MIR MiR1000 Operating Manual
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MIR MiR1000 Operating Manual

Eu pallet lift
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Operating guide (en)
Date: 2019/09
Revision: v.1.0

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Summary of Contents for MIR MiR1000

  • Page 1 Operating guide (en) Date: 2019/09 Revision: v.1.0...
  • Page 2 Copyright © 2019 by Mobile Industrial Robots A/S. Contact the manufacturer: Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ www.mir-robots.com Phone: +45 20 377 577 Email: support@mir-robots.com CVR: 35251235 MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 3: Table Of Contents

    4.1. How the lift works 4.2. MiR EU Pallet Rack 4.3. Mark potentially hazardous floor area 5. Usage 5.1. Enable MiR1000 EU Pallet Lift feature 5.2. Set entry and pallet rack positions 5.3. Lower lift mission 5.4. Raise lift mission 5.5. Pick up pallet mission 5.6.

  • Page 4: About This Document

    Select 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 MiR products. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 5: Document History

    This table shows the latest and previous versions of this document and their interrelations with product software releases. Revision Release date Description 2019-09-04 First edition. 2.5.0 MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 6: Safety

    2. Safety 2. Safety Read the information in this section before powering up and operating MiR1000 EU Pallet Lift. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1000 EU Pallet Lift or its accessories are damaged, changed or modified in any way.

  • Page 7: General Safety Precautions

    If you use Manual control with a smartphone to drive the robot, make sure that the phone is set to Flight Mode. An incoming call on the smartphone will interrupt control of the robot. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 8: Intended Use

    MiR1000 EU Pallet Lift is a partly completed machine as defined in the EU machinery directive and does not have a CE mark. A correctly installed MiR1000 EU Pallet Lift is covered by the CE mark of MiR1000. However, a CE marked product does not guarantee a CE marked setup.
  • Page 9 2. Safety MiR1000 EU Pallet Lift is intended to be commissioned indoor in a light industrial environment where public access is restricted. For detailed description of the environment in which the robot should operate, see technical specifications on our website.

  • Page 10: Getting Started

    Connecting the cables When mounting MiR1000 EU Pallet Lift, it is important to place each lifting device on the correct side of MiR1000. The lifting device with the green board must be mounted on the left side of the robot.
  • Page 11 Place the right-side lifting device on top of the right side of the robot, and vice versa with the left-side lifting device. Pull the cables through the hole in the right-side lifting device. Do this for the left-side device also. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 12 Pull the cables with the white connectors from the left-side lifting device through the left compartment over to the right. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 13 Each pair of connectors are color and number coded. Cables with a match- ing color and number tags should be connected. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 14 Once the two connectors are correctly aligned, lock the connection by twisting the union nut until the connectors are tightly fastened together. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 15 Fixing MiR1000 EU Pallet Lift to MiR1000 When fixing MiR1000 EU Pallet Lift to MiR1000, it is important to check that no cables are pinched between the devices. To avoid this, use cable ties to keep the cables collected.
  • Page 16 Adjust the lifting device in the other end and screw in another bolt. Tighten both bolts completely to ensure a secure mounting. Repeat the previous steps with the other lifting device. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 17: Testing Mir1000 Eu Pallet Lift

    The following steps can be used to test that the lift is correctly mounted. Be sure to verify that the lift performs as expected in each step. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 18 Select 0 under outputs and wait for clicking sounds. This is the initialization of the cal- ibration process. Select 3 under outputs to raise the lift. Select 2 under outputs to lower the lift. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 19: Product Presentation

    The user provides the destination of product delivery via a web-based user interface. MiR1000 with a MiR1000 EU Pallet Lift can be set up to run a fixed route, be called on demand or perform more complex operations (missions).

  • Page 20: Mir Eu Pallet Rack

    When the lift is raised, the robot can only drive with a maximum velocity of 0.3 m/s. 4.2. MiR EU Pallet Rack MiR1000 with MiR1000 EU Pallet Lift mounted on top can be used together with one or more MiR EU Pallet Racks MiR EU Pallet Rack is the delivery station for your EUR-pallets. MiR1000 drives autonomously into the MiR EU Pallet Rack and delivers or picks up pallets safely with a...

  • Page 21: Mark Potentially Hazardous Floor Area

    4.3. Mark potentially hazardous floor area Before taking your MiR1000 EU Pallet Lift into use, it is necessary to mark up the floor in the area where MiR1000 with MiR1000 EU Pallet Lift docks to MiR EU Pallet Rack.
  • Page 22 The space between the red dotted zone line and the tape marking should be held free of objects to ensure a smooth entry to the pallet rack. For more information on personnel detection means and protective fields, see MiR1000 User Guide. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 23: Usage

    Go to System > Settings > Features. Under Pallet lift, select True. Under I/O modules, select True if this is not set already. MiR1000 EU Pallet Lift com- municates through I/O modules, so they have to be activated for the lift to work.

  • Page 24: Set Entry And Pallet Rack Positions

    Before creating missions to pick up and put down pallets, entry and pallet rack positions must be defined on the map first. Turn the key to manual mode on the robot, and manually drive MiR1000 with a MiR1000 EU Pallet Lift in front of a pallet rack, facing front.

  • Page 25: Lower Lift Mission

    5. Usage 5.3. Lower lift mission In the Lower Lift mission, MiR1000 will lower the lift on the robot to prepare to pick up a pallet. Go to Setup > Missions and select Create mission. Give the mission a name, for example Lower Lift. Select the group and site it should belong to.
  • Page 26 5. Usage In the first Set I/O port action dialog, under Module, select MiR1000 internal IOs. Under Output, type in 3. Under Operation, select Off. This ensures that any raising movement is stopped. In the Wait action dialog, set the time for one second. Select Validate and close.

  • Page 27: Raise Lift Mission

    Remember to save the mission. The mission should look similar to this: 5.4. Raise lift mission In the Raise Lift mission, MiR1000 will raise the lift to prepare to pick up a pallet from a pallet rack. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 28 The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel icon of the action in question to open the dialog of that action. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 29 5. Usage In the first Set I/O port action dialog, under Module, select MiR1000 internal IOs. Under Output, type in 2. Under Operation, select off. This is to ensure that the lift is in a fully lowered state. Select Validate and close.

  • Page 30: Pick Up Pallet Mission

    The two simple missions Lower Lift and Raise Lift are now ready to use in missions to pick up and put down pallets. In the Pick Up Pallet mission, MiR1000 will dock into a pallet rack, pick up a pallet and undock from the pallet rack.
  • Page 31 In the Relative move action dialog, under X, type in 2.0 (minimum) and then select Val- idate and close. Remember to save the mission. The mission should look similar to this: MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 32: Test The Mission

    5. Usage 5.1. MiR1000 drives to the entry position in front of the MiR1000 EU Pallet Lift and checks if there is a pallet (check position status is optional). If there is a pallet, MiR1000 lowers the lift, docks to the pallet rack, lifts off the pallet, exits the pallet rack and lowers the lift again.
  • Page 33 Validate and close. In the Relative move action dialog, under X, type in 2.0 (minimum) and then select Val- idate and close. Remember to save the mission. MiR1000 EU Pallet Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 34: Test The Mission

    Select the Play button to start the mission. WARNING When MiR1000 with a MiR1000 EU Pallet Lift docks to a pallet rack, the robot mutes Personnel Detection Means and blinks yellow. Do not step in front of the robot and keep distance to the pallet rack. Read Safety on page 6...

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