MIR 500 Lift Operating Manual
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MIR 500 Lift Operating Manual

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Operating guide (en)
Date: 10/2019
Revision: v.1.3

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Summary of Contents for MIR MiR 500 Lift

  • Page 1 Operating guide (en) Date: 10/2019 Revision: v.1.3...
  • 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 MiR500 Lift 3.3 Testing MiR500 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 MiR500 Lift feature 5.2 Set entry and pallet rack positions 5.3 Lower lift mission...
  • Page 4 5.7 Put down pallet mission 5.8 Test the mission MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 5: 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. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 6: Document History

    1. About this document • Distributor site > Troubleshooting https://www.mobile-industrial-robots.com/en/account/troubleshooting/ This page contains troubleshooting guides to solve common issues with MiR products. • MiR500 Lift product page https://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir500-lift/ This page contains specifications, pictures, and brochures for MiR500 Lift. • Universal Robots: http://www.universal-robots.com/support 1.2 Document history...
  • Page 7 1. About this document Revision Release date Description 2019-09-09 Third edition. Added UR+ func- tionality allows the MiR robots to be controlled from the UR Interface. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 8: Safety

    2. Safety 2. Safety Read the information in this section before powering up and operating MiR500 Lift. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR500 Lift or its accessories are damaged, changed or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR500 Lift, accessories or any other equipment due to programming errors or malfunctioning of MiR500 Lift.

  • Page 9: General Safety Precautions

    2. Safety 2.2 General safety precautions This section contains general safety precautions. (missing or bad snippet) WARNING Using a charger different from the one supplied by the manufacturer can cause a fire. • Use only the original charger. WARNING Make sure the UR Robot Arm is properly and securely bolted in place. Unstable mounting can lead to accidents.

  • Page 10: 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 11 2. Safety NOTICE Before commissioning MiR500 Lift, it is important to make a risk assessment. All risks and foreseeable misuses relevant to MiR500 also apply to MiR500 Lift. Refer to the MiR500 User guide for more information. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 12: Getting Started

    3. Getting started 3. Getting started This section describes how to get started with MiR500 Lift. 3.1 In the box This section describes the content of the MiR500 Lift box. The box contains: MiR500 Lift A MiR500 Lift document folder containing the following printed documents: •...
  • Page 13 3. Getting started Connecting the cables When mounting MiR500 Lift, it is important that the end with the six screw holes is placed at the front end of the robot. 3.1. The side with the six screw holes (circled with red) must be placed at the front end of the robot. 3.2.
  • Page 14 3. Getting started Remove the two middle compartment plates on the top cover of MiR500. Unscrew the four bolts from the lifting device. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 15 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. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 16 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 MiR500.
  • Page 17 3. Getting started Fixing MiR500 Lift to MiR500 When fixing MiR500 Lift to MiR500, 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 18 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. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 19 3. Getting started Screw in the four bolts that were removed for the eye bolts. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 20 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 21 3. Getting started Put on the four safety stickers. MiR500 Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.
  • Page 22 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. Reset Lift when turning on robot When you turn on the robot, you must reset the MiR500 Lift before it can operate.

  • Page 23: Testing Mir500 Lift

    3. Getting started Go to Setup > I/O modules.Input 0 and input 2 will be high (green). Set output 0 or 2 to high (green) for five seconds before turning it back. The Lift will now reset. It takes approximately 13 seconds and can be monitored in Monitoring > System log.
  • Page 24 3. Getting started Navigate to Setup > I/O modules in the interface. Select MiR500 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 25: Lift Modifications

    3. Getting started 3.4 Lift modifications Additional holes can be added to the MiR500 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 26 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 27: Product Presentation

    (missions). MiR500 Lift can be activated in various missions and ensures stable handling and transport of pallets to and from a MiR Lift Pallet Rack. For MiR500 Lift to comply with safety standards and function properly, shelves must be set up according to specifications supplied in this manual.

  • Page 28: Mir Lift Pallet Rack

    Pallet Racks MiR Lift Pallet Rack is the delivery station for your heavy loads. MiR500 drives autonomously into the MiR Lift Pallet Rack and delivers or picks up heavy loads safely with a payload of up to 500 kg. To see how to mount MiR Lift Pallet Rack, see the mounting guide on our Dis- tributor website at https://www.mobile-industrial-robot-...

  • Page 29: 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 30 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 31: Usage

    Enable MiR500 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 32: 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 MiR500 with a MiR500 Lift in front of a pallet rack, facing front.

  • Page 33: Lower Lift Mission

    5. Usage 5.3 Lower lift mission In the Lower Lift mission, MiR500 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 34 5. Usage In the first Set I/O port action dialog, under Module, select MiR500 internal IOs. Under Output, type in 3. Under Operation, select Off. This ensures that any raising movement is stopped. In the second Set I/O port action dialog, under Module, select MiR500 internal IOs. Under Output, type in 2.

  • Page 35: Raise Lift Mission

    5. Usage 5.4 Raise lift mission In the Raise Lift mission, MiR500 will raise the lift to prepare to pick up a a pallet from a pallet rack. 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.
  • Page 36 5. Usage Insert the following actions: In the I/O module menu, select Set output. In the I/O module menu, select Set output. In the I/O module menu, select Wait for input. The mission dialog should look like this: The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel icon of the action in question to open the dialog of that action.

  • Page 37: Pick Up Pallet Mission

    5. Usage In the second Set I/O port action menu, under Module, select MiR500 internal IOs. Under Output, type in 3. Under Operation, select On. This is to ensure that the lift is raised. Select Validate and close. Remember to save the mission. The mission should look like this: 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.
  • Page 38 5. Usage Go to Setup > Missions. Select Create mission. Give the mission a name, for example Pick Up Pallet. Select the group and site it should belong to. Select Create mission. 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.

  • Page 39: Test The Mission

    5. Usage Remember to save the mission. The mission should look similar to this: 5.1. MiR500 drives to the entry position in front of the MiR500 Lift and checks if there is a pallet (check position status is optional). If there is a pallet, MiR500 lowers the lift, docks to the pallet rack, lifts off the pallet, exits the pallet rack and lowers the lift again.
  • Page 40 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 41 If you experience that MiR500 with a MiR500 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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