MIR 500 Operating Manual
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MIR 500 Operating Manual

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

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Summary of Contents for MIR 500

  • 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

    3.1 In the box 3.2 Mounting MiR500 EU Pallet Lift 3.3 Testing MiR500 EU Pallet Lift 4. Product presentation 4.1 How the lift works 4.2 MiR EU Pallet Rack 4.3 Mark potentially hazardous floor area 5. Usage 5.1 Enable MiR500 EU Pallet Lift feature 5.2 Set entry and pallet rack positions 5.3 Lower lift mission...
  • Page 4 5.8 Test the mission MiR500 EU Pallet 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 EU Pallet 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 EU Pallet Lift product page http://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir500-eu-pallet-lift/ This page contains specifications, pictures, and brochures for MiR500 EU Pallet 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. 2019-10-30 Added reset section. Safety corrections. General corrections. MiR500 EU Pallet 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 EU Pallet Lift. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR500 EU Pallet 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 EU Pallet Lift, accessories or any other equipment due to programming errors or malfunctioning of MiR500 EU Pallet 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 MiR500 EU Pallet Lift is intended to be commissioned indoor in a light industrial environment where public access is restricted. For detailed description of the environment in which the robot should operate, see technical specifications on our website. NOTICE Before commissioning MiR500 EU Pallet Lift, it is important to make a risk assessment.

  • Page 12: Getting Started

    3. Getting started 3. Getting started This section describes how to get started with MiR500 EU Pallet Lift. 3.1 In the box This section describes the content of the MiR500 EU Pallet Lift box. The box contains: MiR500 EU Pallet Lift A MiR500 EU Pallet Lift document folder containing the following printed documents: •...
  • Page 13 3. Getting started Connecting the cables When mounting MiR500 EU Pallet Lift, it is important to place each lifting device on the correct side of MiR500. The lifting device with the green board must be mounted on the left side of the robot. 3.1.
  • Page 14 3. Getting started Connect the two plugs from the right-side device for power (2) and GPIO(1) When connecting the plugs, make sure to turn the plug to the left to open the plug and to the right to close it once connected to its socket. The plugs only fit with one socket each, so it is not possible to connect them incor- rectly.
  • Page 15 3. Getting started Connect the white connectors from the right and left lifting devices. The connector with two legs and the connector with three legs connect with each other. Each pair of connectors are color and number coded. Cables with a match- ing color and number tags should be connected.
  • Page 16 3. Getting started Connect the two pairs of connectors so the cables labeled 1 are connected together and the cables labeled 2 are connected together. NOTICE While handling the cables, hold them in the areas indicated in the image below. Handling the cables in any other areas may damage them. Be espe- cially aware that twisting the union nut positioned before the allowed hand- ling area will loosen the internal cable connections.
  • Page 17 3. Getting started Connect the final two plugs from the right lifting device to the matching sockets within the right compartment. When connecting the plugs, make sure to turn the plug to the left to open the plug and to the right to close it once connected to its socket. The plugs only fit with one socket each, so it is not possible to connect them incor- rectly.
  • Page 18 3. Getting started Screw in an M10 bolt in one end of the lifting device without tightening it completely. Adjust the lifting device in the other end and screw in another bolt. Tighten both bolts completely to ensure a secure mounting. Repeat the previous steps with the other lifting device.
  • Page 19 3. Getting started Place the covers on the lifting devices. Adjust the covers and ensure that there are no pinched cables. It is recommended to use suction cups when placing the covers onto the devices. Screw in all screws to fix the cover to the lifting devices. 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 20: Testing Mir500 Eu Pallet 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 21 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 22: Product Presentation

    MiR500 EU Pallet Lift is a top module that can be mounted on a MiR500 and autonomously pick up and drop off heavy loads of up to 500 kg. The robot with a MiR500 EU Pallet Lift works internally within production facilities, warehouses, and a host of other industrial locations.

  • Page 23: Mir Eu Pallet Rack

    MiR EU Pallet Racks MiR EU Pallet Rack is the delivery station for your EUR-pallets. MiR500 drives autonomously into the MiR EU Pallet Rack and delivers or picks up pallets safely with a payload of up to 500 kg. MiR500 EU Pallet Lift Operating guide (en) 10/2019 - v.1.3 ©Copyright 2019: Mobile Industrial Robots A/S.

  • Page 24: Mark Potentially Hazardous Floor Area

    4. Product presentation To see how to mount MiR EU Pallet Rack, see the mounting guide on our Dis- tributor website at https://www.mobile-industrial-robot- s.com/en/account/how-to/hardware/install-mir-pallet-rack-eulift/. WARNING When MiR500 with a MiR500 EU Pallet Lift docks to a MiR EU Pallet Rack, the robot mutes Personnel Detection Means and blinks yellow. Do not step in front of the robot and keep distance to the pallet rack.
  • Page 25 4. Product presentation 4.1. The floor around the 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 26: Usage

    Enable MiR500 EU Pallet Lift feature below. Creating a pallet rack marker and entry position on the map on the location where MiR EU 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 27: 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 EU Pallet Lift in front of a pallet rack, facing front.

  • Page 28: 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 29 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 30: 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 31 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 32: 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 33 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 34: 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 EU Pallet 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 35 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 36 5. Usage If you experience that MiR500 with a MiR500 EU Pallet Lift mounted on top picks up or delivers loads imprecisely on a MiR EU 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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