MIR 100 User Manual
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MIR 100 User Manual

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

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Johann Stark
January 27, 2025

After starting the robot and doing every step of the starting guide, the lights stay yellow and wont switch to red or blue and im not able to connect to the website mir.com

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1 comments:
Mr. Anderson
February 10, 2025

The lights on the MiR100 robot stay yellow because the robot is paused and ready to operate. The yellow constant light indicates that the emergency stop has been reset, but the robot has not yet been moved into manual or automatic mode.

You may be unable to connect to the website mir.com because you need to first connect your PC, tablet, or phone to the WiFi access point of the robot. The access point name follows the format "MiR_RXXXX." After connecting to the robot’s WiFi, you must enter the correct username and password provided in the MiR username and passwords document that came with the robot. Then, in a browser, go to the correct address to sign in.

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Summary of Contents for MIR 100

  • 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 Version history 2. Safety 2.1 Safety message types 2.2 General safety precautions 2.3 Intended use 2.4 Users Commissioners Operators Direct users 2.5 Foreseeable misuse 2.6 Risk assessment 2.7 Residual risks 2.8 Safety-related functions and interfaces 2.9 Limiting safety-related functions...
  • Page 4 4.3 Driving the robot in manual mode 4.4 Checking the hardware status 4.5 Charging the robot 4.6 Shutting down the robot 5. Product presentation 5.1 Main features of MiR100 5.2 Identification label 5.3 MiR100 external parts 5.4 MiR100 internal parts 5.5 Sensor system 5.6 Light indicators 6.

  • Page 5: About This Document

    Getting started guides describe how to set up products that are mainly software based, such as MiRFleet and MiR AI Camera. • MiR RobotMiRFleet Reference guide contains description of all the elements of the robotMiRFleet interface. Available in multiple languages. •...

  • Page 6: Version History

    This page contains frequently asked questions regarding MiR products. • Distributor site > How to http://www.mobile-industrial-robots.com/en/account/how-to/ This page contains how-to guides that describe how to perform specific tasks with MiR products. • Distributor site > Troubleshooting https://www.mobile-industrial-robots.com/en/account/troubleshooting/ This page contains troubleshooting guides to solve common issues with MiR products.
  • Page 7 1. About this document Revision Release date Description 2019-01-04 Updated for hardware release 3.0 2.3.0 Updates and improvements throughout the higher manual 2019-06-26 Updated for hardware release 4.0 2.6.0 Updates and improvements throughout the higher manual 2019-08-20 Updated for hardware release 5.0 2.7.6 Updates and improvements throughout the higher...

  • Page 8: Safety

    2. Safety 2. Safety Read the information in this section before powering up and operating MiR100. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR100 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR100, accessories, or any other equipment due to programming errors or malfunctioning of MiR100.
  • Page 9 2. Safety WARNING Using a charger different from the one supplied by the manufacturer can cause a fire. • Use only the original charger. WARNING Make sure the UR Robot Arm is properly and securely bolted in place. Unstable mounting can lead to accidents. WARNING Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically.

  • Page 10: Intended Use

    2. Safety CAUTION The robot cannot see staircases going downwards and holes in the floor. • Mark staircases or holes on maps with Forbidden zones. • Keep the maps up to date. CAUTION Removing the top cover from the robot exposes parts connected to the power supply.

  • Page 11: Users

    2. Safety • MiRHook 100 to tow trailers. • A custom designed top application (including payload) designed to fulfill the following requirements: • Must not increase the footprint of MiR100 and be within the requirements in Payload specifications • Must not have any moving parts MiR100 can be used as a partly complete machine as defined in the EU machinery directive, with top applications that do not meet above limitations.

  • Page 12: Operators

    2. Safety Operators Operators can service and maintain MiR100 and create and change missions and positions in the robot interface. They have thorough knowledge of MiR100 and of the safety precautions presented in the User guide of MiRHook 100MiR100 and Operating guide of MiR100. Direct users Direct users can assign missions to MiR100 and must be familiar with the safety precautions in the Operating guide.

  • Page 13: Residual Risks

    The risk assessment must cover not only MiR100 itself, but also take into account potential load transfer stations, work cells, and the work environment. MiR does not take any responsibility for the creation of the risk assessment, but we provide information and guidelines that may be used in the MiR100 and MiR200 Risk Analysis found on the Distributor Site under Manuals.

  • Page 14: Safety-Related Functions And Interfaces

    2. Safety 2.8 Safety-related functions and interfaces MiR100 is equipped with a range of built-in safety-related functions as well as safety-related electrical interfaces designed for integration with a top module and/or top manipulator. Each safety function and interface is designed according to the standard ISO 13849-1. The safety-related functions and interfaces are selected to support compliance with EN 1525.

  • Page 15: Lithium Battery

    Emergency stop must be manually deactivated by activation of the restart button. 2.10 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.

  • Page 16: Getting Started

    MiR100 document folder containing the printed documents and the USB flash drive. Printed documents: • MiR100Quick Start • MiR username and passwords • CE declaration of conformity MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 17: Unpacking Mir100

    3. Getting started USB flash drive with the following content: • MiR100User Guide • MiR Robot Interface 2.0 Reference guide • MiR robot REST API reference • MiR username and passwords • CE declaration of conformity 3.2 Unpacking MiR100 This section describes how to unpack MiR100.
  • Page 18 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. MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 19: Commissioning

    4. Commissioning 4. Commissioning This section describes how to get started with MiR100. NOTICE Read Safety on page 8 before powering up the robot. 4.1 Powering up Follow these steps to power up MiR100. 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 20 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). Put the cover back on making sure to fit it correctly over the connector openings.
  • 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 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.

  • Page 23: 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. 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: Checking The Hardware Status

    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. 4.4 Checking the hardware status To check that all hardware components work as intended follow the steps below: Sign in to the robot interface.

  • Page 26: Charging The Robot

    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 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 approximately 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. MiR100 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 MiR100: 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 MiR100 is an autonomous mobile robot that can transport loads up to 100 kg and pallets indoors within production facilities, warehouses, and other industrial locations. Users operate MiR100 via a web-based user interface, which is accessed via a browser on a PC, smartphone or tablet.
  • Page 31 MiRHook 100 A hook may be mounted on MiR100 enabling it to automate the internal transport of carts. To read more about the add-ons, go to www.mir-robots.com. MiR100 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. MiR1004.0 Product name and hardware version. Example of MiR100 CE marking and identification label.

  • Page 33: Mir100 Internal Parts

    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 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 5.

  • 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 5. Product presentation When in motion, the safety laser scanners continuously scan the surroundings using a distance of up to 2.5 m. When mapping, the safety laser scanner’s view is reduced to 20 m to support that maps will get the highest possible quality. The safety laser scanners see up to 20 m when mapping an area.
  • Page 37 5. Product presentation defined by a speed interval that the robot may operate at. The colors and cases in the table correspond to the field set shown in the illustration below. Case Speed Field set in front of robot Comments -1.40 to 0.20 m/s 20 mm Reversing and slowly forwards...
  • Page 38 Scanners measure distances to diffuse reflections which means that a tolerance is added to the protective field sets to secure a safe detection of persons crossing the protective field sets. The tolerance distance is 100 mm. MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 39 5. Product presentation CAUTION The protective field sets are configured to comply with the safety standards of MiR100. 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. MiR100 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 scanners. To do this, access the robot's user interface and navigate to System > Robot setup. Further instructions are provided here.

  • Page 47: Packing For Transportation

    6. Maintenance Part Maintenance Interval Safety stickers Check if the safety stickers on the Check every six months and robot are still intact and visible. replace as needed. 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.
  • 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 MiR100 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: 25 kg MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 52 8. Payload specifications Payload: 50 kg Payload: 75 kg MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 53 8. Payload specifications Payload: 100 kg MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 54: 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 Emergency stop MiR100 User guide (en) 09/2019 - v.1.4 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 55 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 56: Updating Mir100 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 57 It may take a few minutes for the package to successfully upload. NOTICE When updating MiR100 with an attached MiRHook 100, 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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