MIR 1000 Lift Operating Manual
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MIR 1000 Lift Operating Manual

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

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Summary of Contents for MIR 1000 Lift

  • Page 1 Operating guide (en) Date: 2019/09 Revision: v.1.0...
  • 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

    3.2. Mounting MiR1000 Lift 3.3. Testing MiR1000 Lift 3.4. Lift modifications 4. Product presentation 4.1. How the lift works 4.2. MiR Lift Pallet Rack 4.3. Mark potentially hazardous floor area 5. Usage 5.1. Enable MiR1000 Lift feature 5.2. Set entry and pallet rack positions 5.3.

  • 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 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 5: Document History

    1. About this document • Distributor site > Troubleshooting This page contains troubleshooting guides to solve common issues with MiR products. • MiR1000 Lift product page https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir1000-lift/ This page contains specifications, pictures, and brochures for MiR1000 Lift. 1.2. Document history This table shows the latest and previous versions of this document and their interrelations with product software releases.

  • Page 6: Safety

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

  • Page 7: 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 8: Intended Use

    2. Safety 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: • Do not short-circuit, recharge or connect with false polarity. •...
  • Page 9 2. Safety NOTICE Before commissioning MiR1000 Lift, it is important to make a risk assessment. All risks and foreseeable misuses relevant to MiR1000 also apply to MiR1000 Lift. Refer to the MiR1000 User guide for more information. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 10: Getting Started

    3. Getting started 3. Getting started This section describes how to get started with MiR1000 Lift. 3.1. In the box This section describes the content of the MiR1000 Lift box. The box contains: MiR1000 Lift A MiR1000 Lift document folder containing the following printed documents: •...
  • Page 11 3. Getting started 3.1. The side with the six screw holes (circled with red) must be placed at the front end of the robot. 3.2. Top view of MiR1000 Number Description Number Description Left-side middle com- Right-side middle com- partment plate partment plate MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 12 3. Getting started Remove the two middle compartment plates on the top cover of MiR1000. Unscrew the four bolts from the lifting device. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 13 3. Getting started Screw in four lifting eye bolts in the holes where you just removed the four bolts. Use a crane to move the lifting device to the robot. Leave some space between the robot and the lifting device, so you can connect the cables. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 14 3. Getting started Remove the cables from the bag. Notice that there are two cables for the right side and two cables for the left side of the lifting device. Feed the right-side cables through the hole on the right side and vice versa with the left side. Connect the plugs of the right-side cables with the socket in the right-side compartment of MiR1000.
  • Page 15 3. Getting started Fixing MiR1000 Lift to MiR1000 When fixing MiR1000 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. Lower the lift onto the robot. Dismount the crane, remove the lifting eye bolts and remove the crane.
  • Page 16 3. Getting started 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. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 17 3. Getting started Screw in the four bolts that were removed for the eye bolts. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.
  • Page 18 3. Getting started Put the lift cover on the lifting device using suction cups. Screw in all twenty screws to fix the cover to the lifting device. Ensure the screws are plane with the lift cover. If you are having difficulty screwing in the short screws, start by using a long screw to make the others easier to screw in. Remember to replace the long screw with a short one when you are finished.
  • Page 19 3. Getting started Put on the four safety stickers. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 20: Testing Mir1000 Lift

    3. Getting started Put the anti-slip paper on the sides as shown in the image. Four additional square pieces of anti-slip paper are included with the lift. It is optional to place these on the cover of the lift. 3.3. Testing MiR1000 Lift The following steps can be used to test that the lift is correctly mounted.
  • Page 21 3. Getting started Navigate to Setup > I/O modules in the interface. Select MiR1000 internal IOs. The following is displayed: 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.

  • Page 22: Lift Modifications

    3. Getting started 3.4. 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.
  • Page 23 3. Getting started Bottom frame of the lift 1. Material: Steel (S355) 2. Areas marked with red indicate where you are not allowed to Thickness: 3 mm make modifications, such as drilling holes or mounting Treatment: Powder coating RAL accessories. 7011 NOTICE The drawings above only show where you can make minor modifications...

  • Page 24: Product Presentation

    (missions). MiR1000 Lift can be activated in various missions, and ensures stable handling and transport of pallets to and from a MiR Lift Pallet Rack. 4.1. How the lift works When MiR1000 with a MiR1000 Lift docks to a pallet rack, the lift can either be elevated to pick up a pallet or lowered to place a pallet.

  • Page 25: Mir Lift Pallet Rack

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

  • Page 26: Mark Potentially Hazardous Floor Area

    To avoid potentially hazardous situations as a consequence of the muted personnel detection means, you must mark the physical area around MiR Lift Pallet Rack with tape or similar. The size of the marked area must be calculated based on the robot’s path going to the pallet rack and take into account that the robot may make a turn of up to 90°...
  • Page 27 4. Product presentation 4.1. The floor around the pallet rack must be marked to indicate where the personnel protection means are muted. This can for example be done with signal tape. • The red dotted line shows the area where the robot mutes the personnel detection means.

  • Page 28: Usage

    Enable MiR1000 Lift feature below. Creating a pallet rack marker and entry position on the map on the location where MiR Lift Pallet Rack is located, see Set entry and pallet rack positions on the next page. Creating two simple missions that lowers the lift and raises the lift in order to carry out...

  • Page 29: Set Entry And Pallet Rack Positions

    5. Usage 5.2. 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 Lift in front of a pallet rack, facing front.

  • Page 30: 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 31 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. MiR1000 Lift Operating guide (en) 2019/09 - v.1.0 ©Copyright: Mobile Industrial Robots.

  • Page 32: Raise Lift Mission

    5. Usage In the second Set I/O port action dialog, under Module, select MiR1000 internal IOs. Under Output, type in 2. Under Operation, select On. This is to ensure that the lowering action is performed. Select Validate and close. Remember to save the mission. The mission should look similar to this: 5.4.
  • Page 33 5. Usage Go to Setup > Missions and select Create mission. Give the mission a name, for example Raise Lift. Select the group and site it should belong to. Insert the following actions: In the I/O module menu, select Set output. In the Logic menu, select Wait.
  • Page 34 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. In the Wait action dialog, set the time for 1 second.

  • Page 35: Pick Up Pallet Mission

    5. Usage 5.5. 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 36 5. Usage Select the following actions: In the Move menu, select Move to entry position In the Move menu, select Check position status (Optional) In the Missions select the Lower Lift mission. This is the mission created in the pre- vious tutorial.

  • Page 37: Test The Mission

    5. Usage 5.1. MiR1000 drives to the entry position in front of the MiR1000 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 38 5. Usage Select the following actions: In the Move menu, select Move to entry position In the Move menu, select Check position status (Optional) In the Missions select the Raise Lift mission. This is the mission created in the pre- vious tutorial.

  • Page 39: Test The Mission

    If you experience that MiR1000 with a MiR1000 Lift mounted on top picks up or delivers loads imprecisely on a MiR Lift Pallet Rack, try adjusting the offset of the pallet rack marker. Select the pallet rack marker on your map, select Edit and adjust the coordinates (by approximately up to 1 cm).

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