MIR Hook 100 Operating Manual
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MIR Hook 100 Operating Manual

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Operating guide (en)
Date: 02/2020
Revision: v.2.1

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Summary of Contents for MIR Hook 100

  • Page 1 Operating guide (en) Date: 02/2020 Revision: v.2.1...
  • 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 MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 3: Table Of Contents

    4.4 Enable MiR Hook 100 feature 4.5 Manual test 4.6 Homing 5. Commissioning 5.1 Cart specifications 5.2 Modifying the gripper 5.3 Space requirements 5.4 Safety precautions when operating with carts MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 4 6.4 Creating a cart mission 7. Maintenance 7.1 Regular weekly checks and maintenance tasks 7.2 Regular checks and replacements 8. Updating MiR Hook 100 software MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 5: About This Document

    REST API references for MiR robots, MiR hooks, and MiR Fleet. • MiR network requirements specify the performance requirements of your network for MiR robots and MiR Fleet to operate successfully. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 6: Version History

    First edition. 2016-02-04 General small corrections. Reworked section Commissioning on page 24. 2016-04-10 Major update throughout the manual. 2016-05-02 Added space requirements for pick-up and reverse parking. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 7 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 on page 34. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 8: 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 Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 9: General Safety Precautions

    Ensure that all nearby personnel are instructed to stay clear of operating hazard zones when MiR100 with MiR Hook 100 is in the zone. WARNING When MiR100 with MiR Hook 100 is turning while towing a cart, there is a risk of injury to personnel close to the cart. •...

  • Page 10: Intended Use

    MiR Hook 100 is a partly completed machine as defined in the EU machinery directive and does not have a CE mark. A correctly installed MiR Hook 100 is covered by the CE mark of MiR100. However, a CE marked product does not guarantee a CE marked setup. It is the responsibility of the commissioner to commission MiR Hook 100 safely.
  • Page 11 2. Safety Commissioners Commissioners have received extensive training in the full use of MiR Hook 100 and have the following main tasks: • Commissioning the product. This includes creating maps and restricting the user interface for other users and making brake tests with a full payload.

  • Page 12: Product Presentation

    The MiR Hook 100 robot identifies carts by QR markers and autonomously transports these carts to user defined positions. MiR Hook 100 can be incorporated into a fleet of MiR robots and can be easily redeployed to meet changing requirements.
  • Page 13 • Safely maneuvers among people With MiR Hook 100, you simply measure your cart and feed the data into the software. Built-in sensors, cameras and sophisticated software mean MiR100 with MiR Hook 100 and a cart can safely maneuver around people and obstacles and drive up ramps.

  • Page 14: Mir Hook 100 External Parts

    3. Product presentation 3.2 MiR Hook 100 external parts This section presents the parts of MiR Hook 100 that are visible on the outside. Figure 3.1. MiR Hook 100 external parts. Pos. Description Pos. Description 3D camera: Reads QR codes Gripper: Attaches to the...

  • Page 15: Installation

    4. Installation 4. Installation This section describes how to get started with MiR Hook 100. To be able to use MiR Hook 100 with MiR100, your robot must be running software version 2.6.0 or higher.  NOTICE Read Safety on page 8 before powering up the robot.

  • Page 16: Unpacking Mir Hook 100

    Remove the shield and cut the cord that holds the hook attached to the pallet. Loosen the two highlighted screws and remove the four weights. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 17: Mounting Mir Hook 100

    Remove the hook from the pallet. 4.3 Mounting MiR Hook 100 The photos illustrate how to mount a MiR Hook 100 (2) to a MiR100 (1). MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 18 4. Installation Remove the hook cover and lift the hook onto the robot, fitting the frame holes above the four mooring holes on the robot. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 19 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 MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 20: Enable Mir Hook 100 Feature

    The hook is now mounted on the robot. 4.4 Enable MiR Hook 100 feature To access the MiR Hook 100 settings and mission menus, you must first enable them. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 21 4. Installation Sign in to the robot interface, and go to System > Settings > Features. Under Hook, select True. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 22: Manual Test

    4. Installation 4.5 Manual test To ensure that MiR Hook 100 is correctly mounted to MiR100, you must run the hook through a few tests. Under Hook > Manual control, select the following listed actions, and verify that the hook performs as described: •...
  • Page 23 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. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 24: Commissioning

    For the robot to be able to locate and identify carts, a QR-marker must be fixed on the front of the cart, see QR markers on page 32. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 25: 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). Figure 5.2. Parts included for gripper modification MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 26: Space Requirements

    MiR robots, see Figure 5.6. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 27 Figure 5.4. To safely turn corners, it is recommended to ensure that there is a free square space measuring the total length of the robot and cart plus 500 mm. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 28 The robot is able to park and pick up carts at an angle of less than 5° between the cart and the robot. Figure 5.5. Minimum free space required around the cart to safely park it. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 29 This are must be marked as an operating hazard zone. The following steps describe how the robot reverses and parks the cart at the cart position. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 30 The robot places and picks up carts with an accuracy of 200 mm radius from the specified position and with an angle difference less than 10° relative to the specified position, as shown in Figure 5.8. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 31: Safety Precautions When Operating With Carts

    50 mm of the lenses. When driving with a cart, the maximum speed of the robot is 1.5 m/s. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 32: Qr Markers

    5. Commissioning MiR Hook 100 can move carts with a total payload (incl. the weight of the cart itself) of 300 kg when driving on a horizontal, flat, and clean concrete surface with an incline of less than 1%. When driving on a surface with an incline between 1% and 5%, the maximum payload is 200 kg.
  • Page 33 It is recommended to use less than 17 characters in the QR code. For example, "75mm-Cart_A" is 11 characters long. If more characters are added, the QR code will change format, and it will become more difficult to detect. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 34: Usage

    Creating a simple mission to pick up and place carts After these steps are carried out, the robot is able to pick up and place carts autonomously. 6.1 Calibrate cart It is important to calibrate the relation between MiR Hook 100 and the cart. In the Manual control...
  • Page 35 Change the height back to the entry height, and make sure the cart is still positioned over MiR Hook 100. Now attach the QR-marker to the cart so that the camera on MiR Hook 100 can see it when MiR Hook 100 is ready to grip the cart.

  • Page 36: Creating A Cart

    QR code in front of the Hook camera and select Detect to automatically fill out the name. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 37 • Locked wheels offset: The locked wheels offset is the distance from the front of the cart to the locked wheels axis. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 38: Setting Cart Positions On The Map

    Entry height will be entered. • X, Y and Z: These are used to define the exact position of MiR Hook 100 relative to the cart. If MiR Hook 100 is positioned at the Entry height determined in Calibrate cart on page 34...
  • Page 39 Draw new position in the editor tools. Select the point on the map where you want the cart position to be placed. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 40: Creating A Cart Mission

    Position A and defined the cart, as described in Creating a cart on page 36. In this example, the name of the cart is Basic cart. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 41 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. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 42 • Position: Select Position • Cart: Select the cart that is placed at Position A. In this example, the type is Basic cart. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 43 • Retries: Leave the number of retries at the default value of 10. • Distance threshold: Leave the threshold at the default value of 0.1. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 44 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. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 45: Maintenance

    Turn off relays and unplug the battery. The following table contains the parts that you should check and the intervals when you should do that: MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 46 Check if the LED light is green all the way. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 47 Check every six months, and on the floor made with for example, tape replace as needed. around cart pick-up and drop-off points are intact and visible. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 48: Updating Mir Hook 100 Software

    Follow the steps below to update MiR Hook 100 software: Go to the MiR Distributor site and sign in with your credentials. Select Download and select MiR Hook 100 in the product drop down menu. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 49 Locate and select the downloaded software package. It may take a few minutes for the package to successfully upload. Once the software is uploaded, turn the robot off and then on again. MiR Hook 100 Operating guide (en) 02/2020 - v.2.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

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