MIR MiR100 Hook User Manual

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User Guide (en)

Date: 10/2020

Revision: v.3.0

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Page 1 User Guide (en) Date: 10/2020 Revision: v.3.0...
Page 2 Copyright © 2016-2020 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 MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 3: Table Of Contents
4.1 In the box 4.2 Unpacking MiR100 Hook 4.3 Connecting the battery 4.4 Mounting MiR Hook 100 4.5 Powering up the robot 4.6 Connecting to the robot interface MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 4 7.1 System overview 7.2 User input 7.3 Global planner 7.4 Local planner 7.5 Obstacle detection 7.6 Localization 7.7 Motor controller and motors 7.8 Brakes 8. Safety system MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 5 9.9 Creating positions 9.10 Creating missions 9.11 Creating a footprint 9.12 Required free space 9.13 Making a brake test 9.14 Creating user groups and users 9.15 Creating dashboards MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 6 12.3 Battery maintenance 13. Packing for transportation 13.1 Original packaging 13.2 Packing the robot for transportation 13.3 Battery 14. Disposal of robot 15. Interface specifications 15.1 Application interface MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 8: About This Document
1. About this document 1. About this document This user guide explains how to set up and start operating your MiR100 Hook robot and provides examples of simple missions you can expand to your purposes. This guide also contains information regarding the external and internal components of MiR100 Hook along with a guide for proper maintenance of the robot.
Page 9 First edition. 2016-02-04 General small corrections. Reworked section Commissioning on page 91. 2016-04-10 Major update throughout the manual. 2016-05-02 Added space requirements for pick-up and reverse parking. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 10 New version for MiR Robot Interface 2.0. Major update throughout manual. Includes both MiR Hook 100 and MiR Hook 200 2019-08-27 Updated for hardware release 1.5. 2020-02-07 Updates in Usage. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 11: Product Presentation
2. Product presentation 2. Product presentation MiR100 Hook is an autonomous mobile robot with a top module mounted to it. It is designed to transport carts indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted.
Page 12: Main Features Of Mir100 Hook
Creating the mission: Try/Catch page 159. • Automatic deceleration for objects The built-in sensors ensure that the robot is slowed down when obstacles are detected in front of it. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 13: External Parts
Creating and configuring maps on page 101. 2.2 External parts This section presents the parts of MiR100 Hook that are visible on the outside. Figure 2.1. MiR100 Hook external parts. Table 2.1. Identification of external parts in Figure 2.1.
Page 14 (QR-marker or AprilTag) enable towing—see on carts Modifying the gripper on page 96 Emergency stop button: makes robot enter Emergency stop. Beneath is MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 15 The identification label of MiR100 is located on the back, left side of the chassis underneath the router, and the identification label of MiR Hook 100 is located on the technical plate in the bottom right corner.
Page 16 2. Product presentation Figure 2.2. Placement of the identification label. Figure 2.3. Example of a MiR Hook 100 identification label. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 17 2. Product presentation Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR100 Hook identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots. The nameplate identifies the complete MiR application, for example, a robot with a top module.
Page 18 Pressing this button for three seconds turns the robot on or shuts it off. Operating modes MiR100 Hook has two operating modes: Manual mode and Autonomous mode. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 19: Internal Parts
Continue in the robot interface. 2.3 Internal parts This section presents the parts of MiR100 Hook that are visible on the inside after removing the top cover. WARNING Removing covers from the robot exposes parts connected to the power supply, risking damage to the robot from a short circuit and electrical shock to personnel.
Page 20 Battery connector for extra Safe torque off relay battery (controlled by Safety PLC) CAN bus connection for Battery disconnect switch MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 21: How Mir Hook 100 Works
2.4 How MiR Hook 100 works The MiR100 Hook can autonomously pick up, transport, and place carts. The carts can be transported to user defined positions where they can be placed or reversed into a position. The MiR100 Hook distinguishes between different types of carts by identifying them using ID tags (QR code or AprilTag) and creates navigation routes that take size and shape into account.
Page 22 With MiR100 Hook, you must provide the measurements of the carts as described in Cart specifications on page 94. The MiR100 Hook has its own menu in the robot interface. To see the menu options for MiR100 Hook, you must enable the hook first—see Enable MiR100 Hook feature on page 49.
Page 23: 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. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 24: General Safety Precautions
Personnel risk fall injuries and equipment may be damaged. • Don't place ladders, scaffolds, or similar equipment in the robot's work environment. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 25 Never charge the batteries outside the robot. WARNING Lithium battery packs may get hot, explode, or ignite and cause serious injury if they are misused electrically or mechanically. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 26 Do not use the battery for anything other than MiR100 Hook. WARNING Load falling or robot overturning if the load on MiR100 Hook is not positioned or fastened correctly can cause fall injuries to nearby personnel or damage to equipment.
Page 27 MiR100 Hook is operating in it. WARNING When MiR100 Hook is turning while towing a cart, there is a risk of injury to personnel close to the cart. •...
Page 28: Intended Use
Commissioning on page 91 to ensure a safe system. 3.4 Users MiR100 Hook is only intended to be used by personnel that have received training in their required tasks. There are three types of intended users for MiR100 Hook: commissioners, operators, and direct users.
Page 29: Foreseeable Misuse
All other persons in the vicinity of are considered indirect users and must know how to act when they are close to the robot. 3.5 Foreseeable misuse Any use of MiR100 Hook deviating from the intended use is deemed as misuse. This includes, but is not limited to: •...
Page 30: Warning Label
3.6 Warning label MiR100 Hook is supplied with a warning label that specifies that it is strictly prohibited to ride on the robot. The label must be placed on the robot or top module so that it is clearly visible.
Page 31: Residual Risks
• You risk being crushed or trapped if you touch MiR100 Hook while it is in motion. • You risk being crushed or trapped if the robot places a load outside a designated drop-off area due to faulty localization.
Page 32: Getting Started
MiR100 Hook. 4.1 In the box This section describes the contents of the MiR100 Hook boxes. Figure 4.1. The robot and accessories are contained on one pallet. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 33 One external charger, 24 V DC, 10 A • Four hex key bolts for mounting MiR Hook 100 • A MiR100 Hook document folder containing a USB flash drive and the following printed documents: • MiR100 Hook Quick Start •...
Page 34: Unpacking Mir100 Hook
Cut the protective straps surrounding the box. Remove the lid from the box. Take the folder with the printed documents and the USB flash drive out of the box. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 35 Follow these steps to unpack MiR Hook 100: Remove the pallet lid. Remove the shield and cut the cord that holds the hook attached to the pallet. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 36 4. Getting started Loosen the two highlighted screws and remove the four weights. Remove the two screws in the front of the hook. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 37: Connecting The Battery
Remove the hook from the pallet. 4.3 Connecting the battery Follow these steps to connect the battery to the robot: Grab the two rounded corners and carefully lift off the cover. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 39: Mounting Mir Hook
Put the cover back on making sure to fit it correctly over the connector openings. 4.4 Mounting MiR Hook 100 The photos illustrate how to mount a MiR Hook 100 (2) to a MiR100 (1). MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 40 4. Getting started Remove the hook cover and lift the hook onto the robot, fitting the frame holes above the four mounting holes on the robot. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 41 4. Getting started Mount the frame with the four mounting bolts that came with the hook. Tighten the bolts to a torque of 47 Nm / 34.5 ft-lb. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 42 Connect cables and mount the antenna. Pos. Description Pos. Description Network cable (from robot to Application hardware cable hook PC) Emergency stop cable USB cable for top camera Antenna connector MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 43: Powering Up The Robot
Place the cover on top of the hook frame. The cover is held in place with magnets. The hook is now mounted on the robot. 4.5 Powering up the robot Follow these steps to power up the robot: MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 44 Press the reset button on the Emergency stop on the hook when it lights up. The status light now switches to yellow constant light, indicating that the robot is paused and ready to operate. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 45: Connecting To The Robot Interface
Using your PC, tablet, or phone, connect to the WiFi access point of the robot. The access point name has the following format: MiR_20XXXXXXX. The access point name is derived from the robot application's model serial number. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 46: Driving The Robot In Manual Mode
Drive carefully to avoid collisions with any personnel or objects when driving the robot in Manual mode. • Avoid driving the robot manually without a clear visual of the robot. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 47: Checking The Hardware Status
To check that all hardware components work as intended, follow these steps: Sign in to the robot interface—see Connecting to the robot interface on page 45. Go to Monitoring > Hardware health. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 48: Mounting The Nameplate
Hardware health in MiR Robot Reference Guide on the MiR website. 4.9 Mounting the nameplate Before using MiR100 Hook, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see Nameplate on page 17. NOTICE The nameplate must be mounted as described in the following steps.
Page 49: Enable Mir100 Hook Feature
Mount the nameplate on the cleaned area. 4.10 Enable MiR100 Hook feature To access the MiR100 Hook settings and mission menus, the MiR100 Hook features must be enabled. Follow these steps to check that they are enabled: MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 50 4. Getting started Sign in to the robot interface, and go to System > Settings > Features. Under Hook, select True. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 51: Testing The Top Module
4. Getting started 4.11 Testing the top module To test that the top module of MiR100 Hook is configured and connected correctly, follow the steps in the following sections. Manual test Under Hook > Manual control, select the following listed actions, and verify that the hook performs as described: •...
Page 52 Home, and wait until the hook stops moving. Select Deactivate brake. Manually push the arm close to 0 degrees. Select Activate brake. Homing is now complete. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 53: Shutting Down The Robot
When the robot finishes the shutdown process, the status lights are off. When you shut down the robot for transportation, service, or repair, the battery must be disconnected—see Disconnecting the battery on page 56. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 54: Battery And Charging
5. Battery and charging 5. Battery and charging The robot is powered by a lithium battery that can be charged with a MiR cable charger or a MiR Charge 24V charging station. 5.1 Charging the robot This section describes how to charge MiR100 Hook using a MiR cable charger.
Page 55 Look at the indicator lights on the charger to confirm that the robot starts charging. If the plug is not connected properly to the socket, the robot will not start the charging. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 56: Disconnecting The Battery
Whenever the robot is to be transported, undergo maintenance, or stored for long periods of time, you should always disconnect the battery. Follow these steps to disconnect the battery: Turn off the robot. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 57 5. Battery and charging Turn the Battery disconnect switch to Off (the two yellow indicators pointing to Off). Remove the top cover. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 58: Battery Storage
A crossed-out wheeled bin indicates that the product needs to be disposed separately and not as municipal waste—see Battery disposal symbols. on the next page. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 59 The chemical symbols for the respective hazardous substances are Cd= Cadmium, Hg = Mercury, Pb = Lead. Figure 5.1. Battery disposal symbols. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 60: Security
MiR100 Hook. This section describes the main IT-security related risks and how to minimize them when commissioning MiR100 Hook. MiR100 Hook communicates all data over the network that it is connected to. It is the responsibility of the commissioner to ensure that it is connected to a secure network. MiR recommends conducting an IT-security risk assessment before commissioning the robot.
Page 61 This way, you are not required to update to the latest software to apply the security patches. You can use any lower software version and just install the security patches to that software instead. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 62: Navigation And Control System
Once the robot reaches the goal position, the brakes are engaged to stop the robot. Each part of the process is described in greater detail in the following sections. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 63 The robot executes the steps in the navigation loop until it reaches the goal position and stops by engaging the brakes. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 64: User Input
7.3 Global planner The global planner is an algorithm in the robot computer that generates a path to the goal position. This path is known as the global path. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 65 Figure 7.4. The dotted line from the start position of the robot to the goal position is the global path generated by the robot computer. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 66: Local Planner
The local path is not displayed in the robot interfaces. The arrows in the images here are visual aids used in this guide only. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 67: Obstacle Detection
Three sensor types are responsible for detecting obstacles: • The safety laser scanners • The 3D cameras • The ultrasound sensors MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 68 Each safety laser scanner has a 270° field of view, overlapping and thus providing a full 360° visual protection around the robot. When in motion, the safety laser scanners continuously scan the surroundings to detect objects. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 69 Vertically up to 1800 mm at a distance of 1950 mm in front of the robot. • Horizontally in an angle of 118° and 180 mm to the first view of ground. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 70 The camera readouts are used as 3D point cloud data. They are not recording recognizable objects or people. Figure 7.8. The two 3D cameras can see objects up to 1800 mm above floor height. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 71 The cameras are not reliable at determining depth when viewing structures with repetitive patterns. • The cameras may detect phantom obstacles if they are exposed to strong direct light. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 72 Range of the ultrasound sensors. Pos. Minimum range Maximum range Front 0.01 m 0.2 m Front side 0.2 m 0.30 m Rear 0.01 m 0.35 m MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 73: Localization
IMU data. Therefore, it is important that the initial position of the robot is correct. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 74 There must be unique and distinguishable static landmarks on the map that are easily recognizable. A landmark is a permanent structure that the robot can use to orient itself, such as corners, doorways, columns, and shelves. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 75 Make sure there are not too many dynamic obstacles around the robot so that it cannot detect any static landmarks. Cannot detect any landmarks Can detect enough landmarks MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 77: Brakes
Once the approximated position of the robot determined from localization is the same as the goal position calculated by the global planner, the brake relay is engaged to bring the robot to a stop. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 78: Safety System
The robot is in Operational stop when it is stopped through the robot interface either through a mission action or by pausing the mission. The top module and all moving parts are still connected to a power supply. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 79 Emergency stop, it will immediately resume an operating state after you press the flashing Emergency stop reset button. MiR100 Hook has one Emergency stop buttons located on the hook. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 80 Protective stop. • Emergency stop button MiR Hook 100 has one Emergency stop button. When the button is pressed, the robot goes into Emergency stop. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 81 • MiR Hook 100 safety functions MiR Hook 100 monitors the motor encoder data from the hook motors to ensure that the hook operates correctly. If the hook computer detects any discrepancies or errors in the hook components, it reports an error to the robot computer through the Ethernet connection.
Page 82: Collision Avoidance
The tables in the following sections show the sizes of the Protective fields at given speeds. The faster the robot moves, the larger the scanners' field is. The speed of the robot is determined based on the encoder data. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 83 Do not modify the safety system without a competent third party to evaluate the safety of the design and performance of the robot after the modifications are applied. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 84 Forwards at max. speed Figure 8.3. The illustration shows the field set contours when the robot drives forward. The range of the active field changes with the robot's speed. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 85 Figure 8.4. The illustration shows the field set contours when driving backward. The range of the active field changes with the robot's speed. The illustration also shows how the front scanner reduces its Protective field to a minimum when the robot moves backward. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 86: Overspeed Avoidance
8.5 Emergency stop buttons There is one Emergency stop button on MiR100 Hook. When the button is pressed, it breaks the Emergency stop circuit triggering an Emergency stop. The Emergency stop circuit runs through both the Emergency stop button and connects to the safety PLC through the Auxiliary emergency stop interface.
Page 87: Mir Hook 100 Safety Functions
Reduced speed When MiR100 Hook picks up a cart, the maximum speed of the robot is reduced to 1.5 m/s. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 88: Robot Computer
Status lights An LED light band on all four sides of the robot uses colors and light motion patterns to signal the current status of the robot. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 89 When the robot is charging in a charging station, the status lights on the side of the robot indicate the robot's battery percentage. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 90 NOTICE It is the responsibility of the commissioner to ensure that the warning sounds are audible in the robot's work environment. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 91: Commissioning
Surfaces The floor surface of the work environment must be dry. MiR100 Hook functions on many different types of surfaces, but some materials can affect the performance and safety of the robot, such as very thick carpets or slippery floors.
Page 92 Make sure the environment MiR100 Hook operates in is suitable for its IP rating—see specifications on the MiR website. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 93: Risk Assessment
9.2 Risk assessment To achieve a safe installation, it is necessary to make a risk assessment of MiR100 Hook in the environment it will be used in. This is the responsibility of the commissioner. The risk assessment must cover both MiR100 Hook itself and also take into account potential load transfer stations, work cells, and the work environment.
Page 94: Cart Specifications
A list of residual risks. • Training required for personnel. MiR has taken worst case scenarios into account in the design of MiR100 Hook. 9.3 Cart specifications Figure 9.1 illustrates the dimensions that must be within a certain range. You must create and design your own cart type or purchase suitable carts that meet the design requirements.
Page 95 MiR100 Hook is designed to tow up to 300 kg. The weight of any top modules mounted on the robot is part of the total payload. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 96: Modifying The Gripper
The lower-gripper (2) can be modified to enable a greater gripper area thickness. This is done by removing the lower-gripper (3) and adding spacers to the mounting of it (4). MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 97: Id Tags
9. Commissioning Figure 9.2. Parts included for gripper modification 9.5 ID tags A QR marker or an AprilTag is needed for MiR100 Hook to identify the individual carts. QR codes and AprilTags cannot be activated on the same site. QR markers The QR code contains the dimension of the marker and a unique name.
Page 98 QR code will change format, and it will become more difficult to detect. AprilTags MiR100 Hook can be set to read AprilTags instead of QR codes. AprilTags are conceptually similar to QR codes. However, they are designed for high localization accuracy by encoding far smaller data payloads, allowing them to be detected more robustly and from longer ranges.
Page 99: Calibrate Cart
It is required that at least 25 mm of empty white space surrounds the AprilTag. The tag size is a global parameter so all tags used by MiR100 Hook must have the same sizes if they are in the same site.
Page 100 Otherwise, the camera may have problems reading the code. If the camera can see the ID tag, the position values are displayed. Otherwise, the fields will just display N/A. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 101: Creating And Configuring Maps
The map is visible in the robot interface and is the basis for the robot's ability to navigate its surroundings safely and efficiently. The map illustrates the physical area in which the robot operates. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 102 The robot must have a map for every area that it operates in. It is important to create robust and reliable maps for the robot to perform effectively and safely. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 103 If you are using ramps, connect the maps using transitions—see MiR Robot Reference Guide, or ask your distributor for the guide How to set up transitions between maps. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 104 9. Commissioning Each site also includes other elements in the interface, such as missions. For the full list of what is included in a site, see MiR Robot Reference Guide on the MiR website or in the Help section of the robot interface.
Page 105 This can be physical obstacles that make the robot record walls where there are none or more subtle interferences that can make recorded walls appear pixelated. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 106 When using this tool, you do not affect the walls on the map. • Draw a new line when editing walls to create solid and even walls. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 107 For more information about what each zone does, see MiR Robot Reference Guide on the MiR website, or ask your distributor for the guide How to use zones on a map.
Page 108 Figure 9.8. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with replanning of paths. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 109 Shelves are often placed in a certain height above the floor on four (or more) posts and will often appear as dots on a map for the robot. This may cause the robot to believe that there MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 110 Solution: If there is not enough space for the two robots to pass each other, you can create a two-way lane using Directional zones in combination with Forbidden or Unpreferred zones. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 111: Creating Markers
Also, you should always use markers when it is important that the robot is positioned accurately relative to an object in the work environment, such as load transfer stations and work stations. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 112 Figure 9.12. A VL-marker with its entry position. There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers. V-marker is a small, V-shaped marker that is designed for the robot to either dock to so its front or its rear is facing the marker.
Page 113 Bar-markers must be between 400 mm and 7500 mm long, and the distance between the bars must be between 750 mm and 1500 mm. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 114: Creating Positions
Generally, positions are used to mark where robots should wait when they are idle, which points robots must pass through along a route, or as destinations you often want to send the robots to. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 115 MiR100 Hook uses Cart positions to mark points where it can pick up and place carts. When the robot places or picks up a cart on a cart position, you must select a marker type that describes the dimensions of the cart the robot is docking to—see...
Page 116: Creating Missions
9. Commissioning 9.10 Creating missions MiR robots function through missions that you create. A mission is made up of actions, such as: move actions, logic actions, docking actions, and sounds, which can be put together to form a mission with as many actions as needed. Missions themselves can also be embedded into other missions.
Page 117 This means that you can use the same mission for making the robot pick up a load from any of the markers on the map. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 118 Creating the mission: Try/Catch on page 159 For more information on building robust missions, see the Mission robustness videos in MiR Academy on the MiR website. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 119: Creating A Footprint
When a MiR robot is towing a cart, the footprint does not need to be increased. The robot will navigate with the cart using the dimensions provided in the cart type—see...
Page 120 If you prefer to only have one footprint for the robot when it is carrying oversized loads, create a footprint that is suitable for the load that has the largest footprint. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 121 This is often used to change the footprint if the robot has picked up a load that extends the footprint or has placed a load and the footprint returns to the default. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 122: Required Free Space
How much space is required depends significantly on the work environment and the settings of the robot. This section describes how much space the robot requires to execute various maneuvers when operating correctly. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 123 When preparing to pick up a cart, the robot moves in front of the given cart position so the center of the robot is 1.7 m from the center of the cart position. The robot turns around and MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 125 Driving pattern and sensitivity to dynamic obstacles depend on whether the front or rear wheels of the cart are rigid. If the corner space is limited, test which works best in the individual case. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 127 The following steps describe how the robot reverses and places the cart at the Cart position. Figure 9.25. Position of the robot and cart before it places the cart on the Cart position. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 128 The maneuvers in the following sections illustrates the robot traveling down a corridor, but the dimensions are also applicable for other obstacles and structures the robot must maneuver between. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 129: Making A Brake Test
The decline of the surface the robot drives on Because of this, it is not possible to predetermine the exact braking distance of MiR robots. The distance has to be determined in the environment and under the driving conditions the robot will be operating in.
Page 130: Creating User Groups And Users
MiR website. Create user groups Setup > User groups you can create specific user groups with specific access to different parts of the robot interface. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 131 Which user group they belong in. • If they are SingleDashboard users with no access to other parts of the interface than to control the robot from a dashboard. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 132 PIN codes for users with no access to settings and safety system. Figure 9.29. When you create a user, you must fill out the fields shown in this image. Table 9.1. The table identifies examples of which users MiR recommends should be able to edit which features—see Users on page 28.
Page 133: Creating Dashboards
Figure 9.30. The default dashboard includes the robot information, a joystick for manual control, and the active map. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 134: Updating Mir100 Hook Software
Follow the steps below to update MiR100 Hook software: Connect your computer to the WiFi of the robot you want to update, and sign in to the robot interface. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 135: Creating Backups
We recommend to create a backup in the following cases: • Before you update the robot software. • Before making any large changes to your site. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 136: System Settings
To create, roll back, and delete backups, see MiR Robot Reference Guide on the website. 9.18 System settings This section describes some of the commonly used system settings of MiR100 Hook that the commissioner must be aware of. Only the basic system settings are explained in this section—see MiR Robot Reference Guide on the MiR website for more information.
Page 137 Global planner on page 64 Local planner on page 66. Figure 9.32. You set basic parameters for driving the robot in the Planner section. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 138 Figure 9.33. For more information on Line-following, see the how-to guide Enable Line- following mode. Contact your distributor. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 139 Speed zone that requires it. Docking In the Docking section, you can change the parameters regarding docking to and from markers. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 140 To see the advanced docking settings, select Show advanced settings. Features In the Features section, you can disable and enable robot features. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 141 Enable this feature if the robot is used to pick up and place shelves. Hook enables the hook feature. Enable this feature if your top module is a MiR Hook. This will enable the Hook menu in the robot interface. Email address enables an action for sending emails from missions.
Page 142 Enable this feature if the robot drives with an application from Universal Robots. Fleet makes the robot visible for MiR Fleet. Enable this feature if the robot is part of a fleet. Modbus enables Modbus communications. When enabled, you can access the page System > Triggers...
Page 143: Usage
Figure 10.1. The red lines represent the obstacles the laser scanners detect. The robot is localized correctly when the red lines align with the black lines that represent walls. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 144 • For all other markers, the robot must be positioned approximately one meter directly in front of the marker. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 145 Edit for the active map. Within the editor, select Markers in the Object-type drop down menu, and then select Draw new marker in the editor tools. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 146 Offset orientation to 180°. Detecting the marker with the rear scanner will automatically set the orientation offset to approximately 180° for a reverse docking. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 147 • The Y-offset moves the robot further to the left or right of the marker. • The orientation offset changes the final orientation of the robot. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 148: Creating Positions
In the robot interface, enter the map editor of the map where you want to create a position. This is done by going to Setup > Maps and selecting Edit next to the map you would like to work on. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 149 Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 150: Creating A Cart
To make the robot interface display hook options, you must enable the feature as described in Enable MiR100 Hook feature on page 49. Follow these steps to create a new cart: MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 151 Under Name, insert the name corresponding to the ID of the cart. You can either insert the name manually, or you can place the ID tag in front of the hook camera and select Detect to automatically fill out the name. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 152 Width, Height and Length: These are the dimensions of the cart. • Locked wheels offset: The locked wheels offset is the distance from the gripping point of the cart to the locked wheels axis. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 154 Entry height: Defines the height of the hook when the robot can move the gripper beneath the gripper bar. This is the height the robot should currently be set to. Select Detect, and if MiR100 Hook is correctly positioned to read the ID tag of the cart, the Entry height will be entered.
Page 155: Creating The Mission: Prompt User
Go to Setup > Missions. Select Create Mission. Name the mission Prompt user. Select the group and site you want it to belong to. Select Create mission. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 156 • Question: Enter the question Go to position one?. • User group: Select Users. • Timeout: Set the timeout to 10 minutes. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 157 10. Usage In the Prompt user action, drag a Move to action into the box and a Move to action into the box. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 159: Creating The Mission: Try/Catch
This prevents the robot from going into an error state and stopping in the middle of a mission by MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 160 Go to Setup > Missions. Select Create Mission. Name the mission Try/Catch. Select the group and site you want it to belong to. Select Create mission. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 161 Prompt user action . Be sure to select the Prompt user mission . • In the Sound/Light menu, select Play sound. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 162 When you have set the parameters, select Validate and close. Drag the Prompt user mission into the box under Try/Catch. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 164 • Duration: Set the duration to two minutes. The mission should look like this: Select Save to save the mission. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 165: Creating The Variable Footprint Mission
Name the mission Variable footprint. Select the group and site you want it to belong to. Select Create mission. Select the following actions: • In the Move menu, select footprint. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 167 The following steps describe how to create a variable: • Under Footprint, select Variables • Select Create variable in the upper-right corner. • Name the variable Use default footprint or narrow footprint?. Select OK. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 168: Creating A Cart Mission
The goal of the mission is to pick up a cart at Position A, drive to Position B with the cart, and drive back to position A to place the cart. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 169 Setup > Missions and select Create mission. Name the mission Cart mission, and select a mission group and site. Select Create mission when you are done. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 171 • Position: Select Position • Cart: Select the cart that is placed at Position A. In this example, the type is Basic cart. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 172 Position type: Select Main. • Retries: Leave the number of retries at the default value of 10. • Distance threshold: Leave the threshold at the default value of 0.1. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 173 Yes, without collision check: The robot will reverse into the position without activating collision check so it does not scan for obstacles. The mission is now ready. Select Save to save your mission. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 174: Testing A Mission
If something interrupts the mission, use a Try/Catch action in that step of the mission and decide what the robot has to do if a mission action fails. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 175: Unmounting The Top Module
11. Unmounting the top module 11. Unmounting the top module If you ever need to access the robot from the top, you will need to unmount MiR Hook 100. This can be required when troubleshooting issues or replacing robot components.
Page 176: Maintenance
12.1 Regular weekly checks and maintenance tasks Once a week, carry out the following maintenance tasks: MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 177: Regular Checks And Replacements
Check for dust and clean. We recommend using anti-static lens hook spray and a lens cloth. 12.2 Regular checks and replacements Before starting replacement tasks that involve removal of the top cover: MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 178 Check wheel surfaces for wear. Check every six months, and (the two replace as needed. middle- wheels) NOTICE The robot must be calibrated after replacement of the wheels. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 179 Hook pins Check that all pins are mounted Check monthly, and replace as correctly and the screws are needed. tightened. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 180 Hook Check the gripper function and Check monthly. perform a homing in the interface, see Testing the top MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 181: Battery Maintenance
For storage of the battery, see Battery storage on page 58. For disposal of the battery, see Battery disposal on page 58. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 182: Packing For Transportation
Protective corner braces. The braces prevent the robot from being damaged by the transport straps 13.2 Packing the robot for transportation Before packing the robot for transportation: MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 183: Battery
United Nations Regulation of Dangerous Goods, UN 3171. Special transport documentation is required to comply with these regulations. This may influence both transport time and costs. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 184: Disposal Of Robot
14. Disposal of robot 14. Disposal of robot MiR100 Hook robots must be disposed of in accordance with the applicable national laws, regulations, and standards. Fee for disposal and handling of electronic waste of Mobile Industrial Robots A/S robots sold on the Danish market is prepaid to DPA-system by Mobile Industrial Robots A/S.
Page 185: Interface Specifications
When MiR Hook 100 is mounted to MiR100, the electrical top interfaces are no longer accessible. 15.1 Application interface The application interface plug is a NEUTRIK XLR panel-mount connector with 4 contacts (receptable). Figure 15.1. Application interface. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 186 Stops by Emergency stop. 10 A Ground. 15.2 Emergency stop The emergency stop plug is a NEUTRIK XLR panel-mount connector with 10 contacts (receptable). Figure 15.2. Emergency stop interface. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 187 24 V/1 A DC supply - POS terminal. Can be used to power small external units using up to 1 A such as tablets and PLC interfaces. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 188 • Use Try/Catch actions to make the robot react in a specific way if it fails to execute certain actions—see Creating the mission: Try/Catch on page 159. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 189 Creating and configuring maps on page 101. To clear an error, select the red warning indicator in the interface, and select Reset. For more details on setting up missions and error handling, see MiR Robot Reference Guide on the MiR website. 16.2 Hardware errors If the error is a fault in the hardware, either you will not be able to clear it, or the error will return until the fault is fixed.
Page 190 For further troubleshooting, contact your distributor for specific MiR troubleshooting guides or assistance from MiR Technical Support. For a full list of MiR error codes, contact your distributor for the document Error codes and solutions. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 191 Mode in which the robot drives autonomously based on the missions you assign to it. Cart A cart can be towed by a MiR robot with a MiR hook mounted to it. Commissioner Commissioners have thorough knowledge of all aspects of commissioning, safety,...
Page 192 A MiR application is either a single MiR product or a combination of MiR products that is able to execute certain tasks. A MiR application is often a MiR base robot MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
Page 193 MiR top module. If a custom top module is used, the CE mark on the nameplate of the base robot does not extend to the top module. MiR robot interface The MiR robot interface is the web-based interface that enables you to communicate with your MiR robot.
Page 194 Static landmarks are obstacles that cannot be moved, such as walls, columns, and fixed structures. These must be included on the map and are used by the robot to localize itself. MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

MIR MiR100 Hook User Manual

1 About this Document

2 Product Presentation

3 Safety

4 Getting Started

5 Battery and Charging

6 Security

7 Navigation and Control System

8 Safety System

9 Commissioning

10 Usage

11 Unmounting the Top Module

12 Maintenance

13 Packing for Transportation

14 Disposal of Robot

15 Interface Specifications

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