and safest way.

  • Page 36: Handover Testing

    Guide. 5.6. 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. Handover testing is important because it improves safety, increases users’ happiness with the robot and increases return of investment.
  • Page 37 • Rest calls. Stay in contact It is important to stay in contact with the users after the installation of MiR500. Make sure to follow up with the following in mind: • If the customer does not call for support, it might be because the robot is running perfectly, but it might also be because they have problems and gave up on the robot.

  • Page 38: Product Presentation

    Product presentation 6. Product presentation 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 39: Main Features Of Mir500

    A lift platform may be mounted on MiR500 enabling it to automate the internal transport of US standard 40*48 pallets. • MiR500 EU Pallet Lift A pallet lift for EU pallets may be mounted on MiR500 enabling it to automate the internal transport of EU pallets. MiR500 user guide, 2019/03, rev.1.1...

  • Page 40: Identification Label

    Use a MiR500 EU Pallet Rack with MiR500 to enable it to place and pick up US standard 40*48 pallets autonomously. • MiR500 EU Pallet Rack A pallet rack may be used with MiR500 enabling it to place and pick up EU pallets autonomously from MiR500 EU Pallet Rack. Note To read more about the add-ons, go to www.mir-robots.com.

  • Page 41: The Operating Mode Key

    • Right position: Manual mode. Puts the robot in the Manual mode. For more information on operating modes, see MiR500 operating modes on the next page. 6.3.2. The control panel buttons The buttons on the control panel have the following functions.

  • Page 42: Mir500 Operating Modes

    • Red: The robot detected an error. • Yellow: The battery level is low. 6.4. 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.

  • Page 43: Mir500 External Parts

    The status and the signal lights start flashing yellow, the robot is ready to drive with muted personnel detection means. 6.5. MiR500 external parts This section presents the parts of MiR500 that are visible on the outside. 1. Left cover plate: access to power 8. Proximity sensors: eight pcs., two in each...
  • Page 44 Product presentation MiR500 top cover View of MiR500 from the top: 1. Not accessible; used for fixation of the 3. M10 mooring holes for fixation of top top cover. module, e.g. MiR500 EU Pallet Lift or MiR500 Lift. Fore more information on mounting top...

  • Page 45: Mir500 Internal Parts

    Product presentation 6.6. 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. 6.6.1. 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 46 1. Cable chain 6. Loudspeaker 2. Safe Torque Off contactors 7. Power board: controlling power distribution for motor controller, PC and safety PLC 3. Access point/Router 8. Motor controller 4. Robot computer 9. Safety PLC 5. Buzzer MiR500 user guide, 2019/03, rev.1.1...

  • Page 47: Rear Compartment

    Product presentation 6.6.2. Rear compartment The rear compartment holds the robot’s battery. To open the rear compartment: 1. Push the two white buttons. 2. Pull the hatch. MiR500 user guide, 2019/03, rev.1.1...

  • Page 48: Side Compartments

    6.6.3. 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. MiR500 user guide, 2019/03, rev.1.1...

  • Page 49: Top Compartments

    2. Drive wheel 6.6.4. 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. The two top compartments contain interfaces for top applications and added safety functions.

  • Page 50: Sensor System

    • Internal sensors 6.7.1. Safety laser scanners The safety laser scanners on MIR500 are of the type AOPDDR (active opto-electronic protective device responsive to diffuse reflection). AOPDDR is a protective device that uses opto-electronic transmission and reception elements to detect the reflection of the optical radiation generated by the protective device. The reflection is generated by an object in a defined two-dimensional area.
  • Page 51 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". MiR500 user guide, 2019/03, rev.1.1...
  • Page 52 The active protective field is automatically selected based on the speed of MiR500. A person or object within an active protective field will bring the robot to a protective stop and the robot will remain stopped until the protective field is free.

  • Page 53: Cameras

    CAUTION The speed/zone rate is configured to comply with the safety standards of MiR500. If they are changed, Mobile Industrial Robots takes no responsibility for any safety related incidents, and the warranty becomes void.
  • Page 54 The camera readouts are used as 3D point cloud data. They are not recording recognizable objects or people. The following illustrations show the fields of view of the cameras. The two 3D cameras can see objects up to 1700 mm above floor height. MiR500 user guide, 2019/03, rev.1.1...
  • Page 55 Product presentation The two 3D cameras have a horizontal field of view of 114°. MiR500 user guide, 2019/03, rev.1.1...

  • Page 56: Proximity Sensors

    • Signal lights The signal lights at the front and back of the robot show people in the environment if the robot is about to turn a corner or go backwards. MiR500 user guide, 2019/03, rev.1.1...
  • Page 57 When the robot drives with muted personnel detection means, for example when docking to a Pallet Rack, all signal lights blink yellow. For more information, see Muting of the personnel detection means on page 40. MiR500 user guide, 2019/03, rev.1.1...

  • Page 58: Maintenance

    The stated intervals are indicative and depend on the operating environment and frequency of usage of the robot. The section contains the following topics: 7.1. Regular weekly checks and maintenance tasks 7.2. Regular checks and replacements 7.3. Packing for transportation MiR500 user guide, 2019/03, rev.1.1...

  • Page 59: Regular Weekly Checks And Maintenance Tasks

    Check mounting. Does it sit evenly on top Check monthly and replace as needed. of the robot with connections accessible. Caster wheels (the Check bearings and tighten. Check weekly and replace as needed. four corner wheels) MiR500 user guide, 2019/03, rev.1.1...
  • Page 60 Check weekly and clean with a swab. Manual brake release Check if the brakes can be deactivated. Check monthly and replace as needed. Activate the brakes and push the robot gently forward. Remember to deactivate the brake after testing. MiR500 user guide, 2019/03, rev.1.1...

  • Page 61: Packing For Transportation

    • Protective corner braces. The braces prevent the robot from being damaged by the transport straps. • Screws. 7.3.2. Packing the robot for transportation To pack the robot for transportation: 1. Shut down the robot. See section Shutting down the robot on page 22. 2. Open the rear maintenance hatch. MiR500 user guide, 2019/03, rev.1.1...

  • Page 62: Battery

    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. MiR500 user guide, 2019/03, rev.1.1...

  • Page 63: Applications

    Applications 8. 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 www.mir-...
  • Page 64 Applications CAUTION Stay within the specifications for weight and the payload’s center of gravity, see Payload specifications on page 63. MiR500 user guide, 2019/03, rev.1.1...

  • Page 65: Payload Specifications

    Payload specifications 9. 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. Side view MiR500 user guide, 2019/03, rev.1.1...
  • Page 66 Payload specifications Front view MiR500 user guide, 2019/03, rev.1.1...

  • Page 67: Interface Specifications

    10. Interface specifications This section describes the specifications of the top application interface. NOTICE Read Safety on page 5 before using the electrical interface. MiR500 has five electrical interfaces divided into two groups: • General purpose interfaces: • Power • GPIO •...
  • Page 68 A GPIO connection is in the top left-hand side compartment. Pin numbers: male connector viewed from the front (left) and wiring diagram (right). A variety of top applications requires a general purpose and "simple-to-use" digital I/O (GPIO). MiR500 user guide, 2019/03, rev.1.1...
  • Page 69 1A @ 24V Output 2. Protected return. 1A @ 24V Output 3. Protected return. 1A @ 24V Output 4. Protected return. PNP Input 1. 1A @ 24V Protected output. PNP Input 2. 1A @ 24V Protected output. MiR500 user guide, 2019/03, rev.1.1...
  • Page 70 The communication interface is 10/100 Mbit Ethernet using a M12 connector. See Connector list on page 71. Various protocols can be supported, e.g. Modbus. The following table contains the description of the pins of the Ethernet interface. Pin number Signal name MiR500 user guide, 2019/03, rev.1.1...

  • Page 71: Safety Interfaces

    The following table contains the description of the pins of the Auxiliary emergency stop interface. Pin number Signal name Description Test output Test output E-stop 1 Emergency stop 1. E-stop 2 Emergency stop 2. Reset Safe RTN Safe return. Reset lamp Unassigned Unassigned. MiR500 user guide, 2019/03, rev.1.1...
  • Page 72 Shared emergency stop in 2. Input - Low = robot goes to e-stop. Reduced speed 1 Input - circuit broken will result in that the robot can not drive fast. Reduced speed 2 Input - circuit broken will result in that the robot can not drive fast. MiR500 user guide, 2019/03, rev.1.1...

  • Page 73: Connector List

    10.3. Connector list We recommend the following connectors for the five different interfaces. Connector name Connector type Power M23 6p GPIO M17 17p Ethernet M12 4p Auxiliary Emergency Stop M17 8p Auxiliary Safety Functions M17 17p MiR500 user guide, 2019/03, rev.1.1...

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