MIR Shelf Lift Operating Manual
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MIR Shelf Lift Operating Manual

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Operating guide (en)
Date: 12/2019
Revision: v.1.0

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  • Page 1 Operating guide (en) Date: 12/2019 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.mobile-industrial-robots.com Phone: +45 20 377 577 Email: support@mir-robots.com CVR: 35251235 MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 3: Table Of Contents

    5.4 Testing MiR Shelf Lift 6. Commissioning 6.1 Using MiR Shelf Lift 6.2 Resetting Lift after turning on the robot 6.3 Lift modifications 6.4 Adjusting the protective field sets MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 4 9.2 Robot docking imprecisely or not docking at all to shelf 9.3 Robot turning strangely when docking 9.4 Robot placing shelf imprecisely 9.5 Robot going into protective stop while driving with shelves 10. Glossary MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 5: About This Document

    1. About this document 1. About this document This guide describes how to set up and use MiR Shelf Lift for MiR500/MiR1000. It includes information regarding safe usage, how to commission and operate MiR Shelf Lift, and how to create missions that use MiR Shelf Lift.

  • Page 6: Version History

    1.2 Version history This table shows current and previous versions of this document and their interrelations with hardware releases. Revision Release date Description 2019-10-20 First edition. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 7: Safety

    Alerts against unsafe practices. Carefully read the message that follows to prevent minor or moderate injury. NOTICE Indicates important information, including situations that can result in damage to equipment or property. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 8: Users

    2. Safety 2.2 Users MiR Shelf Lift is only intended to be used by personnel that have received training in their required tasks. There are three types of intended users for MiR Shelf Lift: Commissioners Commissioners have received extensive training in the full use of MiR Shelf Lift and have the following main tasks: •...

  • Page 9: General Safety Precautions

    • Ensure that MiR Shelf Lift is always running on the correct software. WARNING Risk of injury if a person is standing next to MiR Shelf Lift when it is docking to a shelf. • Ensure that docking positions are clearly marked as operating hazard zones with visible tape or similar marking, and that all personnel are instructed not to stand close to MiR Shelf Lift when it is docking to a shelf.
  • Page 10 WARNING Risk of injury if a person is standing in the blind spot of MiR Shelf Lift when pivoting with a shelf. • Ensure that all nearby personnel are instructed not to stand close to MiR Shelf Lift when it is pivoting.

  • Page 11: Risk Assessment

    MiR Shelf Lift is a partly completed machine as defined in the EU machinery directive and does not have a CE mark. A correctly installed MiR Shelf Lift is covered by the CE mark of MiR500/MiR1000. However, a CE marked product does not guarantee a CE marked setup. It is the responsibility of the commissioner to safely commission MiR Shelf Lift.

  • Page 12: Foreseeable Misuse

    3.4 Foreseeable misuse Any use of MiR Shelf Lift deviating from the intended use is deemed as misuse. This includes, but is not limited to: • Using MiR Shelf Lift to transport people • Using MiR Shelf Lift on inclines • Exceeding the maximum payload •...
  • Page 13 NOTICE All risks and foreseeable misuses relevant to MiR500/MiR1000 also apply to MiR Shelf Lift. Refer to the MiR500/MiR1000 User guide for more information. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 14: Product Presentation

    For increased precision when docking, it is possible to use markers, such as VL-markers, to specify an exact position where the robot can dock to pick up a shelf. MiR Shelf Lift is the only MiR Lift that can drive with the lift raised and thus the only lift that can transport shelves.
  • Page 15 4. Product presentation MiR Shelf Lift is intended to be used with shelves with asymmetric legs. MiR has described safety and residual risks according to intended use and has tested the docking procedure with this application. MiR only provides standard configurations for the safety laser scanners for shelves with asymmetric legs.
  • Page 16 When building a shelf with asymmetric legs, it is important to use transverse stabilizers to keep the structure from tipping. Figure 4.1. To be in compliance with the intended use of MiR Shelf Lift, follow these measurements when making narrow or wide shelves for MiR Shelf Lift with asymmetric legs.
  • Page 17 4. Product presentation Shelf with symmetric legs CAUTION Risk of injury if MiR Shelf Lift is used to transport a shelf with symmetric legs outside operating hazard zones.* See Mark potentially hazardous floor areas on page 41 • Only use MiR Shelf Lift in operating hazard zones when operating with shelves with symmetric legs.
  • Page 18 4. Product presentation Figure 4.2. To be in compliance with MiR's docking tests, follow these measurements when making narrow or wide shelves for MiR Shelf Lift with symmetric legs. Payload The payload of MiR Shelf Lift is 1000 kg. However, the same payload restrictions for MiR500/MiR1000 apply when MiR Shelf Lift is mounted to it.

  • Page 19: Getting Started

    5. Getting started 5. Getting started This section describes how to get started with MiR Shelf Lift. To be able to use MiR Shelf Lift with MiR500/MiR1000, your robot must be running software version 2.8.0 or higher. The procedure for getting started with MiR Shelf Lift is the same for MiR500 and MiR1000 robots.
  • Page 20 5. Getting started Figure 5.1. Top view of MiR500/MiR1000 Label Description Label Description Left cover plate Right cover plate MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 21 5. Getting started Remove the left and right cover plates. Unscrew the four bolts from the lifting device. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 22 Screw in four M12x50 lifting eye bolts in the holes where you just removed the four bolts. The bolts must be rated to carry at least 350 kg and should have a standard 1.75 mm thread pitch incline. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 23 Remove the cables from the bag. Notice that there are two cables for each side of the lifting device. Feed the cables through the hole on the right side and vice versa with the left side. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 24 Fixing MiR Shelf Lift to MiR500/MiR1000 When fixing MiR Shelf Lift to MiR500/MiR1000, it is important to check that no cables are pinched between the devices. To avoid this, use cable ties to keep the cables together and safely out of the way.
  • Page 25 5. Getting started Lower the lift onto the robot. Place MiR Shelf Lift so that the white emergency stop chords run to the left when looking directly at the robot from the front. Dismount the crane, remove the lifting eye bolts, and remove the crane.
  • Page 26 Screw in one of the four M12 bolts without tightening it completely. Adjust the lift until the M12 mounting holes are correctly aligned, and screw in the remaining bolts. Ensure that all bolts are tightened completely. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 27 5. Getting started Screw in the four bolts that were removed for the eye bolts. Put the lift cover on the lifting device using suction cups. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 28 You can also widen the holes using a hex key or other tool. Put on the four safety stickers. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 29: Enable Mir Shelf Lift Feature

    To access MiR Shelf Lift settings and mission menus, you must first enable them. Sign in to the robot interface, and go to System > Settings > Features. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 30 5. Getting started Under Shelf, select True. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 31: Testing Mir Shelf Lift

    5. Getting started Under I/O modules, select True if this is not set already. MiR Shelf Lift communicates with the robot through I/O modules, so they have to be activated for the shelf lift to work. Under Pallet lift, select True.
  • Page 32 If you continue experiencing issues, refer to the troubleshooting guide MiR500/MiR1000 Lift or EU Pallet Lift is not moving found on the Distributor site under Troubleshooting. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 33: Commissioning

    To use MiR Shelf Lift correctly, these internal I/O modules must be used. The outputs are used to control the position of the MiR Shelf Lift, and the inputs are used to signal the current position and status of the MiR Shelf Lift.
  • Page 34 Wait for the lift to reset. It takes approximately 13 seconds and can be monitored in Monitoring > System log. Consider recreating these steps as a mission that you can run every time you turn on the lift. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 35: Lift Modifications

    6. Commissioning 6.3 Lift modifications Additional holes can be added to the MiR Shelf 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.
  • Page 36 The drawings above only show where you can make minor modifications without damaging the product. You should not use it for any other measurements or calculations. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 37: Adjusting The Protective Field Sets

    If used with shelves with symmetric legs, users can adjust the safety scanners manually. Follow the how-to guide How to adjust the field sets on MiR500/MiR1000 for MiR Shelf Lift on the Distributor site to change the robot's safety scanners to comply with MiR Shelf Lift.
  • Page 38 6. Commissioning Figure 6.1. The blind spots with an asymmetric shelf with narrow legs. The small crosshairs are the shelf-legs. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 39 Shelves with symmetric legs create significantly larger blind spots for the robot than shelves with asymmetric legs because the legs interfere more with the field of view of the safety scanners. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 40 6. Commissioning Figure 6.3. The blind spots with a symmetric shelf with narrow legs. The small crosshairs represent the shelf- legs. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 41: Mark Potentially Hazardous Floor Areas

    Figure 6.4. The blind spots with a symmetric shelf with wide legs. The small crosshairs represent the shelf-legs. 6.5 Mark potentially hazardous floor areas Before taking your MiR Shelf Lift into use, it is necessary to mark up the floor in the area where MiR500/MiR1000 with MiR Shelf Lift docks to a shelf.
  • Page 42 90° when docking to the shelf. NOTICE The operating hazard zone and the required space for docking are not the same. See Required free space on page 44. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 43 Figure 6.5. The floor around the shelf position must be marked to indicate an operating hazard zone, illustrated by the striped yellow and black line. The outermost black dashed line indicates the space needed to be held clear for a successful docking. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 44 Multiple shelves using VL-markers However, if you use VL-markers, shelves can be placed significantly closer to other shelves or obstacles: 150 mm on both sides and behind the shelf. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 45 Figure 6.6. Multiple shelves placed close to each other using VL-markers with a 500 mm escape route behind them. The blue area indicates the escape route. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 46 Figure 6.7. Multiple shelves placed close to each other using VL-markers with a 500 mm escape route between every other shelf. The blue areas indicate the escape routes. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 47: Usage

    The pick up and place shelf mission makes the robot with MiR Shelf Lift go to a shelf position, pick up a shelf, and then go to a shelf position and place the shelf. The reverse docking shelf mission makes the robot go to a shelf position and dock to it in reverse.
  • Page 48 To make the robot interface display shelf options, you must enable the feature as described in Enable MiR Shelf Lift feature on page 29. To create a new marker type, go to Setup > Marker types, and select Create marker type. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 49 By default, the robot should dock to the center. With a positive X-offset, the robot will move more forward, and a negative value will move it backward. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 50: Setting Shelf Positions On The Map

    Follow these steps to create a shelf position: To create a new position, go to Setup > Maps. Select Edit for the active map. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 51 If you want to make more than one position on the map, repeat the previous steps. Make sure that the minimum distances between shelf position fulfill the dimensions specified in Mark potentially hazardous floor areas. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 52: Placing Positions Closer Using Vl-Markers

    VL-markers. When placing shelves, make the robot with MiR Shelf Lift dock to the VL-marker (see Docking to a VL marker in a place shelf mission on the next page), and when picking up shelves, make it dock to the shelf position in front of the VL-marker.
  • Page 53 In System > Settings > Docking, set Relative move target when docking to markers to 1,6 m. This will make the robot go to a position 1,6 meters in front of the marker before docking. Select Save changes. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 54 Set the parameter to 0.03 or lower. Select Save changes. Create a shelf position directly in front of the VL-marker you created. See Placing positions closer using VL-markers on page 52 MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 55 Two entry positions appear. They indicate where the robot will go to first when docking to the position. The entry position furthest from the shelf position is for MiR Shelf Lift. Select Edit if you want to adjust the entry position.
  • Page 56 The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel of the action in question to open the dialog of that action. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 57 Under Undocking distance, select the undocking distance in meters. A negative value makes the robot undock in reverse, and a positive value will make the robot move forward when undocking. Select Validate and close. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 58: Creating Footprint

    In the footprint menu, you can create your own footprints to use in missions. The robot interface comes with default footprints for a MiR Shelf Lift with a wide or narrow shelf. If you are using a shelf with dimensions not supported by MiR (see Shelf specifications on page 14), you must create your own footprint that fits the dimension of the shelf.
  • Page 59 7. Usage In Setup > Footprints, select Create footprint and name the footprint. Select Edit height/Edit footprint if you need to change the height of the footprint. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 60: Creating A Pick Up Shelf And Place Shelf Mission

    Enable MiR Shelf Lift feature on page 29 • Created a shelf position, as described in Setting shelf positions on the map on page 50 • Placed a physical shelf at the shelf position. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 61 Give the mission a name, for example Pick up and place shelf. Select the group and site you want it to belong to. Select Create mission. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 62 Under Move to, select the shelf position you want to dock to. Under Position type, select Entry. Select Validate and close. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 63 Select Validate and close. Under Move to, select the shelf position you want to dock to. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 64 Under Undocking distance, select the undocking distance in meters. A negative value makes the robot undock in reverse, and a positive value makes the robot move forward when undocking. Select Validate and close. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 65: Reverse Docking Shelf Mission/Creating Marker Type

    This section describes how to use marker types to create a mission where the robot docks to a shelf in reverse. See Creating a marker type on page 47for more information on marker types. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 66 Give the marker type a name, for example Reverse docking. Select Leg shelf marker under Marker type and put in the correct information for your shelf. See Creating a marker type on page 47 MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 67 Select Create marker type to save the marker type. After you have created the reverse docking marker type, you need to apply it in a mission. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 68 Go to Setup > Missions > Create Mission Give the mission a name, for example Reverse docking. Select the group and site you want it to belong to. Select Create mission. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 69 Under Pick up MiR500/1000 Shelf, set the Marker position to the position you want to dock to. Under Marker type, choose the marker type you have created for reverse docking. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 70 Select Save to save the mission. The mission should look like this: Testing the mission To test that the robot executes the mission correctly, you can try running the mission. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 71 Personnel detection means and blinks yellow. Do not step in front of the robot and keep a safe distance to the shelf. See Safety on page 7 more information. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 72: Maintenance

    If slack or unusual noises start to Actuators last for approximately occur, replace the actuators with 60.000 fully loaded lift cycles. approved spare parts from MiR. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 73 Safety stickers Check if the safety stickers on Check every six months and MiR Shelf Lift robot are still intact replace as needed. and visible. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 74: Troubleshooting

    Markers should only be used to increase the accuracy of shelf placement and cannot be used to increase the accuracy of picking up shelves. See Placing positions closer using VL-markers page 52. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 75: Robot Going Into Protective Stop While Driving With Shelves

    If the robot goes into protective stop while driving with shelves, it might be because the field sets of the safety laser scanners need adjustment. See Adjusting the protective field sets on page 37 for more information. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 76: Glossary

    Operating hazard zone A zone where the personnel detection means of the robot are reduced or muted to a level where personnel safety is at risk. MiR Shelf Lift Operating guide (en) 12/2019 - v.1.0 ©Copyright 2019: Mobile Industrial Robots A/S.

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