Page 1 User guide (en) Date: 09/2019 Revision: v.1.2...
Page 2 Copyright © 2019-2020 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 MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 3: Table Of Contents
3.3 MiR1000 control panel 3.4 MiR1000 operating modes 3.5 External parts 3.6 MiR1000 internal parts 3. Safety functions 3.7 What does the robot see? 3.8 Sensor system MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 4 5.6 Creating dashboards 6.1 Updating MiR1000 software 6. Usage 6.2 Creating a mission 6.3 Mission editor 6.4 Creating a pick up shelf and a place shelf mission MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 5 10.5 Robot docking imprecisely or not docking at all to shelf 10.6 Robot turning strangely when docking 10.7 Robot placing shelf imprecisely 10.8 Robot going into protective stop while driving with shelves 10.9 Error handling MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 6: About This Document
REST API references for robots, MiRHook, and MiR Fleet. • MiR network requirements specify the performance requirements of your network for MiR robots and MiR Fleet to operate successfully. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 7: Version History
1.2 Version history This table shows current and previous versions of this document and their interrelations with hardware releases. Revision Release date Description 2020-03-01 First edition. 2.9.X MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: 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. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 9: General Safety Precautions
• Only use the original charger. WARNING The protective fields on the site of MiR 250 is only 10-15 mm. MiR1000 may drive over the feet of personnel. Risk of injury. • All personnel must be instructed to wear safety shoes near an operating robot.
Page 10 Modifications or manipulations in the battery may lead to considerable safety risks and are therefore prohibited. WARNING MiR1000 may drive into a ladder with a person on it. Risk of injury. • Don't place ladders in the robot's work environment.
Page 11: Intended Use
Commissioning on page 78 prepared to the environment according to the guidelines. This is a prerequisite for safe usage of MiR1000. MiR1000 is designed for and all risks are considered when used with one of the following types of top applications: •...
Page 12: Users
2. Safety MiR1000 can be used as a partly complete machine as defined in the EU machinery directive, with top applications that do not meet above limitations. Those who design, manufacture or commission a system that does not meet the limitations of use of MiR1000 carry the obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.
Page 13: Foreseeable Misuse
For example, they must be aware that visibly marked operating hazard zones must be respected. 2.5 Foreseeable misuse Any use of MiR1000 deviating from the intended use is deemed as misuse. This includes, but is not limited to: •...
Page 14: Risk Assessment
MiR does not take any responsibility for the creation of the risk assessment, but we provide information and guidelines that may be used in the MiR 500 and MiR1000 Risk Analysis Guide found on the Distributor Site under Manuals.
Page 15: Safety-Related Functions And Interfaces
MiR1000. Refer to the MiR Fleet PC User guide for more information. 2.8 Safety-related functions and interfaces MiR1000 is equipped with a range of built-in safety-related functions as well as safety- related electrical interfaces designed for integration with a top module and/or top manipulator.
Page 16 2. Safety This section contains safety precautions related to lithium batteries in MiR robots. NOTICE MiR does not support any additional batteries applied to the MiR1000 by the customer. WARNING Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically.
Page 17 2. Safety To change the battery: Push the two black buttons on the back of the robot. Pull the hatch. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 18 To access the battery, first pull the bottom metal lever and push the top lever, as shown in the photo. Then press down on the top lever. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 20 Only use a dry and soft cloth to clean the housing of the battery and do not use abrasives or solvents. For disposal of batteries, see Disposal and environment on page 140 MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 21: Product Presentation
3. Product presentation 3. Product presentation MiR1000 is an autonomous mobile robot that can transport loads up to 250 kg1000 kg and pallets indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. Users operate MiR1000 via a web-based user interface, which is accessed via a browser on a PC, smartphone or tablet.
Page 22 After creating the map, positions and other features can be added in the map editor. Add-ons The following add-ons are available for the MiR1000: MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 23: Identification Label
• MiR 250 Cart Carrier A top application that allows MiR1000 to tow carts with a payload of up to 500 kg. To read more about the add-ons, go to www.mobile-industrial-robots.com. 3.2 Identification label The identification label of MiR1000 is placed above the MiR controller behind the rear maintenance hatch.
Page 24: Mir1000 Control Panel
Stops the robot. The robot blocks the wheels, you cannot start a mission or drive the robot manually. • Right position: Manual mode. Puts the robot in Manual mode. For more information on operating modes, see MiR1000 operating modes on page 26. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 25 Blinking red: The robot is waiting for a user action (clear the emergency stop state, acknowledge the change of operating mode, etc.) On/Off Pressing this button for five seconds turns the robot on or shuts it down. Color indication: MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 26: Mir1000 Operating Modes
You can also mute the personnel detection means using the robot interface: • Put the robot into Manual mode. See section Driving the robot in manual mode on page 72 MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 27 The status and the signal lights start flashing yellow, the robot is ready to drive with muted personnel detection means. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 30 5. Rear safety laser scanner 12. Left-hand side maintenance hatch 6. Right-hand side maintenance 13. Status light: on all four sides of the hatch robot (see Sensor system on page 50) MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 31 11. 3D cameras (see Sensor system on page 50) 5. Left cover plate: access to power 12. Swivel wheel with foot guard interface, GPIO interface and Ethernet interface MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 32 13. Status light on all four sides of the interface, GPIO interface and robot (see Sensor system on Ethernet interface page 50) 7. Brake release MiR1000 external parts MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 35: Mir1000 Internal Parts
1. M8 mounting holes for fixation of top module. For more information on mounting top modules, see Mounting a top module on page 119. 3.6 MiR1000 internal parts Most internal parts of MiR1000 are reached through maintenance hatches that open to different compartments: • Front compartment • Rear compartment •...
Page 36 The front compartment holds the electronic components that may need regular service or replacement, such as PC, main control board and safety PLC. To open the front compartment: Push the two white buttons and pull the hatch. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 37 Turn the two levers 180°. The right lever goes from top to bottom and the left lever goes from bottom to top. Then pull out the compartment drawer while holding underneath it and lifting slightly. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 38 PC and safety PLC 3. Access point/Router 7. Motor controller carrier board: contains motor controllers and controller for proximity sensors and light indicators. 4. Robot computer 8. Safety PLC MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 39 3. Product presentation Rear compartment The rear compartment holds the robot’s battery and most of the accessible components. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 41 3. Product presentation Pull the hatch. To access the battery, first pull the bottom metal lever and push the top lever, as shown in the photo. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 43 On position. When turned off, the brakes are released, and the robot can be pushed manually Side compartments The side compartments contain the right- and left-hand side bogies and drive wheels. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 44 3. Product presentation To open a side hatch, turn the two screws 90° counterclockwise with a hex keyflat-head screwdriver, and pull the hatch. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 45 1. Connector for status light band 2. Drive wheel Top compartments The two top compartments hold interfaces to external units, for example MiR1000 EU Pallet Liftor MiR1000 Pallet Lift. To open a top compartment, remove the four screws and lift off the top cover.
Page 46 3. Product presentation The two top compartments contain interfaces for top applications and added safety functions. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 47 The top compartments contain the following electrical interfaces for top applications. For detailed information, see Interface specifications on page 141. 1. Ethernet 4. Auxiliary emergency stop 2. GPIO: General purpose I/O 5. Auxiliary safety functions 3. Power MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 48: Safety Functions
MiR1000. 3.7 What does the robot see? Before preparing the environment for MiR1000, it is worth understanding how the robot works, what it can see, and what it uses for navigation. MiR1000 is an autonomous and collaborative robot that relies on localization techniques to orient itself in its environment.
Page 49 Figure 3.3. Laser scanners of the robot will only detect parts of the chair. Here, the scanners detect the four legs of the chair in the upper left corner of the map. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 50: Sensor System
This section describes the functionality of the different parts of the sensor system. The robot is equipped with the following sensors: • Safety laser scanners • 3D cameras • Proximity sensors • Internal sensors MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 51 3. Safety functions Safety laser scanners The safety laser scanners on MiR1000 are of the type AOPDDR (active opto-electronic protective device responsive to diffuse reflection). AOPDDR is a protective device that uses opto-electronic transmission and reception elements to detect the reflection of the optical radiation generated by the protective device.
Page 52 When mapping, the safety laser scanner’s view is reduced to 20 m to ensure that maps will get the highest possible quality. Figure 3.5. The safety laser scanners see up to 20 m when mapping an area. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 53 'field sets' when combined. The active field sets are automatically selected based on the speed of MiR1000. A person or object within an active protective field will bring the robot to a protective stop and the robot will remain stopped until the protective field is free.
Page 54 Horizontally in an angle of 114° and 250 mm to the first view of ground. The camera readouts are used as 3D point cloud data. They are not recording recognizable objects or people. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 55 The following illustrations show the fields of view of the cameras. Figure 3.7. The two 3D cameras can see objects up to 1700 mm above floor height. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 57: Light Indicators And Warning Sounds
• Status lights An LED light band on all four sides of the robot uses colors and light motion patterns to MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 58 Front lights are white and rear lights are red. Right and left turns are indicated by blinking. 1. Status lights 2. Signal lights MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 59 When the robot drives with muted personnel detection means, for example when docking to a marker, all signal lights blink yellow. For more information, see MiR1000 operating modes page 26. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 60: Limiting Safety-Related Functions
3.10 Limiting safety-related functions MiR1000 has several built-in safety-related functions that are used to ensure safe operation in the environment it is designed to be used in. Advanced control software ensures that the drive patterns are within safety related limits and thereby avoid triggering a safety function.
Page 61 Safe load position The safe load position safety function ensures that the robot will not drive, while MiR1000 Pallet Lift or MiR1000 EU Pallet Lift is not in the lowest position and hence there is a risk of compromising stability.
Page 62: Safety-Related Electrical Interfaces
External emergency stop button input This input is for connection of an optional emergency stop button. If activated, the safety system issues a category 0 stop followed by a controlled brake which brings MiR1000 to a stop. Must be manually deactivated by activation of the restart button.
Page 63 MiR1000 and top manipulator. If activated, the safety system issues a category 0 stop followed by a controlled brake, which brings the robot to a stop.
Page 64: Getting Started
MiR1000 document folder containing the printed documents and the USB flash drive. Printed documents: • MiR1000 Quick Start • MiR username and passwords • CE declaration of conformity • High visibility stickers. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 65: Unpacking Mir1000
This is necessary since the robot drives out of the box on the ramp. Remove the screws that attach the walls of the box to the box lid and the base of the box. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 66 Remove the lid from the box. Take the folder with the printed documents and the USB drive out of the box. Remove the walls of the box and the protective foam blocks. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 67 4. Getting started Cut the protective straps. For increased visibility, you can add the supplied high visibility stickers to the four corners of the robot. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 68: Powering Up
4.3 Powering up Follow these steps to power up MiR1000. Open the rear maintenance hatch. To open the hatch, push two buttons on the hatch and pull the hatch. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 69 See MiR1000 control panel on page 24. Close the maintenance hatch. Ensure that all four emergency stop buttons are in the released state. Turn an emergency stop button clockwise to release it. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 70 When the initialization process ends, the robot goes into the emergency stop mode. Press the Restart button to clear the emergency stop. The robot is ready for operation, the status lights turn constant red. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 71: Connecting To The Robot Interface
Follow these steps to connect to the robot interface: Using your pc, tablet or phone, connect the WiFi access point of the robot. The access point name has the following format:MiR_VXXXX. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 72: Driving The Robot In Manual Mode
It is possible to mute the personnel detection means when driving the robot manually. Risk of injury or damage. • Be aware not to collide with any humans or objects when driving with muted personnel detection means. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 73 Press the Restart button. The status lights turn blue indicating that the robot is in Manual mode. Note! The robot is shown with an EU pallet lift. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 74: Checking The Hardware Status
To check that all hardware components work as intended follow the steps below: Sign in to the robot interface. See the section Connecting to the robot interface on page 1. Go to Monitoring > Hardware health. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 75: Charging The Robot
MiR Robot Interface 2.0 Reference Guide. 4.7 Charging the robot A charger cable and an external charger is not part of the MiR1000 standard delivery. To charge MiR1000 using the cable charger: Open the maintenance hatch at the back of the robot. To open the hatch, push two buttons on the hatch and pull the hatch.
Page 76 4. Getting started Connect the charger cable to the charging connector on the robot. For information about the charging time, see the robot specifications at www.mobile- industrial-robots.com. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 77: Shutting Down The Robot
If shutting the robot down for transportation or service/repair, the battery disconnect switch must be turned off as well and the battery cable disconnected, see MiR1000 User guide. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 78: Commissioning
Surfaces The floor surface of the work environment must be dry. MiR1000 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 79: Creating Markers And Positions
It is the responsibility of the commissioner to test if sunlight or reflections from high gloss materials affect the robot's performance or safety. Inclines, doorways, corridors, gaps, and sills MiR1000 can drive on 5% inclines, go through minimum 800mm wide doorways, and traverse 20mm sills or gaps. 5.2 Creating markers and positions This section describes how to create markers and positions.
Page 80 V-markers. L-markers make it possible for the robot to dock sideways. Charging stations, Shelves Pallet racks also have markers. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 81 In the robot interface, enter the map editor of the map where you want to create a marker. This is done by navigating to Setup > Maps and selecting Edit next to the map you would like to work on. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 82 The Detect-marker function tracks the position of the charging station using the on the charger and automatically sets the X, Y, and Orientation values in the robot, enabling it to dock to the charging station. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 83 Figure 5.2. 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. Once the robot is localized, you can insert a position on the map. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 84 In the Object-type drop-down menu, select Positions, and then select Draw a new position Click on the map where you want the position to be and choose in which direction you want it to face. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 85: Operating Hazard Zones
The muting starts when the robot reaches the entry position approximately one meter from . To indicate this to people nearby, MiR Fleet PC slows down and starts blinking yellow, using the eight signal lights on the corners of the robot. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 86: Creating And Configuring A Map
In the editing afterward, you can remove all obstacles that should not stay on the map, for example carts or boxes that were present at the time of recording but will not stay permanently. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 87 In Setup > Maps you can import sites. Wait until the robot appears in the white square (3-5 seconds). This is a blank map. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 88 Click the three dots in the top left corner and start recording by selecting Record and overwrite. In the In the upper right corner, select the joystick icon. Select Manual control. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 89 The joystick switches to medium speed when used during mapping. This ensures better coverage of the mapped area. When the map looks complete, select Stop in the upper-left corner of the mapping window. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 90 Clean the map by drawing walls and floors and by erasing dynamic obstacles. In the drop down menu, go to the walls layer by selecting Walls. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 91 This will help the robot's localization and make the map more clean. Select the Finish current line when finishing a wall. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 92 Because you are on the floors layer, the new floor will not have an effect on objects on the walls layer. Draw the floor area on the map. Select the check mark . MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 93 Use zones on the map Adding zones to the map helps organize robot traffic. There are several different zones that can optimize the preferred paths and driving behavior of the robot. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 94 Used to keep a zone clear of other robots. • Evacuation zones applies only when robots are controlled by MiRFleet. Makes it possible to evacuate all robots in case of an emergency situation. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 95 Issue: MiR1000 will stop if a person steps out in front of it. In a transient work flow area, the robot will stop and reassess its paths many times a day, thereby wasting valuable time.
Page 97 This may cause the robot to believe that there is enough space (if the posts are far enough apart) below the shelf to pass through. MiR1000 will then plan a path underneath the shelves, but when it comes closer, the camera will see the obstacle.
Page 98 Some types of glass cannot be detected by the safety laser scanners. Issue: MiR1000 will not stop before driving into a glass window, door, or other glass objects. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 99: Creating User Groups And Users
For more details on interface and dashboards, see the Reference Guide in the MiR Robot Interface. Create user groups Setup > User groups you can create specific groups with specific access to different parts of the robot interface. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 100 5. Commissioning Under permissions, you can select the specific parts of the robot interface that the user group has access to. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 101 If they are single dashboard users with no access to other parts of the interface than to control the robot from a dashboard. • If they should be allowed quick access to the interface via a four digit PIN code. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 102: Creating Dashboards
Consider the following based on previous considerations on users of the robot: • How many different users are there? • What tasks do each user have with MiR1000? MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 103 The system comes with a default dashboard, and users can create an unlimited number of additional customized dashboards. To create a custom dashboard: Go to Dashboards > Dashboards and select Create dashboard. Name the dashboard and select Create dashboard. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 104 The dashboard is now available under Dashboards. For details on the widgets and missions available in dashboards, see the Reference Guide in the MiR Robot Interface. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 105: Updating Mir1000 Software
MiR Software Robot / Hook / Fleet 2 version x.x.x. Connect your computer to the WiFi of the robot you want to update, and sign in to the robot interface. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 106 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. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 107: Usage
The robot can be used manually, see Driving the robot in manual mode on page 72, but the main way to use MiR1000 is by creating missions. Therefore, this section presents some key examples of good practices when creating missions. 6.2 Creating a mission This section describes what a mission is and how to make one.
Page 108 SiteIf you are using more than one site, select which site you want the mission to belong to from the list. Click Create mission to save the settings. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 109 New groups will be shown in the top bar next to the default groups and contain any mission(s) you want to add to it MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 110: Mission Editor
Set the parameters for the selected action by selecting the gear icon at the far right of the action line. Change mission settings The name of the mission and the group it belongs to can be changed. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 111 You can save a copy of a mission and give it a new name. That way it is easy to create a new mission based on the settings of an existing one. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 112: Creating A Pick Up Shelf And A Place Shelf Mission
Give the mission a name, for example Pick up and place shelf. Select the group and site you want it to belong to. Select Create mission. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 113 Under Move to, select the shelf position you want to dock to. Under Position type, select Entry. Select Validate and close. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 115 Under Undocking distance, select the undocking distance in meters. A negative value makes the robot undock in reverse, and a positive value makes the robot move forward when undocking. Select Validate and close. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 116: Handover Testing
Select Save to save the mission. The mission should look like this: 6.5 Handover testing It is very important to schedule time for handover testing. The new users of MiR1000 might have new questions after they start using the robot or new issues or situations might have appeared.
Page 117 Future possibilities After the initial installation of MiR1000, it is a good idea to inform users of other possibilities they might find useful after having used the robot for some time. This could include: •...
Page 118 Contact customers yourself in the beginning to make sure they are happy and the product is working satisfactorily. A good handover also includes making a risk assessment. Read more in Risk assessment on page 14. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 119: Applications
7.1 Mounting a top module MiR1000 has four M10M8 holes for mounting top modules as shown in Figure 7.1. The tightening torque is 4718 Nm. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 122 Mobile Industrial Robots. Perform risk assessment according to standard ISO 12100, see Risk assessment on page 14 MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 123 7. Applications CAUTION Stay within the specifications for weight and the payload’s center of gravity, Payload specifications on page 134. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 124: Lift Modifications
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. 9005 MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 125 NOTICE The drawings above only show where you can make minor modifications without damaging the product. You should not use it for any other measurements or calculations. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 126 7. Applications NOTICE It is only possible to modify the MiR1000 Pallet Lift, not the MiR1000 EU Pallet Lift. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 127: Maintenance
Once a week carry out the following maintenance tasks: Parts Maintenance tasks Robot top plate and Clean the robot on the outside with a damp cloth. sides Do not use compressed air. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 128: Regular Checks And Replacements
Part Maintenance Interval Robot top plate Check mounting. Does it sit evenly Check monthly and replace as on top of the robot with needed. connections accessible. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 129 To check the ESD tail, open the Check every six months and left-hand side maintenance hatch replace as needed. and make sure that the tail has contact with the ground. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 130 MiR Lift Pallet Rack are intact and visible. Safety stickers Check if the safety stickers on the Check every six months and robot are still intact and visible. replace as needed. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 131: Packing For Transportation
Protective foam blocks: Side blocks and the top layer. • Protective corner braces. The braces prevent the robot from being damaged by the transport straps. • Screws. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 132 The lithium battery is subject to transport regulations. Make sure that you follow the safety precautions in this section and the instructions in section Packing for transportation on the previous page. Different regulations apply depending on the mode of transportation: Land, MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 133 Lithium batteries are subject to special transportation regulations according to 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. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 134: Payload Specifications
The following drawings illustrate the center of mass (CoM) specifications for safe operation with different payloads. WARNING Load falling or robot overturning if the load on MiR1000 is not positioned or fastened correctly. • Ensure that the load is positioned according to the specifications and is fastened correctly.
Page 140: Disposal And Environment
VI, polybrominated biphenyls and polybrominated diphenyl ethers. 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. Importers in countries covered by the European WEEE Directive 2012/19/EU must make their own registration to the national WEEE register of their country.
Page 141: Interface Specifications
MiR1000 internal parts on page 35. 10.1 General purpose interfaces This section describes the general purpose interfaces located in the left-hand side compartment on the top side of MiR1000. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 142 For this reason, it is recommended to use the power output from pin 3 instead. Intended for high power loads like motors or actuators. Ground. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 143 Intended for high power loads like motors or actuators. Ground. Always on when robot is on. Intended for low power use, like powering an external PLC. Ground. Unassigned Unassigned. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 144 Figure 10.2. Pin numbers: male connector viewed from the front (left) and wiring diagram (right). A variety of top applications requires a general purpose and "simple-to-use" digital I/O (GPIO). MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 145 To use the GPIO for a top application of your own design, ensure that the Pallet lift feature is disabled. This setting is found under System > Settings > Features. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 146 Inputs (I0, I1, I2, I3) can be used by the top application to send inputs to the robot. When +24V is connected to the input pin, the robot registers the input as high. Figure 10.4. Example of I2 registered as high by the robot. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 147 Protected output. PNP Input 1. 1A @ 24V Protected output. PNP Input 2. 1A @ 24V Protected output. PNP Input 3. 1A @ 24V Protected output. Unassigned Unassigned. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 148 Modbus, refer to the how-to guide How to use Modbus with MiR robots found on the Distributor site. The following table contains the description of the pins of the Ethernet interface. Pin number Signal name MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 149: Safety Interfaces
The emergency stop circuit in the robot runs through all four emergency stop buttons and through pins 1-4. If the circuit is broken, MiR1000 enters protective stop. To complete the circuit, you must connect pins 1 and 3 together and pins 2 and 4. If you have any emergency stop buttons on your top application, they can be connected to the emergency stop circuit through these pins.
Page 150 Figure 10.7. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). The Auxiliary safety functions interface is designed to support emergency stop and other safety functions. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 151 Input - circuit broken will result in that the robot can not drive fast. Reduced speed 2 Input - circuit broken will result in that the robot can not drive fast. Unassigned Unassigned. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 152: Connector List
PN SCO Auxiliary Emer- M17 8p ST-08P1N8A8K03S See Figure 10.9. gency Stop Auxiliary Safety M17 17p ST-17P1N8A8K03S See Figure 10.9. Functions Figure 10.8. Connector dimensions for Power connector. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 153 10. Interface specifications Figure 10.9. Connector dimensions for GPIO, Auxiliary Emergency Stop, and Auxiliary Safety Functions connectors. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 154: Troubleshooting
If the robot goes into protective stop while driving with shelves, it might be because the field sets of the safety laser scanners need adjustment. See Adjusting the protective field sets more information. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 155: Error Handling
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 Interface 2.0 Reference Guide. MiR1000 User guide (en) 09/2019 - v.1.2 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

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