4.2. Connecting to the robot interface 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 4.7. Creating and configuring a map 5. Planning 5.1. Analysis of the work environment 5.2. MiR1000 user roles...
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5.4. Creating efficient missions 5.5. Create mission 5.6. Mission editor 5.7. Error handling 5.8. Handover testing 6. Product presentation 6.1. Main features of MiR1000 6.2. Identification label 6.3. MiR1000 control panel 6.4. MiR1000 operating modes 6.5. MiR1000 external parts 6.6. MiR1000 internal parts 6.7.
Available in multiple languages. MiR1000 Lift Operating guide The operating guide that describes how to set up and use MiR1000 with MiR1000 Lift. MiR1000 EU Pallet Lift Operating guide The operating guide that describes how to set up and use MiR1000 with MiR1000 EU Pallet Lift.
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. • Distributor site > Troubleshooting This page contains troubleshooting guides to solve common issues with MiR products.
2.3. Intended use MiR1000 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.
2. Safety MiR1000 is designed and all risks are considered when used with one of the following types of top applications: • MiR1000 Lift used with MiR Lift Pallet Rack. • MiR1000 EU Pallet Lift used with MiR EU Pallet Rack.
MiR1000. The risk assessment must cover not only MiR1000 itself, but also take into account potential potential load transfer stations, work cells and the environment it will be used in. See MiR100 and MiR200 Risk Analysis on the distributor page.
Nevertheless, if a limit is violated, the safety system issues a category 0 stop (stopping by “immediate removal of power to the machine actuators according to IEC 60204-1”) followed by a controlled brake which brings MiR1000 to a stop. See Technical specifications on our website for more details.
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Safe load position The safe load position safety function ensures that the robot will not drive, while MiR1000 Lift or MiR1000 EU Pallet Lift is not in the lowest position and hence there is a risk of compromising stability. The safe load position safety system consists of interlock switches that detect if the lift modules are in the lowest position or not.
External emergency stop button input This input is for connection of an optional emergency stop button. If activated, the safety system issues a category 0 stop followed by a controlled brake which brings MiR1000 to a 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. NOTICE MiR does not support any additional batteries applied to the MiR1000 by the customer. WARNING Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically.
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 MiR1000 User guide. 4.7. Creating and configuring a map The robot requires a map to operate.
This chapter describes what needs to be considered before and during the installation of MiR1000 in the company. It is worth spending some time defining what tasks MiR1000 must do in the work environment. The correct setup and thorough training of the users will result in a successful and safe installation of MiR1000.
The 3D camera will detect more details of the chair when it is close enough to it. 5.2. MiR1000 user roles Introducing MiR1000 into the company will require some changes to the environment and the people working with the robot to achieve the optimal benefits. Spending some time defining and preparing the users will make the robot a much more effective collaborative robot and will form a positive and safe experience.
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The direct user also needs to know who is responsible for MiR1000, so they can get help if the robot is not running missions as it should.
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Guide. Training of the users It is very important to spend time on training the different users of MiR1000. 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.
5.3. 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 MiR1000 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.
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Issue: MiR1000 will always plan the shortest path from A to B. If this is through a large highly dynamic area, the robot will re-plan its path several times. The re-planning happens because...
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Issue: MiR1000 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.
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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. MiR1000 will then plan a path underneath the shelves, but when it comes closer, the camera will see the obstacle.
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The shelves are marked as a Forbidden zone in the map. Pallet rack When MiR1000 docks to a pallet rack, personnel detection means are temporarily muted. This could cause a dangerous situation, if a person steps in front of the robot and the pallet rack.
Reference Guide. 5.8. Handover testing It is very important to schedule time for handover testing. The new users of MiR1000 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.
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Future possibilities After the initial installation of MiR1000, it is a good idea to inform users of other possibilities they might find useful after having used the robot for some time. This could include: •...
6. Product presentation 6. Product presentation MiR1000 is an autonomous mobile robot that can transport loads up to 1000 kg and pallets indoors within production facilities, warehouses, and other industrial locations. Users operate MiR1000 via a web-based user interface, which is accessed via a browser on a PC, smartphone or tablet.
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A lift platform may be mounted on MiR1000 enabling it to automate the internal trans- port of US standard 40x48 pallets. • MiR1000 EU Pallet Lift A pallet lift for EU pallets may be mounted on MiR1000 enabling it to automate the internal transport of EU pallets. • MiR Lift Pallet Rack Use a MiR Lift Pallet Rack with MiR1000 Lift.
6. Product presentation To read more about the add-ons, go to www.mir-robots.com. 6.2. Identification label The identification label of MiR1000 is placed above the MiR controller behind the rear maintenance hatch. Mobile Industrial Robots A/S declares that MiR1000 meets the requirements of the applicable EC directives.
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6. Product presentation This section presents the parts of MiR1000 that are visible on the outside. 1. Left cover plate: access to power 8. Proximity sensors: eight pcs., two interface, GPIO interface and in each corner behind corner Ethernet interface...
6. Product presentation 6.6. MiR1000 internal parts Most internal parts of MiR1000 are reached through maintenance hatches that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments 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.
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1. Connector for status light band 2. Drive wheel Top compartments The two top compartments hold interfaces to external units, for example MiR1000 EU Pallet Liftor MiR1000 Lift. To open a top compartment, remove four screws and lift off the top cover.
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Internal sensors Safety laser scanners The safety laser scanners on MiR1000 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.
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The active protective field is automatically selected based on the speed of MiR1000. 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.
7. Applications 7.2. Lift modifications Additional holes can be added to the MiR1000 Lift for custom applications. However, it is important not to damage any vital parts of the lift when doing so. Top plate of the lift 1. Material: Steel (S355) 2.
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.
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