MIR 200 User Manual
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MIR 200 User Manual

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User Guide (en)
Date: 10/2020
Revision: v.3.1

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  • Page 1 User Guide (en) Date: 10/2020 Revision: v.3.1...
  • Page 2 All rights reserved. No parts of this document may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed 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

    Table of contents 1. About this document 1.1 Where to find more information 1.2 Version history 2. Product presentation 2.1 Main features of MiR200 2.2 Top modules 2.3 External parts 2.4 Internal parts 3. Safety 3.1 Safety message types 3.2 General safety precautions 3.3 Intended use 3.4 Users 3.5 Foreseeable misuse...
  • Page 4 4.7 Checking the hardware status 4.8 Mounting the nameplate 4.9 Shutting down the robot 5. Battery and charging 5.1 Charging the robot 5.2 Disconnecting the battery 5.3 Battery storage 5.4 Battery disposal 6. IT security 6.1 Managing users and passwords 6.2 Software security patches 7.
  • Page 5 8.4 Stability 8.5 Emergency stop circuit 8.6 Robot computer 8.7 Light indicators and speakers 9. Commissioning 9.1 Analysis of the work environment 9.2 Risk assessment 9.3 Creating and configuring maps 9.4 Markers 9.5 Positions 9.6 Creating missions 9.7 Creating a footprint 9.8 Making a brake test 9.9 Creating user groups and users 9.10 Creating dashboards...
  • Page 6 10.6 Testing a mission 11. Applications 11.1 Mounting a top module 12. Maintenance 12.1 Regular weekly checks and maintenance tasks 12.2 Regular checks and replacements 12.3 Battery maintenance 13. Packing for transportation 13.1 Original packaging 13.2 Packing the robot for transportation 13.3 Battery 14.

  • Page 7: About This Document

    • Quick starts describe how you start operating MiR robots quickly. It comes in print in the box with the robots. Quick starts are available in multiple languages. • User guides provide all the information you need to operate and maintain MiR robots and how to set up and use top modules and accessories, such as charging stations, hooks, shelf lifts, and pallet lifts.

  • Page 8: Version History

    1. About this document 1.2 Version history This table shows current and previous versions of this manual and their interrelations with hardware releases. the robot Revision Release date Description 2017-11-24 First edition. 2018-08-17 Updated for hardware release 1.2. Updates and improvements throughout the manual. 2018-11-28 Updated for hardware release 2.0.

  • Page 9: Product Presentation

    2. Product presentation 2. Product presentation MiR200 is an autonomous mobile robot that can transport loads up to 200 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. Users operate MiR200 via a web-based user interface, which is accessed through a browser on a PC, smartphone, or tablet.

  • Page 10: Main Features Of Mir200

    • Efficient transportation of heavy loads The robot is designed to automate transportation of loads up to 200 kg. • Sound and light signals The robot continuously signals with light and sounds, indicating where it will drive and its current status, for example, waiting for a mission, driving to a destination, or destination reached.

  • Page 11: Top Modules

    2.2 Top modules The following top modules are available for MiR200: • MiR Hook 200 A hook may be mounted on the robot enabling it to automate the internal transport of carts. To learn more about the top modules, go to the MiR website.
  • Page 12 Obstacle detection on page 59 3D depth camera: two pcs., Pad connectors: two pcs., for both in the front—see connection to charging pins Obstacle detection on on MiR Charge 24V charging page 59 station S300 safety laser scanner Side cover (front)—see Obstacle detection on page 59...
  • Page 13 2. Product presentation Pos. Description Pos. Description Antenna socket USB interface - connects to the robot's PC Emergency stop interface: with added options for connection to small units and I5 input on SICK scanners— Interface specifications on page 164 Identification label MiR200 is delivered with an identification label mounted to the product.
  • Page 14 Figure 2.3. Example of a MiR200 identification label. Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR200 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 15 2. Product presentation The control panel buttons Figure 2.5. The MiR200 control panel. Table 2.1. MiR200 control panel. Pos. Description Pos. Description Scanner reset Power Scanner reset Pressing this button restarts the scanners after 5-7 seconds. This can be useful if you experience issues with the safety laser scanners.

  • Page 16: Internal Parts

    2. Product presentation Manual mode In this mode, you can drive the robot manually using the joystick in the robot interface. Only one person can control the robot manually at a time. To ensure that nobody else takes control of the robot, the robot issues a token to the device on which you activate the Manual mode.
  • Page 17 2. Product presentation Figure 2.6. Internal parts of MiR200. Table 2.1. Identification of internal parts in Figure 2.6. Pos. Description Pos. Description Breaker: automatic fuse Robot power off relay: between battery and releases the latching relay components (pos. 17) when the robot is shutting down.
  • Page 18 5 GHz power to the robot Safety PLC Optocoupler: emergency stop signal to motor controller Loudspeaker MiR board: interface board for gyroscope, accelerometer, ultrasound, light, on/off circuit, and CAN bus communication 24 V power supply: secures Latching relay: activates the...

  • Page 19: Safety

    3. Safety 3. Safety Read the information in this section before powering up and operating MiR200. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR200 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR200, accessories, or any other equipment due to programming errors or malfunctioning of MiR200.

  • Page 20: General Safety Precautions

    3. Safety 3.2 General safety precautions This section contains general safety precautions. WARNING If the robot is not running the correct software and is therefore not functioning properly, the robot may collide with personnel or equipment causing injury or damage. •...
  • Page 21 3. Safety WARNING The robot may drive down staircases or holes in the floor and cause serious injury to personnel and damage to the robot and to equipment. • Mark descending staircases and holes as Forbidden zones on maps. • Keep the maps up to date.
  • Page 22 3. Safety WARNING Lithium battery packs may get hot, explode, or ignite and cause serious injury if they are misused electrically or mechanically. Observe the following precautions when handling and using lithium-ion batteries: • Do not short-circuit, recharge, or connect with false polarity. •...
  • Page 23 3. Safety WARNING Load falling or the robot overturning if the load on the robot is not positioned or fastened correctly can cause fall injuries to nearby personnel or damage to equipment. • Ensure that the load is positioned according to the specifications and is fastened correctly—see Payload specifications on page 156.

  • Page 24: Intended Use

    • MiR Hook 200 to tow carts. MiR200 can be used as a partly complete machine as defined in the EU machinery directive, with top modules that do not meet the above limitations. Those who design, manufacture, or commission a system that does not meet the limitations of use of MiR200 carry the obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.

  • Page 25: Users

    3. Safety The following list gives examples of modules that are foreseeable misuse of MiR200: • Top modules (including total payload) that increase the footprint of MiR200 • Conveyers (powered and non-powered) • Industrial robot arms • Devices that tow carts •...

  • Page 26: Foreseeable Misuse

    3. Safety • Servicing and maintaining MiR200. • Creating and changing missions and map features in the robot interface. Direct users Direct users are familiar with the safety precautions in this user guide and have the following main tasks: • Assigning missions to MiR200.

  • Page 27: Warning Label

    3. Safety NOTICE If the robot is misused, the warranty becomes void. Only use the robot as described in Intended use on page 24. 3.6 Warning label MiR200 is supplied with a warning label that specifies that it is strictly prohibited to ride on the robot.
  • Page 28 3. Safety NOTICE Other significant hazards may be present in a specific robot installation and must be identified during commissioning. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 29: Getting Started

    4. Getting started 4. Getting started This section describes how to get started with MiR200. NOTICE Read Safety on page 19 before powering up MiR200. 4.1 In the box This section describes the contents of the MiR200 box. Figure 4.1. The robot and accessories MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 30: Unpacking Mir200

    The USB flash drive in the document folder has the following content: • MiR200 User Guide • MiR200 Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference • Getting the robot online •...
  • Page 31 4. Getting started Take the folder with the printed documents and the USB flash drive out of the box. Remove the walls of the box and the protective foam blocks. Place the lid of the box so that you can use it as a ramp at the robot's front or rear end. Align the lid so that it is flush with the base of the box.

  • Page 32: Connecting The Battery

    4. Getting started 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. Connect one of the two battery cables to the plug on top of the battery box. The second cable is for an extra battery.
  • Page 33 4. Getting started Switch on the three relays placed in the corner by the front laser scanner. Start with the outer relay that is closest to the robot frame and continue towards the center of the robot. The outer relay is the 32 A main power relay. Ensure that the Battery disconnect switch, placed in the rear right corner, is on (the two yellow indicators pointing to On).
  • Page 34 4. Getting started Connect the two ESD cables attached to the robot frame, next to the loudspeaker, and inside the cover. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 35 4. Getting started Put the cover back on and make sure to fit it correctly over the connector openings. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 36 4. Getting started Mount and connect the Emergency stop box on top of the robot cover. If a top module is going to be mounted on top of the robot, the Emergency stop must be placed in a position where it is easy to reach—see the mounting instructions for your top module.
  • Page 37 4. Getting started Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the connector before fixing the antenna. The antenna can be lowered and rotated in all directions to fit under a top module.

  • Page 38: Powering Up The Robot

    4. Getting started 4.4 Powering up the robot Follow these steps to power up the robot: Press the Power button in the corner to turn on the robot. The status lights waver yellow, and the robot starts the software initialization process. When the initialization process ends, the robot goes into Protective stop.

  • Page 39: Connecting To The Robot Interface

    4. Getting started operate. 4.5 Connecting to the robot interface When the robot is turned on, it enables the connection to its WiFi access point. The name of the access point appears in the list of available connections on your PC, tablet, or phone. NOTICE The original username and password for the robot’s web interface are in the document Getting the robot online.
  • Page 40 WiFi access point. The access point name has the following format: MiR_20XXXXXXX. The access point name is derived from the robot application's model serial number. In a browser, go to the address mir.com and sign in. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 41: Driving The Robot In Manual Mode

    4. Getting started Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in Manual mode below. 4.6 Driving the robot in Manual mode CAUTION When driving the robot in manual mode, it is possible to drive the robot into Forbidden zones and Unpreferred zones on the map.
  • Page 42 4. Getting started To drive the robot in Manual mode, follow these steps: In the robot interface, select the joystick icon. The joystick control appears. Drive the robot off the ramp using the joystick. Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping.

  • Page 43: Checking The Hardware Status

    For more information, see Hardware health in MiR Robot Reference Guide on the MiR website. 4.8 Mounting the nameplate Before using MiR200, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see...
  • Page 44 4. Getting started NOTICE The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CE mark is invalid. The following steps describe how to mount the nameplate correctly: Locate the area below the side cover near the swivel wheel at the rear end of the robot— External parts on page 11.

  • Page 45: Shutting Down The Robot

    4. Getting started 4.9 Shutting down the robot Follow these steps to shut down MiR200: Ensure that the robot is not moving or executing an action. Press the Power button for three seconds. The robot starts the shutdown process. The status lights waver yellow. When the robot finishes the shutdown process, the status lights are off.

  • Page 46: 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 MiR200 using a MiR cable charger.
  • Page 47 5. Battery and charging To charge MiR200 using the cable charger, connect the cable charger to the charging interface on the robot in the rear-left corner. Follow these steps to do this: Remove the rear corner by pulling it towards you. You may have to apply a bit of force the first couple of times.

  • Page 48: Disconnecting The Battery

    Protective stop. For information about the charging time, see specifications on the MiR website. 5.2 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.
  • Page 49 5. Battery and charging Turn the Battery disconnect switch to Off (the two yellow indicators pointing to Off). Remove the top cover. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 50: Battery Storage

    5.3 Battery storage The battery should be stored in an area at room temperature with a non-condensing relative air humidity—see specifications on the MiR website. Temperatures and humidity below or above the specifications will shorten the service life of the battery.
  • Page 51 5. Battery and charging You are legally obliged to return used batteries and rechargeable batteries. Disposing used batteries in the household waste is prohibited. Batteries containing hazardous substances are marked with the crossed-out wheeled bin. The symbol indicates that it is forbidden to dispose the product via the domestic refuse.

  • Page 52: Security

    MiR200 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 53 Security patches are included from software version 2.8.3 and higher. Understanding MiR software versions MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1 means that the software is based on the second major release, the eighth minor release of the major version, the first patch release of the minor version, and, in this example, a single hot fix is included too.

  • Page 54: Navigation And Control System

    7. Navigation and control system 7. Navigation and control system The navigation and control system is responsible for driving the robot to a goal position while avoiding obstacles. This section describes the processes and components involved in the robot's navigation and control system. 7.1 System overview The purpose of the navigation and control system is to guide the robot from one position on a map to another position.
  • Page 55 7. Navigation and control system Figure 7.1. Flow chart of the navigation and robot system. The user provides the necessary input for the robot to generate a path to the goal position. The robot executes the steps in the navigation loop until it reaches the goal position and stops by engaging the brakes.

  • Page 56: User Input

    7. Navigation and control system 7.2 User input To enable the robot to navigate autonomously, you must provide the following: • A map of the area, either from a .png file or created with the robot using the mapping function—see Creating and configuring maps on page 87.
  • Page 57 7. Navigation and control system Figure 7.3. The global path is shown with the blue dotted line that leads from the start to the goal position. The global path is created only at the start of a move action or if the robot has failed to reach the goal position and needs to create a new path.

  • Page 58: Local Planner

    7. Navigation and control system 7.4 Local planner The local planner is used continuously while the robot is driving to guide it around obstacles while still following the global path. Figure 7.5. The global path is indicated with the dotted blue line and is visible on the map. The local path is indicated with the blue arrow, showing the robot driving around a dynamic obstacle.

  • Page 59: Obstacle Detection

    7. Navigation and control system Figure 7.6. The local planner usually follows the global planner, but as soon as an obstacle gets in the way, the local planner determines which immediate path will get the robot around the obstacle. In this case, it will likely choose the path indicated with a green arrow.
  • Page 60 7. Navigation and control system Table 7.1. Description of how the robot sees obstacles with its sensors. What the laser scanners What a human sees What the 3D cameras see A chair placed in the In the robot interface, the The 3D cameras detect corner of a room is red lines on a map are...
  • Page 61 Figure 7.7. The two safety laser scanners together provide a full 360° view around the robot. The laser scanners have the following limitations: • They can only detect objects that intersect a plane at 200 mm height from the floor. • They do not detect transparent obstacles well.
  • Page 62 7. Navigation and control system The 3D cameras are only used for navigation. They are not part of the robot's safety system. The camera readouts are used as 3D point cloud data. They are not recording recognizable objects or people. Figure 7.8.
  • Page 63 7. Navigation and control system Figure 7.9. The two 3D cameras have a horizontal view of 118°. The 3D cameras have the following limitations: • They can only detect objects in front of the robot, unlike the full 360° view of the laser scanners.
  • Page 64 Table 7.2. Range of the ultrasound sensors. Pos. Minimum range Maximum range Front 10 mm 200 mm Front side 200 mm 300 mm Rear 10 mm 350 mm MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 65: Localization

    7. Navigation and control system Be aware that soft material such as foam or clothes can absorb sound and may not be detected by the sensors. 7.6 Localization The goal of the localization process is for the robot to determine where it is currently located on its map.
  • Page 66 7. Navigation and control system Failed localization Successful localization Figure 7.11. In a failed localization, the robot cannot determine a position where the red lines (laser scanner data) align with the black lines on the map. When the robot can localize itself, it determines a cluster of likely positions, indicated in the images above as blue dots.
  • Page 67 7. Navigation and control system To make sure the robot can localize itself well using particle filtering, consider the following when creating a map: • 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.
  • Page 68 7. Navigation and control system • The robot must be able to detect the static landmarks that are marked on the map to be able to approximate its current position. Make sure there are not too many dynamic obstacles around the robot so that it cannot detect any static landmarks. Cannot detect any static landmarks Can detect enough static landmarks MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 69: Motor Controller And Motors

    7. Navigation and control system • To improve the robot's localization, it can often help to divide long continuous walls on the map. Even if the walls are connected in the actual work environment, it can help the localization process if the walls on the map are divided into smaller sections. Undivided walls Divided walls •...

  • Page 70: Brakes

    7. Navigation and control system 7.8 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. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 71: Safety System

    8. Safety system 8. Safety system The robot's safety system is responsible for stopping or slowing down the robot and its top module in situations where personnel are at risk of injury. MiR200 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.
  • Page 72 8. Safety system Operational stop 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. Protective stop The robot enters Protective stop automatically to ensure the safety of nearby personnel.
  • Page 73 8. Safety system When the robot is in Emergency stop, the status lights of the robot turn red, and you are not able to move the robot or send it on missions until you bring the robot out of the Emergency stop.
  • Page 74 8. Safety system Safety-related functions The following functions are integrated within the robot itself and cannot be modified or used with other applications. The following list introduces the main safety-related functions integrated in MiR200: • Collision avoidance This function ensures that the robot stops before it collides with personnel or an object. If the laser scanners detect an object or person within a defined Protective field, the robot is brought to a stop.

  • Page 75: Collision Avoidance

    8. Safety system Figure 8.1. Overview of components involved in each safety function and interface. When a safety function is triggered, the safety PLC switches the STO and brake relays so the brakes, motors, and safe power supply to the top module no longer receive power. 8.2 Collision avoidance The collision avoidance function prevents the robot from colliding with personnel or obstacles by stopping it before it collides with any detected obstacles.
  • Page 76 8. Safety system Drives when the area is clear Stops when an obstacle is detected Figure 8.2. Collision avoidance ensures that the robot drives when its path is clear and stops if an obstacle is detected within its Protective field. The safety laser scanners are programmed with two sets of Protective fields. One field set is used when the robot is driving forward and the other when it is driving backward.
  • Page 77 8. Safety system Field set when driving forward The following table shows speeds and the field range when driving forward. The table describes the length of the Protective field in front of the robot in different cases. Each case is defined by a speed interval that the robot may operate at. Robots with serial number 204203005 and higher have an improved SICK configuration and the speed intervals are therefore different.
  • Page 78 8. Safety system 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. Field set when driving backward The field set for driving backward is the same as the field set for driving forward. Robots with serial number 204203005 and higher have an improved SICK configuration and the speed intervals are therefore different.
  • Page 79 8. Safety system Speed Speed Protective Case (serial numbers (serial numbers field Comments 204203004 and lower) 204203005 and higher) range Backward -1.50 to -0.41 m/s -0.800 to -0.681 m/s 0-430 mm at max. speed 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.

  • Page 80: Overspeed Avoidance

    8. Safety system 8.3 Overspeed avoidance The overspeed avoidance function prevents the robot from driving if the motor encoders measure that the robot is driving faster than the predefined safety limit. This can occur if there is a hardware error in the robot, or if it drives down a steep slope. If the robot is driving faster than the predefined safety limit, it is immediately brought into a Protective stop.

  • Page 81: Robot Computer

    This enables you to identify which part of the safety system may be causing a Protective or Emergency stop. Additionally, the robot computer sends the current robot state to the power MiR board, which regulates the status lights making them indicate which state the robot is in.

  • Page 82: Light Indicators And Speakers

    8. Safety system 8.7 Light indicators and speakers The robot uses its status lights and speaker to let people in the environment know what the robot is currently doing or planning to do. Status lights The LED light band running all the way around the robot indicates the robot’s current operational state.
  • Page 83 8. Safety system Cyan wavering (MiR Waiting for MiR Fleet resource Fleet robots only) When the robot's battery reaches a critically low level of power (0-1%), the ends of the status lights flash red. When the robot is charging in a charging station, the status lights on the side of the robot indicate the robot's battery percentage.

  • Page 84: Commissioning

    9. Commissioning 9. Commissioning This section describes how to commission MiR200. Commissioning should be done without payload, except when doing brake tests where the robot should have a payload equaling the heaviest load it will be driving with. Only persons assigned with the commissioning task should be present during commissioning. It is the responsibility of the commissioner to: •...
  • Page 85 Temperature and humidity Temperatures outside of the approved temperature range can affect the performance and durability of the robot—see specifications on the MiR website. This is especially relevant for the robot's battery—see Battery storage on page 50.

  • Page 86: Risk Assessment

    For more guidelines, see the guide MiR100 and MiR200 Risk Analysis found on the robot product page under Manuals on the MiR website. It is recommended that the commissioner follows the guidelines in ISO 12100, EN ISO3691-4, EN 1525, ANSI B56.5, or other relevant standards to conduct the risk assessment.

  • Page 87: Creating And Configuring Maps

    9. Commissioning • Intended use and foreseeable misuse. • A list of residual risks. • Training required for personnel. 9.3 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.
  • Page 88 MiR Fleet. • 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. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 89 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 90 9. Commissioning Cleaning up a map The robot navigates best when using a clean map with as little noise as possible. Figure 9.3 is an example of what a map can look like after the mapping process but where it still needs further editing.
  • Page 91 9. Commissioning There are several tools in the robot interface that you can use to improve your map: • Erase uploaded or recorded data when editing walls to remove walls that were created around dynamic obstacles and noise on the map. Noise refers to recorded data that originates from interfering elements.
  • Page 92 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 93 9. Commissioning Descending staircases Issue: The robot sensors cannot detect descending staircases. Marking a staircase as a wall on the map will only confuse the robot as it will try to navigate from a wall that is not there. Solution: Mark staircases and areas surrounding staircases or holes in the floor as Forbidden zones on the map.
  • Page 94 9. Commissioning Highly dynamic areas A highly dynamic area is an area where objects are moved frequently. This could be a production area where pallets and boxes are often moved back and forth. Issue: The robot 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 95 9. Commissioning Doorways Going through narrow doorways can cause problems for the robot's global planner since the robot must drive closer to wall edges than it usually would. It can also be hazardous for the people working near the robot, as they might not see the robot coming. Issue: The robot does not plan its global path through narrow doorways, since this will bring the robot too close to a known obstacle.
  • Page 96 9. Commissioning Shelves 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 is enough space (if the posts are far enough apart) below the shelves to pass through.
  • Page 97 If there isn't enough space for robots to pass each other, you can use a Limit-robots zone to specify that only one robot may drive down the corridor at a time. To use Limit-robots zones, your robots must be connected to MiR Fleet. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 98: Markers

    Figure 9.8. 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 99 9. Commissioning robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm. Figure 9.9. The icon used for V-markers in the interface and an illustration of how robots can dock to the marker.
  • Page 100 9. Commissioning can be on any side of the robot. The marker is shaped liked an L, and the dimensions are 400 mm x 600 mm and must have a defined angle of 90˚ . Figure 9.11. The icon used for L-markers in the interface and an illustration of how robots can dock to the marker.

  • Page 101: Positions

    There are different types of positions depending on whether the robot is part of a fleet or drives with top modules, but the standard position that is available in all MiR applications is the Robot position. This position has no special features, it simply marks a location where you want to be able to send the robot to.

  • Page 102: Creating Missions

    9. Commissioning 9.6 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 103 How to use variables in missions. To create efficient missions, you should first familiarize yourself with the available actions in MiR Robot Interface—see the MiR Robot Reference Guide— and then consider: • Which tasks do I want the robot to perform? •...
  • Page 104 Creating the mission Try/Catch on page 135 For more information on building robust missions, see the Mission robustness videos in MiR Academy on the MiR website. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 105: Creating A Footprint

    Whenever you create a mission, it is very important that you test it to ensure the robot performs as expected. For more information on creating missions, see MiR Robot Reference Guide and the Making your first missions-course in MiR Academy on the MiR website. 9.7 Creating a footprint The footprint specifies how much space the robot occupies, including any loads or top modules.
  • Page 106 9. Commissioning Default footprint Larger footprint Figure 9.16. Examples of the default robot footprint and an extended footprint. The values displayed along each line is the length of the edge in meters. The number of footprints you need to define depends on: •...
  • Page 107 For a more thorough guide to creating footprints, contact your distributor for the guide How to change the robot footprint. For more information about the footprint editor, see MiR Robot Reference Guide on the MiR website. If you want to change the footprint in a mission, use the Set footprint action found under the Move action group.
  • Page 108 9. Commissioning If you want to edit the default footprint of the robot, for example if the mounted top module is larger than the robot, go to System > Settings > Planner, and select a new footprint under Robot footprint. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 109: 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 110: Creating User Groups And Users

    What permissions should the different users have? • What functions or widgets should be available for the different users? For more details on users and dashboards, see MiR Robot Reference Guide on the MiR website. Create user groups Setup > User groups, you can create specific user groups with specific access to different parts of the robot interface.
  • Page 111 9. Commissioning Figure 9.17. You can create specific user groups. Under permissions, you can select the specific parts of the robot interface that the user group has access to. Figure 9.18. You can select the specific parts of the robot interface that the user group has access to. Create users Setup >...
  • Page 112 PIN codes for users with no access to settings and safety system. Figure 9.19. 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 25.

  • Page 113: Creating Dashboards

    Dashboards are an easy way for different user groups to control the robot, giving direct access to the individual groups' key functions. For more details on how to use and create dashboards, see MiR Robot Reference Guide on the MiR website.

  • Page 114: Updating Mir200 Software

    Try to include only the necessary widgets. 9.11 Updating MiR200 software MiR continuously updates the software the robots use, either to fix issues, to improve existing features, or to introduce new features. Each software release is issued with a release note explaining the content of the update and its target audience.

  • Page 115: Creating Backups

    Backups take up some of your robot's memory space. It is a good idea to remove any old backups you are certain you will not need in the future. For more information on how to create, roll back, and delete backups, see MiR Robot Reference Guide on the website.
  • Page 116 9. Commissioning Figure 9.21. Under System > Settings, there are several menus where you can edit your robot's settings. Remember to restart the robot if you have made any changes to the system settings. Planner In the Planner section, you set the basic parameters for driving the robot. This section refers to the local and global planner functions.
  • Page 117 9. Commissioning Figure 9.22. You set basic parameters for driving the robot in the Planner section. Robot height defines the height of the robot including top modules. Use this setting if your robot operates permanently with a top module that makes the combined robot application higher than the robot itself.
  • Page 118 9. Commissioning Maximum planning time defines the maximum time allowed for planning a path. By default, this parameter is disabled, meaning the robot will always try to finish planning a global path no matter how long it takes. If you want the robot to report an error after a set time period instead, enter the maximum amount of time in seconds that the robot can spend planning a path before it reports an error.
  • Page 119 9. Commissioning Line-following disabled Line-following enabled Figure 9.23. Example of where the robot might benefit from using a Line-following configuration. When there isn't enough space for the robot to go around an obstacle, it will often spend more time trying to maneuver around the obstacle and correct its trajectory afterward than it would have just waiting for the obstacle to move out of the way.
  • Page 120 9. Commissioning Figure 9.24. Change the parameters regarding docking to and from markers in The Docking section. Undock from markers, you can select if the robot should undock from a marker before it starts moving from a docked position. It is usually best to set this setting to True to prevent the robot from going into Protective stop when moving away from markers.
  • Page 121 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 122 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 123: Usage

    10. Usage 10. Usage In the following sections you will find practical examples of how missions can be tailored to different tasks. The examples include: • Setting markers and positions on the map. • Creating a mission that uses a Prompt user action. The example mission is titled Prompt user.
  • Page 124 For L-markers, the following values apply: • A: 700 mm ±50 mm B: 200 mm ±50 mm For a forward docking, make the front of the robot face the marker, and for a reverse docking, make the rear of the robot face the marker.
  • Page 125 10. Usage Go to Setup > Maps, and select 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. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 126 10. Usage In the Create marker dialog box, name the marker. Under Type, select your marker type. In this case, a VL-marker is used. Then select Detect marker. The X, Y, and orientation values will automatically be filled out with the current position of the robot.
  • Page 127 10. Usage • To change where the robot stops relative to the marker, you can adjust the offsets. These are valued in meters and are based on the centerpoint of the robot towards the marker. • The X-offset moves the robot closer to or further from the marker. •...

  • Page 128: Creating Positions

    10. Usage Select to create the marker. The marker is now visible on the map. You can make the robot dock to the marker by selecting it on the map and selecting The marker can also be used in missions. 10.2 Creating positions The following steps describe how to create a position on a map.
  • Page 129 10. Usage In the Object-type drop-down menu, select Positions, and then select Draw a new position Select where on the map you want the position to be, and choose in which direction you want it to face. Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position.

  • Page 130: Creating The Mission Prompt User

    10. Usage Select to create the position. The position is now visible on the map. You can send the robot to the position by selecting it on the map and selecting to. The position can also be used in missions. 10.3 Creating the mission Prompt user Prompt user actions are used for prompting the user with a question on how the robot should proceed.
  • Page 131 10. Usage To create the mission, follow the steps below: 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. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 132 10. Usage Select the following actions: • In the Logic menu, select Prompt user. • In the Move menu, select Move. • In the Move menu, select Move. The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box.
  • Page 133 10. Usage In the Prompt user action, drag a Move to action into the box and a Move to action into the box. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 134 10. Usage In the first Move to action, under Position, select p1. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 135: Creating The Mission Try/Catch

    10. Usage In the second Move to action, under Position, select p2. The mission should look like this: Select Save to save the mission. 10.4 Creating the mission Try/Catch Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you can define what the robot should do if, at any point, it fails to execute its main mission.
  • Page 136 10. Usage providing an alternative course of action if the main mission fails. Try/Catch is a mission example where the robot runs the mission Prompt user created in Creating the mission Prompt user on page 130, and if the robot for some reason fails to complete the mission, the robot plays a sound.
  • Page 137 10. Usage Select the following actions: • In the Error handling menu, select Try/Catch. • Select the Prompt user mission you have made. The mission menu you have saved the mission under will figure as a menu in the mission editor. The menus contain both missions and actions.
  • Page 138 10. Usage The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box. When you have set the parameters, select Validate and close.
  • Page 139 10. Usage Drag the Play sound action under the Catch box under Try/Catch. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 140 10. Usage In the Play sound action, set the parameters as follows: • Sound: Select Beep. • Volume: Enter the value 80. This is approximately 64 dB. • Mode: Select Custom length so you can enter the duration of time the sound is played.

  • Page 141: Creating The Mission Variable Footprint

    10. Usage 10.5 Creating the mission Variable footprint All mission actions that require the user to specify the value of a parameter when they choose to use the mission have the option of defining a variable. If you use a variable in a mission, then when you add the mission to the mission queue or embed it inside another mission, you must select a value for the parameter where the variable is used.
  • Page 142 10. Usage The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box. When you have set the parameters, select Validate and close.
  • Page 143 10. Usage In the Select footprint action, make the parameter Footprint a variable that can be set each time you use the mission. The following steps describe how to create a variable: • Under Footprint, select Variables • Select Create variable in the upper-right corner.

  • Page 144: Testing A Mission

    10. Usage The mission should look like this: Select Save to save the mission. 10.6 Testing a mission After you create a mission, always run the mission to test that the robot executes it correctly. NOTICE Always test missions without payload to minimize potential hazards. To run a mission, follow these steps: Go to Setup...
  • Page 145 10. Usage We recommend running the mission 5-10 times to ensure that it runs smoothly. 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.

  • Page 146: Applications

    You can install top modules on top of MiR200 for specific applications. For more information about top modules, see the MiR website. Top modules from MiR are delivered with Operating guides with instructions on how to mount them on and operate them with the robot.
  • Page 147 11. Applications CAUTION Personnel operating the robot risk injury if they cannot stop the robot in an emergency situation. • If a top module prevents you from connecting the Emergency stop button delivered with your robot, make sure to install a new button on the top module, and to perform a risk assessment according to standard ISO 12100.

  • Page 148: Maintenance

    12. Maintenance 12. Maintenance The following maintenance schedules give an overview of regular cleaning and parts replacement procedures. It is the responsibility of the operator to perform all maintenance tasks on the robot. The stated intervals are meant as guidelines and depend on the operating environment and frequency of usage of the robot.

  • Page 149: Regular Checks And Replacements

    12. Maintenance Table 12.1. Regular weekly checks and maintenance tasks Parts Maintenance tasks Robot cover and Clean the robot on the outside with a damp cloth. sides Do not use compressed air to clean the robot. Laser scanners Clean the optics covers of the scanners for optimum performance.
  • Page 150 12. Maintenance • Shut down the robot—see Shutting down the robot on page 45. • Disconnect the battery—see Disconnecting the battery on page 48. Table 12.2 contains the parts that you should check and how often you should do that. Table 12.2. Regular checks and replacements Part Maintenance...
  • Page 151 12. Maintenance Part Maintenance Interval NOTICE The robot must be calibrated after replacement of the wheels. Safety laser Check for visual defects, for Replace as needed. scanners example cracks and scratches. NOTICE The robot must be calibrated after replacement of the scanners.

  • Page 152: Battery Maintenance

    12. Maintenance Part Maintenance Interval and nameplate label, and nameplate on the replace as needed. robot are still intact and visible. CAUTION If the robot has been impacted it may be structurally damaged, causing a risk of malfunction and injury to personnel. •...

  • Page 153: Packing For Transportation

    13. Packing for transportation 13. Packing for transportation This section describes how to pack the robot for transportation. 13.1 Original packaging Use the original packaging materials when transporting the robot. Figure 13.1. The packing materials. The packaging materials are: • The bottom of the box (the pallet) •...

  • Page 154: Packing The Robot For Transportation

    13. Packing for transportation 13.2 Packing the robot for transportation Before packing the robot for transportation: • Shut down the robot—see Shutting down the robot on page 45. • Disconnect the battery—see Disconnecting the battery on page 48. To pack the robot, repeat the steps in Unpacking MiR200 on page 30 in the reverse order.

  • Page 155: Disposal Of Robot

    14. Disposal of robot 14. Disposal of robot MiR200 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. 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 156: Payload Specifications

    If bumps and holes are present, the commissioner must take additional measures to ensure a safe operation. The specifications apply to total payloads of up to 200 kg. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 157 15. Payload specifications Payload: 50 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 158 15. Payload specifications Payload: 75 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 159 15. Payload specifications Payload: 100 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 160 15. Payload specifications Payload: 125 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 161 15. Payload specifications Payload: 150 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 162 15. Payload specifications Payload: 175 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 163 15. Payload specifications Payload: 200 kg MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.

  • Page 164: Interface Specifications

    16. Interface specifications 16. Interface specifications This section describes the specifications of the top application interfaces. NOTICE Read Safety on page 19 before using the electrical interface. 16.1 Application interface The application interface plug is a NEUTRIK XLR panel-mount connector with 4 contacts (receptable).

  • Page 165: Emergency Stop

    16. Interface specifications Pin no. Voltage Max. current Description Battery voltage (24 V) Starts with the robot. Battery voltage (24 V) 10 A Stops by Emergency stop. 10 A Ground. 16.2 Emergency stop The emergency stop plug is a NEUTRIK XLR panel-mount connector with 10 contacts (receptable).
  • Page 166 16. Interface specifications Table 16.2. Description of the pins in Figure 16.2. Pin no. Signal name Description GND 24 V GND for lamp in Scanner reset button. X1 SICK Test output from the robot safety PLC. X2 SICK Test output from the robot safety PLC. Emergency Safety input on robot safety PLC monitoring through stop, 1 GN...

  • Page 167: Error Handling

    17. Error handling 17. Error handling The robot enters an error state when it can't solve a problem on its own. Errors include: • Hardware faults • Failed localization • Failure to reach destination • Unexpected events in the system An error triggers a Protective stop.

  • Page 168: Hardware Errors

    Creating and configuring maps on page 87. 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. 17.2 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 169 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. MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 170 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 171 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 MiR200 User Guide (en) 10/2020 - v.3.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S.
  • Page 172 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 173 Protective stop Protective stop is a state the robot enters automatically to ensure the safety of nearby personnel. When the robot enters Protective stop, the status light of the robot turns red, and you are not able to move the robot or send it on missions until it is brought out of Protective stop.

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