MIR 200 User Manual
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MIR 200 User Manual

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User guide (en)
Date: 09/2019
Revision: v.1.4

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Summary of Contents for MIR 200

  • Page 1 User guide (en) Date: 09/2019 Revision: v.1.4...
  • 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 A/S (MiR). MiR makes no warranties, express or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice.

  • Page 3: Table Of Contents

    Table of contents 1. About this document 1.1. Where to find more information 1.2. Document history 2. Safety 2.1. Safety message types 2.2. General safety precautions 2.3. Intended use 2.4. Foreseeable misuse 2.5. Risk assessment 2.6. Residual risks 2.7. Safety-related functions and interfaces 2.8.
  • Page 4 5.5. Sensor system 5.6. Light indicators 6. Maintenance 6.1. Regular weekly checks and maintenance tasks 6.2. Regular checks and replacements 6.3. Packing for transportation 7. Applications 7.1. Mounting a top module 8. Payload specifications 9. Interface specifications 9.1. Application interface 9.2.

  • Page 5: About This Document

    Guidelines for proper maintenance of the robot. 1.1. Where to find more information At www.mir-robots.com, several additional resources are available. To access more information, sign in to the Distributor site with your distributor account at http://www.mobile-industrial-robots.com/en/account/. The following relevant resources are available: •...

  • Page 6: Document History

    1. About this document • 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. • Distributor site > Troubleshooting This page contains troubleshooting guides to solve common issues with MiR products.

  • Page 7: Safety

    2. Safety 2. Safety Read the information in this section before powering up and operating MiR200. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR200 or its accessories are damaged, changed or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR200, accessories or any other equipment due to programming errors or malfunctioning of MiR200.

  • Page 8: General Safety Precautions

    2. Safety 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.
  • Page 9 2. Safety CAUTION Removing the top cover from the robot exposes parts connected to the power supply. • Turn off the main power relay to avoid a short circuit. To see the location of the power relay, refer to Product presentation on page 30 CAUTION Use Flight Mode with smartphone control of the robot.

  • Page 10: Intended Use

    MiR200. MiR200 is designed and all risks are considered when used with one of the following types of top applications: • MiRHook 200 to tow trailers. • A custom designed top application (including payload) designed to fulfill the following requirements:...

  • Page 11: Risk Assessment

    2. Safety • Steep ramps on the route. Risk of injury. Steep surface grades (ramps etc.) may cause the robot to skid. See Tech- nical specifications on the website. • Use outdoor. Risk of injury. MiR200 is designed and intended for indoor use only. •...

  • Page 12: Residual Risks

    2. Safety In EN 1525, clause 4 there is a list of significant hazards, hazardous situations and events which can be used for inspiration. The risk assessment shall be written and saved as part of the technical file. 2.6. Residual risks Mobile Industrial Robots has identified the potential significant hazards listed below as hazards that must be considered by the integrator.
  • Page 13 2. Safety Collision avoidance The collision avoidance safety function ensures that the robot will come to a stop before it collides with a human or object. The function measures the speed on the two driving wheels and switches between the predefined protective fields accordingly.

  • Page 14: Lithium Battery

    2. Safety 2.9. Lithium battery This section contains safety precautions related to lithium batteries in MiR robots. 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: •...

  • Page 15: Getting Started

    3. Getting started 3. Getting started This section describes how to get started with MiR200. 3.1. In the box This section describes the content of the MiR200 box. The box contains: The MiR200 robot MiR200 Kit • Emergency stop box, external antenna and 4 pcs. M10x40 bolts •...

  • Page 16: Unpacking Mir200

    MiR username and passwords • CE declaration of conformity USB flash drive with the following content: • MiR200 User Guide • MiR Robot Interface 2.0 Reference guide • MiR robot REST API reference • MiR username and passwords • CE declaration of conformity 3.2.
  • Page 17 3. Getting started Remove the top foam, foam blocks on the sides and the pallet frames. Place the pallet cover as a ramp at the robot's rear end. MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 18: Commissioning

    4. Commissioning 4. Commissioning This section describes how to get started with MiR200. NOTICE Read the Safety chapter before powering up the robot. 4.1. Powering up Follow these steps to power up MiR200. Grab the two rounded corners and carefully lift off the cover. Connect one of the two battery cables to the plug on top of the battery box.
  • Page 19 4. Commissioning Switch on the three relays placed in the corner by the front laser scanner. Start with 32A main power, i.e. from the outer frame in. Ensure that the battery disconnect switch is on (the two yellow indicators pointing to On). MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 20 4. Commissioning Connect the two ESD cables attached to the robot frame, next to the loudspeaker, and inside the cover. Put the cover back on making sure to fit it correctly over the connector openings. MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 21 4. Commissioning 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 Mounting a top module on page 49.
  • Page 22 4. Commissioning The antenna can be lowered and rotated in all directions to fit under a top module. 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.

  • Page 23: Connecting To The Robot Interface

    NOTICE The username and password for the robot’s WiFi access point and for access- ing the web interface are in the MiR username and passwords document. The document is in the box with the robot. Follow these steps to connect to the robot interface: Using your pc, tablet or phone, connect the WiFi access point of the robot.

  • Page 24: Driving The Robot In Manual Mode

    4. Commissioning In a browser, go to the address mir.com and sign in. The robot is now ready to move down the ramp. To do this switch to manual mode and use the electronic joystick in the robot interface. See next section Driving the robot in manual mode below.
  • Page 25 4. Commissioning The status light on the robot turns blue indicating that the robot is in Manual mode. Drive the robot using the joystick. We recommend to reverse the robot down the ramp. MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 26: Checking The Hardware Status

    Check that all elements on the page have the OK status and that they have green dots on the left. For more information, see Hardware health in MiR Robot Interface 2.0 Reference Guide. 4.5. Charging the robot The robot arrives with a charged battery and can drive for up to three hours before recharging is required.
  • Page 27 4. Commissioning 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 and a depletion of the battery, we recommend that you turn off the robot while charging with a cable. If charging two robots right after each other with a cable, wait approx- imately one minute between unplugging the first robot and plugging in the second.
  • Page 28 The robot detects both cable and activated charging-button and will go into emergency stop in both cases. For information about the charging time, see the robot specifications at www.mir- robots.com. MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 29: Shutting Down The Robot

    4. Commissioning 4.6. Shutting down the robot To shut down MiR200: Ensure that the robot is not moving or executing an action. Press the On/Off button. The robot starts the shutdown process. During shutdown, status lights show yellow fading light. You'll know that the shutdown process is finished when the status lights are off.

  • Page 30: Product Presentation

    5. Product presentation 5. Product presentation MiR200 is an autonomous mobile robot that can transport loads up to 200 kg and pallets indoors within production facilities, warehouses, and other industrial locations. Users operate MiR200 via a web-based user interface, which is accessed via a browser on a PC, smartphone or tablet.
  • Page 31 MiRHook 200 A hook may be mounted on MiR200 enabling it to automate the internal transport of carts. To read more about the add-ons, go to www.mir-robots.com. MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 32: Identification Label

    The 15-digit serial number is a unique identifier of the robot. The number last four digits form part of the original name of the robot, e.g. MiR R635. MiR200 3.0 Product name and hardware version. Example of MiR200 CE marking and identification label.
  • Page 33 5. Product presentation 1. Top cover 11. Behind removable rear corner cover: Charging port with switch 2. Caster wheel - all four corner 12. Ultrasound sensors for detection wheels of transparent objects (rear) 3. Drive wheel - differential control 13. Rear cover 4.

  • Page 34: Mir200 Internal Parts

    3. Motorcontroller - manages the 12. Loudspeaker two motor drives 4. Brake relay - short circuits motor 13. MiR board - interface board for windings for faster braking gyroscope, accelerometer, ultrasound, light, on/off circuit and CAN bus communication...

  • Page 35: Sensor System

    The safety laser scanners serve three purposes: • They are used for mapping, see also MiR Robot Interface 2.0 Reference Guide. • They are used to localize the robot in the environment and plan routes between points.
  • Page 36 They continuously scan the surroundings when the robot operates, thereby avoiding col- lision with objects and people. The safety laser scanners detect objects in a plane approximately 200 mm above ground. Objects above or below are not detected by the safety laser scanners.
  • Page 37 5. Product presentation Field sets for forwards driving direction The following table shows speeds and field sets in forwards driving direction. The table describes the length of the field set in front of the robot in different cases. Each case is defined by a speed interval that the robot may operate at.
  • Page 38 5. Product presentation Field sets for backwards driving direction This table shows speeds and field sets in backwards driving direction. The colors correspond to the field set shown in the illustration below. Case Speed Field set Comments -1.14 to 1.80 m/s 30 mm Reversing and slowly backwards -0.20 to 0.15 m/s...
  • Page 39 5. Product presentation CAUTION The protective field sets are configured to comply with the safety standards of MiR200. If they are changed, Mobile Industrial Robots takes no responsibility for any safety related incidents, and the warranty becomes void. 3D cameras Two 3D depth cameras positioned on the front of the robot detect objects in front of the robot while the robot’s local planner continuously adjusts its planned routes around such objects.
  • Page 40 5. Product presentation The two 3D cameras can see objects up to 1800 mm above floor height. MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 41 5. Product presentation The two 3D cameras have a horizontal field of view of 118°. Ultrasound sensors Four ultrasound sensors are placed on the robot: two at the front and two at the rear of the robot. The ultrasound sensors are used to detect transparent objects. Internal sensors The internal sensor system of the robot consists of the following components: •...

  • Page 42: Light Indicators

    5. Product presentation • Wheel encoders Detect wheel movements. 5.6. Light indicators The robot uses light indicators to let people in the environment know what the robot is currently doing. Status lights The LED light band running all the way around the robot indicates the robot’s current operational state.

  • Page 43: Maintenance

    6. Maintenance 6. Maintenance The following maintenance schedules give an overview of regular cleaning and parts replacement procedures. The stated intervals are indicative and depend on the operating environment and frequency of usage of the robot. NOTICE Only use approved spare parts. Mobile Industrial Robots disclaims any and all liability if unapproved spare parts are used.

  • Page 44: Regular Checks And Replacements

    6. Maintenance Parts Maintenance tasks Laser scanners Clean the optics covers of the scanners for optimum performance. Avoid aggressive or abrasive cleaning agents. Clean the laser scanners using a damp cloth, or for better maintenance see the notice below. Also do this before contacting your local technical support with any of the issues mentioned below.
  • Page 45 6. Maintenance The following table contains the parts that you should check and the intervals when you should do that: Part Maintenance Interval Robot cover Check for cracks. Check monthly and replace as needed. Check mounting. Does it sit evenly on top of the robot with connections accessible.
  • Page 46 6. Maintenance Part Maintenance Interval Scanners Check for visual defects, e.g. Replace as needed. cracks and scratches. NOTICE You must calibrate the robot after replacing the scan- ners. To do this, access the robot's user interface and navigate to System >...

  • Page 47: Packing For Transportation

    6. Maintenance 6.3. Packing for transportation This section describes how to pack the robot for transportation. Original packaging 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).
  • Page 48 6. Maintenance NOTICE Pack and transport the robot in an upright position. Packing and transporting the robot in any other position voids the warranty. Battery The lithium battery is subject to transport regulations. Make sure that you follow the safety precautions in this section and the instructions in section Packing for transportation on the previous...

  • Page 49: Applications

    You can install top modules on top of MiR200 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-robots.com...
  • Page 50 7. Applications CAUTION 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. CAUTION Stay within the specifications for weight and the payload’s center of gravity, Payload specifications on page 51.

  • Page 51: Payload Specifications

    8. Payload specifications 8. Payload specifications The following drawings illustrate the center of mass (CoM) specifications for safe operation at different payloads. Payload: 50 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 52 8. Payload specifications Payload: 75 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 53 8. Payload specifications Payload: 100 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 54 8. Payload specifications Payload: 125 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 55 8. Payload specifications Payload: 150 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 56 8. Payload specifications Payload: 175 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 57 8. Payload specifications Payload: 200 kg MiR200 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 58: Interface Specifications

    9. Interface specifications 9. Interface specifications 9.1. Application interface Pin number Voltage Max. current Description Battery voltage (24 V) Starts with the robot. Battery voltage (24 V) Starts with the robot. Battery voltage (24 V) Stops by emergency stop. Ground. Application interface 9.2.
  • Page 59 9. Interface specifications Signal name Description number DIN 19 DIN 14 DIN 70 Emergency stop, 1 GN Emergency stop, GN-WH/RD Reset button, BWN-WH SICK XTIO, Q3 For SICK scanner For SICK scanner To use with the 24V signal from pin 10 24V max.

  • Page 60: Updating Mir200 Software

    Download the latest version of MiR Software Robot / Hook / Fleet 2 version x.x.x. Connect your computer to the WiFi of the robot you would like to update. Access the robot's interface by going to the website mir.com in your preferred web browser and sign in.
  • Page 61 It may take a few minutes for the package to successfully upload. NOTICE When updating MiR200 with an attached MiRHook 200, the Hook software must be updated first to ensure that the robot is compatible with the hook when uploading the software.

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