Page 1 User Guide (en) Date: 03/2021 Revision: v.1.4...
Page 2 Copyright © 2020-2021 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 MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 3: Table Of Contents
4.7 Residual risks 5. Accessing the internal parts 5.1 Front compartment 5.2 Rear compartment 5.3 Side compartments 5.4 MiR Shelf Carrier 250 6. Getting started MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 4 7.5 Battery storage 7.6 Battery disposal 8. IT security 8.1 Managing users and passwords 8.2 Software security patches 9. Navigation and control system 9.1 System overview MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 5 11. Commissioning 11.1 Analysis of the work environment 11.2 Risk assessment 11.3 Shelf specifications 11.4 Creating and configuring maps 11.5 Markers 11.6 Positions 11.7 Creating missions MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 6 12.10 Testing a mission 13. Unmounting the top module 14. Maintenance 14.1 Regular weekly checks and maintenance tasks 14.2 Regular checks and replacements 14.3 Battery maintenance MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 7 17.2 Front view 17.3 Top view 18. Interface specifications 18.1 Left side interfaces 18.2 Right side interfaces 19. Error handling 19.1 Software errors 19.2 Hardware errors MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 8: About This Document
1. About this document 1. About this document This user guide explains how to set up and start operating your MiR250 Shelf Carrier robot and provides examples of simple missions you can expand to your purposes. This guide also contains information regarding the external and internal components of MiR250 Shelf Carrier along with instructions for proper maintenance of the robot.
Page 9: Version History
Deep sleep mode. General improvements throughout the document. 2021-03-31 Added sections: Enabling fast swap and Swapping out the lithium-ion battery. General improvements throughout the document. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 10: Product Presentation
2. Product presentation 2. Product presentation MiR250 Shelf Carrier is an autonomous mobile robot with a top module mounted to it. It is designed to transport wheeled shelves indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted.
Page 11: Main Features Of Mir250 Shelf Carrier
Try/Catch action may be used to alert personnel or take other actions—see Creating the mission Try/Catch page 182. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 12 After you've finished mapping, you can add positions and other features in the map editor—see Creating and configuring maps on page 124. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 13: External Parts
2. Product presentation 2.2 External parts This section presents the parts of MiR250 Shelf Carrier that are visible on the outside. Figure 2.1. MiR250 Shelf Carrier external parts. Table 2.1. Identification of the external parts in Figure 2.1 Pos. Description Pos.
Page 14 MiR250 Shelf Carrier is delivered with identification labels mounted to each product. The identification labels identify the product, the product serial number, and the hardware version of the product. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 15 The identification label of MiR250 is located on the rear cover next to the battery. Figure 2.2. Placement of the MiR250 identification label. The identification label of MiR Shelf Carrier 250 is located on the left side of the shelf carrier beneath its cover.
Page 16 Figure 2.4. Example of a MiR Shelf Carrier 250 identification label. Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR250 Shelf Carrier identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots.
Page 17 Pressing this button stops the robot. After pressing this button, you must press the Resume button to let the robot continue operating. Color indication: • Red: It is possible to engage the Manual stop. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 18 The Operating mode key The Operating mode key lets you switch between operating modes. • Left position: Autonomous mode Puts the robot in Autonomous mode. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 19 The Manual brake release switch is located below the control panel and releases the mechanical brakes on MiR250 Shelf Carrier. You release the robot's mechanical brakes by turning the Manual brake release switch clockwise. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 20 To ensure that nobody else takes control of the robot, the robot issues a token to the device on which you activate the Manual MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 21: Internal Parts
Disconnecting the battery on page 74. Front compartment The front compartment holds several electronic components, such as the robot computer and the motor controller carrier board. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 22 Carrier board with motor Robot computer controller controlling the right- side drivetrain Charging pads under robot and broom for keeping dirt away from the charging pads MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 23 The unique nameplate of your robot is to be mounted on the rear compartment cover—see Mounting the nameplate on page 65. Make sure you do not swap the cover with covers from other robots. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 24 To access a side compartment, see Accessing the internal parts on page 43. Side compartment components The left side compartment components are listed in Table 2.5 MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 25 The right side compartment components are listed in Table 2.6 Figure 2.11. Internal parts of the right side compartment. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 26 The two top compartments contain electrical interfaces that can be connected to top modules. The top compartments are only accessible after the top module has been removed—see Unmounting the top module on page 215. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 27 The top compartments interfaces are listed in Table 2.7. For detailed information on electrical interfaces, see Interface specifications on page 236. Figure 2.13. Interfaces in the top compartments. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 28 To access the internal parts of MiR Shelf Carrier 250, see Accessing the internal parts on page 43. MiR Shelf Carrier 250 components The components of MiR Shelf Carrier 250 are listed in Table 2.8. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 29 Carrier pins Position switches GPIO connectors Auxiliary safety IO connectors Safety contactors K1 and K2 Rear Emergency stop button Lifting mechanism and actuator Emergency stop connector MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 30: How Mir Shelf Carrier 250 Works
2. Product presentation 2.4 How MiR Shelf Carrier 250 works When MiR250 Shelf Carrier docks to a shelf, the carrier pins can be raised to pick up a shelf and lowered to place a shelf at a shelf position. MiR250 Shelf Carrier uses I/O modules in the safety PLC to control the carrier pins. The robot uses two inputs and two outputs to communicate with MiR Shelf Carrier 250.
Page 31: Warranty
Industrial Robots cannot be held responsible for any damages caused to MiR250 Shelf Carrier, accessories, or any other equipment due to programming errors or malfunctioning of MiR250 Shelf Carrier. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 32: 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 33: General Safety Precautions
Personnel risk fall injuries and equipment may be damaged. • Don't place ladders, scaffolds, or similar equipment in the robot's work environment. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 34 Only use an original MiR charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns. • Never charge the batteries outside the robot. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 35 Modifications or manipulations of the battery may lead to considerable safety risks and are therefore prohibited. • Do not use the battery for anything other than MiR250 Shelf Carrier. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 36 • Inform personnel that the signal lights indicate when the robot is intending to turn or pivot—see Light indicators and speakers on page 113. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 38: Intended Use
For details about the environmental conditions in which MiR250 Shelf Carrier should operate, see specifications for MiR250 Shelf MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 39: Users
MiR250 Shelf Carrier is designed for and all risks are considered when it is used to transport shelves that fulfill the specification and design requirement described in Shelf specifications page 120.
Page 40: Foreseeable Misuse
For example, they must be aware that visibly marked operating hazard zones must be respected. 4.5 Foreseeable misuse Any use of MiR250 Shelf Carrier deviating from the intended use is deemed as misuse. This includes, but is not limited to: •...
Page 41: Warning Label
Using the robot in hygiene zones 4.6 Warning label MiR250 Shelf Carrier is supplied with a warning label that specifies that it is strictly prohibited to ride on the robot. The label must be placed on the robot or top module so that it is clearly visible.
Page 42 IT security of your product—see IT security on page 82. NOTICE Other significant hazards may be present in a specific robot installation and must be identified during commissioning. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 43: Accessing The Internal Parts
• Before removing any covers, turn off the robot, and disconnect the battery—see Disconnecting the battery on page 74. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 44: Front Compartment
To open the front compartment, follow these steps: Unscrew the two screws holding the front cover with a T30 Torx screwdriver. Pull the front cover off of the robot. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 45: Rear Compartment
Loosen the cover by first loosening the bottom corners one at the time, then the two top corners. Pull down and then out on each top corner. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 46: Side Compartments
The front and rear covers have to be removed before you can remove the side covers. To open a side compartment, follow these steps: Turn the two screws counterclockwise with a T30 Torx screwdriver. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 47: Mir Shelf Carrier
Pull the cover off. 5.4 MiR Shelf Carrier 250 To access the internal parts of MiR Shelf Carrier 250, remove the top plate of the shelf carrier by unscrewing all 14 screws from the top plate and lifting off the plate.
Page 48: Getting Started
In some images in this section, the robot is shown without a MiR Shelf Carrier 250 top module. 6.1 In the box This section describes the contents of the MiR250 Shelf Carrier box. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 49 MiR250 Shelf Carrier Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference • Getting the robot online MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 50: Unpacking Mir250 Shelf Carrier
This is necessary as the robot drives out of the box on a ramp. Cut the protective straps surrounding the box. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 51 6. Getting started Remove the lid from the box. Take the folder with the printed documents and the USB flash drive out of the box. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 52 Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush with the base of the box. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 53: Connecting The Battery
Turn the battery lever lock clockwise to unlock the battery lever. Pull up the lever to connect the battery connector to the battery. Then turn the battery lever lock counterclockwise to secure the battery lever. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 54 Press the two white buttons while attaching the cover to the robot. Click the cover in place one corner at the time. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 55: Powering Up The Robot
6. Getting started 6.4 Powering up the robot To power up the robot, follow these steps: MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 56 Press the Power button for three seconds to turn on the robot. The status lights waver yellow, and the robot starts the software initialization process. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 57 When the initialization process ends, the robot goes into Protective stop. Press the Resume button to clear the Protective stop. The robot is now ready for operation. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 58: Connecting To The Robot Interface
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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 59: Driving The Robot In Manual Mode
Drive carefully to avoid collisions with any personnel or objects when driving the robot in Manual mode. • Avoid driving the robot manually without a clear visual of the robot. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 60 On the robot, turn the Operating mode key to Manual mode (turn it to the right). In the robot interface, select the joystick icon. The joystick control appears. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 61 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 62: Moving The Robot By Hand
When the robot shuts down due to low battery, there is still enough power to use the manual brake release for a week or more. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 63 When pushing or pulling the robot, grip the MiR Shelf Carrier 250 top module. You can also pull the robot using the designated pull handles beneath the front and rear covers. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 64: Checking The Hardware Status
To check that all hardware components work as intended, follow these steps: Sign in to the robot interface—see Connecting to the robot interface on page 58. Go to Monitoring > Hardware health. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 65: Mounting The Nameplate
MiR application—see Nameplate on page 16. NOTICE The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CE mark is invalid. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 66 Locate the rear cover—see External parts on page 13. Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 67: Enable The Mir250 Shelf Carrier Feature
Sign in to the robot interface, and go to System > Settings > Features. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 68 True. The MiR Shelf Carrier 250 top module communicates with the robot through I/O modules, so they must be activated for the shelf carrier to work. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 69: Testing The Top Module
6. Getting started 6.11 Testing the top module To test that the top module of MiR250 Shelf Carrier is configured and connected correctly, follow these steps: Sign in to the robot interface, and go to Setup > I/O modules. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 70 Under Outputs, select 3. Verify that the carrier pins rise up. Once the pins are raised, verify that under Inputs is green. Under Outputs, select 2. Verify that the carrier pins lower into the robot. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 71: Shutting Down The Robot
If the lift was raised and lowered as expected and the correct input feedback was received, MiR Shelf Carrier 250 is correctly installed. If MiR Shelf Carrier 250 did not operate correctly, verify that you have enabled the feature as described in Enable the MiR250 Shelf Carrier feature on page 67.
Page 72 Power button turns blue. When you shut down the robot for transportation, service, or repair, the battery must be disconnected—see Disconnecting the battery on page 74. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 73: Battery And Charging
The rear compartment holds the robot’s battery. To access the rear compartment, see Accessing the internal parts on page 43. To charge MiR250 Shelf Carrier using the cable charger, connect the cable charger to the charging interface on the robot in the bottom-right corner. Use only an original MiR cable charger.
Page 74: Disconnecting The Battery
The rear compartment holds the robot’s battery. To access the rear compartment, see Accessing the internal parts on page 43. To disconnect the battery, follow these steps: Turn the battery lock clockwise to release it. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 75: Enabling Fast Swap
The rear compartment holds the robot’s battery. To access the rear compartment, see Accessing the internal parts on page 43. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 76 Unscrew the screw shown in the image below with a 10 mm Hex screwdriver. Do this on both sides of the lever. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 77: Swapping Out The Lithium-Ion Battery
MiR cable charger. The robot is delivered with one lithium-ion battery. Contact your distributor if you need more batteries. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 78 Disconnect the battery—see Disconnecting the battery. Pull out the battery. You can now replace the battery. Do these steps in reverse when putting in the battery. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 79: Battery Storage
Time taken for the battery to enter Power save mode and maximum storage time at various battery percentages Battery state of charge Power save mode timeout Maximum storage time 100% 1 week 18 months MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 80: Battery Disposal
The symbol indicates that it is forbidden to dispose the product via the domestic refuse. The chemical symbols for the respective hazardous substances are Cd= Cadmium, Hg = Mercury, Pb = Lead. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 82: Security
MiR250 Shelf Carrier. MiR250 Shelf Carrier 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.
Page 84: Navigation And Control System
Once the robot reaches the goal position, the brakes are engaged to stop the robot. Each part of the process is described in greater detail in the following sections. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 85 The robot executes the steps in the navigation loop until it reaches the goal position and stops by engaging the brakes. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 86: User Input
The global planner is an algorithm in the robot computer that generates a path to the goal position. This path is known as the global path. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 87 Figure 9.4. The dotted line from the start position of the robot to the goal position is the global path generated by the robot computer. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 88: Local Planner
The local path is not displayed in the robot interface. The arrows in the images here are visual aids used in this guide only. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 89: Obstacle Detection
Three sensor types are responsible for detecting obstacles: • The safety laser scanners • The 3D cameras • The proximity sensors MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 90 Each safety laser scanner has a 270° field of view, overlapping and thus providing a full 360° visual protection around the robot. When in motion, the safety laser scanners continuously scan the surroundings to detect objects. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 91 Vertically up to 1800 mm at a distance of 1200 mm in front of the robot. • Horizontally in an angle of 114° and 250 mm to the first view of ground. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 92 Figure 9.8. The two 3D cameras can see objects up to 1800 mm above floor height at a distance of 1200 mm in front of the robot and have a horizontal field of view of 114°. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 93 Figure 9.9. The proximity sensors in the corners of the robot detect objects below the safety laser scanners' plane of view. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 94: Localization
IMU data. Therefore, it is important that the initial position of the robot is correct. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 95 A landmark is a permanent structure that the robot can use to orient itself, such as corners, doorways, columns, and shelves. No distinguishable landmarks Many distinguishable landmarks MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 96 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 MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 97: Motor Controller And Motors
When this happens, the power that was used to drive the robot forward is now reversed to stop the rotation of the drive wheels. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 98 The mechanical brakes are automatically released again when the robot receives a new order requiring it to move. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 99: Safety System
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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 100 Emergency stop. To do this, you must release the Emergency stop button and then press the Resume MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 101 If the robot is in Emergency stop, it will immediately resume an operating state after you press the flashing Resume button. Figure 10.1. MiR250 Shelf Carrier has two Emergency stop buttons located at the rear and front of the robot. CAUTION Emergency stop buttons are not designed for frequent use.
Page 102 Emergency stop buttons MiR Shelf Carrier 250 has two Emergency stop buttons. When one of the buttons is pressed, the robot goes into Emergency stop. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 103 Figure 10.3. Overview of components involved in each safety function and interface. When a safety function is triggered, the safety PLC switches the STO and brake contactors so the brakes, motors, and power supply to the top module no longer receive power. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 104: Personnel Detection
The faster the robot moves, the larger the scanners' field is. The speed of the robot is determined based on the encoder data. The Protective fields on each side of MiR250 Shelf Carrier are 210 mm at all speeds. If the robot is carrying a shelf, the fields on each side are increased to 320 mm.
Page 105 Do not modify the safety system without a competent third party to evaluate the safety of the design and performance of the robot after the modifications are applied. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 106 Figure 10.5. The illustration shows the field set contours when the robot drives forward. The range of the active field changes with the robot's speed. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 107 Protective field sets to secure a safe detection of persons crossing the Protective field sets. The tolerance distance is 65 mm. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 108: Overspeed Avoidance
If the robot is driving faster than the predefined safety limit, it is immediately brought into Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 109: Stability
10.5 Emergency stop buttons There are two Emergency stop buttons on MiR250 Shelf Carrier. When one of the buttons is pressed, it breaks the Emergency stop circuit triggering an Emergency stop. The Emergency stop circuit runs through both of the Emergency stop buttons and connects to the safety PLC through the Auxiliary emergency stop interface—see Figure 10.7.
Page 110: Mir Shelf Carrier 250 Safety Functions
0.10 to 0.30 m/s 180 mm 0.30 to 0.50 m/s 420 mm 0.50 to 0.90 m/s 830 mm 0.90 to 1.20 m/s 1500 mm Forward at max. speed MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 111 Protective field and trigger a Protective stop. It is not possible to lift the shelf to a position where the legs are not detectable by the laser scanners. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 112: Safety Stop
PLC monitors to make sure that the contactors are working correctly. 10.7 Safety stop There are two pairs of contactors used to stop MiR250 Shelf Carrier: the STO (Safe Torque Off) contactors and the SS1 (Safe Stop 1) contactors. These are controlled by the safety PLC and are used when the robot goes into Protective or Emergency stop.
Page 113: Light Indicators And Speakers
The LED light bands running all the way around the robot indicate the robot’s current operational state. Colors may also be used as part of missions, but as standard, status lights indicate the statuses described in Table 10.6. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 114 Waiting for MiR Fleet resource only) When the robot's battery reaches a critically low level of power (0-1%), the ends of the status lights flash red. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 115 CAUTION Changing the safety system can cause the robot to not comply with safety standards. • Do not disable the sound in the safety system. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 116 Figure 10.10. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its Protective fields. CAUTION It is the responsibility of the commissioner to ensure that the warning sounds are audible in the robot's work environment. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 117: Commissioning
Surfaces The floor surface of the work environment must be dry. MiR250 Shelf Carrier 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 118 At all times there must be at least 0.5 m wide and 2.1 m high pedestrian escape routes on each side of the robot, also in operating hazard zones. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 119: Risk Assessment
Carrier in the environment it will be used in. This is the responsibility of the commissioner. The risk assessment must cover both MiR250 Shelf Carrier itself and also take into account potential load transfer stations, work cells, and the work environment.
Page 120: Shelf Specifications
MiR only provides standard configurations for the safety laser scanners for shelves with asymmetric legs. The shelves must have a set of at least four wheels that enable MiR250 Shelf Carrier to transport the shelf without lifting it.
Page 121 Pin hole diameter: 30.9 mm (± 0.1) Leg height: 383 mm (+3/-0) Pin hole height from ground: minimum 425 mm Distance between legs: minimum 680 mm MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 122 Leg dimensions and positions MiR supports only shelves made with four asymmetrical legs. Each leg must be 20 mm in diameter (+1/-0) and positioned as shown in Figure 11.2. If the legs are placed outside the described positions, the safety system will trigger a Protective stop each time it tries to drive with the shelf.
Page 123 To enable the robot to dock to a shelf, you must define a marker type for the shelf in the robot interface—see Creating a marker type on page 174. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 124: Creating And Configuring Maps
The robot must have a map for every area that it operates in. It is important to create robust and reliable maps for the robot to perform effectively and safely. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 125 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 126 11. 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 129 Examples of when and how to use zones The following sections describe examples of cases where certain zones can be used to improve the robot's operations. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 130 This can be dangerous if the robot is carrying a tall top module or load that can collide with the fixture. Solution: Mark the area where the low hanging fixture is located as a Forbidden zone. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 131 Figure 11.6. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with replanning of paths. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 132 A Critical zone (orange) can be placed in the narrow doorway to enable the global planner to make a path through the corridor. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 133 150 to 250 mm, or mark the wall as a Forbidden zone. Edit the map afterwards in the robot interface and mark the glass as walls to help the robot localize. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 135: Markers
Figure 11.10. 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 137 Figure 11.14. The icon used for Bar-markers in the interface and an illustration of how robots can dock to the marker. A few centimeters between all the types of markers should make docking possible. Determine during commissioning if more space is required. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 138: 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 139: Creating Missions
11. Commissioning 11.7 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 140 This means that you can use the same mission for making the robot pick up a load from any of the markers on the map. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 141 For more information on building robust missions, see the Mission robustness videos in MiR Academy on the MiR website. Contact your distributor for access to MiR Academy. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 142: Creating A Footprint
When a MiR robot carries a shelf, it is important to set the footprint of the robot to the dimensions of the shelf.
Page 143 If you prefer to only have one footprint for the robot when it is carrying oversized loads, create a footprint that is suitable for the load that has the largest footprint. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 144 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 145: Using Operating Hazard Zones
Areas where the robot drives with muted Protective fields and areas with inadequate clearance must be marked as operating hazard zones with signal tape or similar marking material. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 146 The muting starts when the robot reaches the entry position approximately one meter from the marker. To indicate this to people nearby, MiR250 Shelf Carrier slows down and starts blinking yellow, using the eight signal lights on the corners of the robot.
Page 147 When you place shelves next to each other without using markers, the 0.6 m of distance between shelves provide enough space for an escape route. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 149 0.5 m of space between every second shelf. This ensures there is always an escape route on at least one side of each shelf. Figure 11.20. Shelf placement so there are escape routes between the shelves MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 150: Making A Brake Test
Figure 11.21. Shelf placement so there in an escape route behind the shelves. 11.10 Making a brake test It is the responsibility of the commissioner to perform an adequate test of the robot's braking capability. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 151: Creating User Groups And Users
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 152 Figure 11.22. 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 153 If they should be allowed quick access to the interface via a four digit PIN code. We only recommend PIN codes for users with no access to settings and safety system. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 154: Creating Dashboards
Dashboards are an easy way for different user groups to control the robot, giving direct access to the individual groups' key functions. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 155 Figure 11.25. The default dashboard includes the robot information, a joystick for manual control, and the active map. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 156: Updating Mir250 Shelf Carrier Software
Connect your computer to the robot you want to update, and sign in to the robot interface. Go to System > Software versions and select Upload software. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 157: Creating Backups
Settings, you can access the settings of the robot. Access to the settings must be restricted by the commissioner—see Creating user groups and users on page 151. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 158 This section refers to the local and global planner functions. For more information on the robot's path planners, see Global planner on page 86 Local planner on page 88. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 160 Figure 11.28. For more information on Line-following, contact your distributor for the how- to guide Enable Line-following mode. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 161 Speed zone that requires it. Docking In the Docking section, you can change the parameters regarding docking to and from markers. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 162 In the advanced settings, you can adjust the parameters for docking to markers. This can be useful in case of docking issues. To see the advanced docking settings, select Show advanced settings. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 163 Always have the robot play an audible warning sound when driving with muted Protective fields. Features In the Features section, you can disable and enable robot features. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 164 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 165 MiR top module is mounted to the robot. Mute protective fields enables an action to mute the robot's Protective fields from missions. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 166: Usage
If in doubt, you can check if the red lines representing the laser scanner view match the black lines on the map, as shown in Figure 12.1. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 167 Figure 12.1. 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 168 A: 700 mm ±50 mm B: 200 mm ±50 mm • For all other markers, the robot must be positioned approximately one meter directly in front of the marker. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 169 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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 170 Offset orientation to 180°. Detecting the marker with the rear scanner will automatically set the orientation offset to approximately 180° for a reverse docking. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 171 The Y-offset moves the robot further to the left or right of the marker in meters. • The orientation offset changes the final orientation of the robot in degrees. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 172: Creating Positions
In the robot interface, enter the map editor of the map where you want to create a position. This is done by going to Setup > Maps and selecting Edit next to the map you would like to work on. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 173 Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 174: Creating A Marker Type
If you are using a shelf that has dimensions supported by MiR—see Shelf specifications on page 120—you can use the default marker type Asymmetric MiR250 shelf. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 175 To create a new marker type, follow these steps: To create a new marker type, go to Setup > Marker types, and select Create marker type. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 176 Leg shelf markers are for MiR250, MiR500 and MiR1000 robots. • Bar length in meters: Defines the distance between a set of legs parallel with the robot. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 177: Creating The Mission Prompt User
Prompt user is an example mission that uses a Prompt user action that lets you choose whether to send the robot to one position or another. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 178 Setup > Missions. Select Create Mission. Name the mission Prompt user. Select the group and site you want it to belong to. Select Create mission. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 179 In the Prompt user action, set the parameters as follows: • Question: Enter the question Go to position one?. • User group: Select Users. • Timeout: Set the timeout to 10 minutes. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 180 12. Usage In the Prompt user action, drag a Move to action under the box and a Move to action under the box. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 182: Creating The Mission Try/Catch
This prevents the robot from going into an error state and stopping in the middle of a mission by MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 183 Go to Setup > Missions. Select Create Mission. Name the mission Try/Catch. Select the group and site you want it to belong to. Select Create mission. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 184 In this example, the mission is saved under the Logic menu that also includes the Prompt user action . Be sure to select the Prompt user mission . • In the Sound/Light menu, select Play sound. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 185 When you have set the parameters, select Validate and close. Drag the Prompt user mission into the box under Try/Catch. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 187 • Duration: Set the duration to two minutes. The mission should look like this: Select Save to save the mission. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 188: Creating The Mission Variable Docking
To create the mission Variable docking, it is assumed you have completed the following: • Enabled the muting of the Protective fields. Go to System > Settings > Features, and set Mute protective fields to True. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 189 Setup > Missions. Select Create Mission. Name the mission Variable docking. Select the group and site you want it to belong to. Select Create mission. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 191 The following steps describe how to create a variable: • Under Position, select Variables • Select Create variable in the upper-right corner. • Name the variable Marker. Select OK. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 192 If the parameter Position type does not show up at first, select Validate close, and then open the action dialog box again. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 193 Otherwise, the robot reports an error. If you use a variable with the same name in all parameters, you ensure that you apply the same parameter setting to all. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 194 In this case, by using the variable Markers in two places, you ensure that the robot docks to the same marker that it moved to in the first action. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 195 Drag the Relative move action into the Mute protective fields action, and under X, enter -2. This will make the robot move two meters back to undock from the marker. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 196: Creating The Mission 80 Cm Doorway
Mutes its Protective fields so it can traverse the doorway. Goes through the doorway to a position on the other side. Changes its footprint back to default. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 197 Made the area around the doorway an operating hazard zone as the robot will be driving through the doorway with muted Protective fields—see Using operating hazard zones on page 145. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 198 • Enabled the use of dynamic footprints. Go to System > Settings > Planner > Show advanced settings, and set Use dynamic footprint to True. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 201 12. Usage In the Move action, under Position, select In the Set footprint action, select Narrow doorway. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 202 Volume: Enter the value 60. This is 48 dB approximately. • Front: Select Muted. • Rear: Select Muted. • Sides: Select Muted. In the Move action, under Position, select MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 203: Creating The Mission Pick Up And Place Shelf
In the Pick up and place shelf mission, MiR250 Shelf Carrier drives to a shelf position to pick up a shelf and transports the shelf to another position and places it there, using template missions.
Page 204 Missions, and select Create mission. Name the mission Pick up and place shelf. Select the group and site you want it to belong to. Select Create mission. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 205 The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel of the action in question to open the dialog of that action. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 206 Marker type: Select MiR250 Shelf. • Retries and Maximum linear speed: Leave these at the default value. For the Set footprint action, select the MiR250 Shelf. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 207 12. Usage For the Move action, select Shelf pos B under Position. For the Set footprint action, select the robot's default footprint. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 208: Creating The Mission Place Shelf At Vl-Marker
VL-marker. The mission uses a variable for the marker, enabling you to reuse the mission for any marker placed in front of a shelf position. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 209 They indicate where the robot will go to first when docking to the position. The entry position furthest from the shelf position is for MiR250 Shelf Carrier. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 210 Select the VL-marker's entry position, and insert the same X and Y coordinates of the shelf position's entry position. Repeat the previous steps with all other markers where you want the robot to place shelves accurately. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 212 Variables Select Create variable in the upper-right corner. Name the variable Marker, and set the Shelf VL-marker as the Default value. Select OK. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 213: Testing A Mission
To run a mission, follow these steps: Go to Setup > Missions. Select Queue mission next to the mission you want to run. The mission is now added to the mission queue. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 214 Ensure that docking positions are clearly marked as operating hazard zones with visible tape or similar marking and that all personnel are instructed not to stand close to the robot when it is docking. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 215: Unmounting The Top Module
13. Unmounting the top module 13. Unmounting the top module If you need to access the robot from the top, you must unmount MiR Shelf Carrier 250. This can be required when troubleshooting issues or replacing robot components. WARNING Removing covers from the robot exposes parts connected to the power supply, risking damage to the robot from a short circuit and electrical shock to personnel.
Page 216 Unscrew the six screws on the sides of the top module's top plate with a TX20 Torx screwdriver. Unscrew the two center screws next to the carrier pins with a TX20 Torx screwdriver. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 217 Remove the top plate from MiR Shelf Carrier 250, and disconnect the cables connecting the top application interface of the robot. Unscrew the four screws mounting the top module to the robot with a TX45 Torx screwdriver. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 219 When screwing in the small screws that mount the top plate to MiR Shelf Carrier 250, tighten the screws to a torque of 2.5 Nm. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 220: Maintenance
14.1 Regular weekly checks and maintenance tasks Once a week, carry out the maintenance tasks in Table 14.1. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 221 Check if the signal lights on the four corners blink and show light correctly. MiR Shelf Carrier Remove dust with a soft and clean brush, and remove dirt with a 250 top module damp cloth. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 222: Regular Checks And Replacements
Check that all visual and auditory Check monthly, and replace as and signal lights warnings function. needed. Swivel wheels Check bearings and tighten, and Check weekly, and replace as MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 223 Check monthly, and replace as release switch release switch functions by needed. releasing the brakes and pushing the robot gently forward. Remember to enable the brakes again when done. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 224: Battery Maintenance
Only use a dry and soft cloth to clean the housing of the battery, and do not use abrasives or solvents. For storage of the battery, see Battery storage on page 79. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 226: Packing For Transportation
The bottom of the box (the pallet) • The lid of the box (the ramp) • The walls of the box • Protective foam blocks: Side blocks and the top layer MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 227: Packing The Robot For Transportation
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. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 228: Disposal Of Robot
WEEE register of their country. The fee is typically less than 1€ per robot. A list of national registers can be found here: https://www.ewrn.org/national- registers. For battery disposal, see Battery disposal on page 80. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 229: Payload Distribution
0.60 to 0.80 for the payload specifications to be valid. If the friction coefficient is not in this range, the commissioner must take additional measures to ensure a safe operation. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 230: Side View
The specifications apply to total payloads of up to 250 kg. 17.1 Side view At 1.2 m/s with no incline Figure 17.1. The center of mass (CoM) of payloads seen from the side. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 231 17. Payload distribution At 2.0 m/s with no incline Figure 17.2. The center of mass (CoM) of payloads seen from the side. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 232: Front View
17. Payload distribution 17.2 Front view At 1.2 m/s with no incline Figure 17.3. The center of mass (CoM) of payloads seen from the front. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 233 17. Payload distribution At 2.0 m/s with no incline Figure 17.4. The center of mass (CoM) of payloads seen from the front. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 234: Top View
17. Payload distribution 17.3 Top view At 1.2 m/s with no incline Figure 17.5. The center of mass (CoM) of payloads seen from the top. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 235 17. Payload distribution At 2.0 m/s with no incline Figure 17.6. The center of mass (CoM) of payloads seen from the top. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 236: Interface Specifications
Emergency stop For more information on how to the Emergency stop interface is used, see Emergency stop circuit on page 1 MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 237 Safety input 2. Connects to pin 2 through the Emergency stop buttons. Restart Input Safety input 3. RST_ Output 24 V output for powering the lamp on the MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 238: Right Side Interfaces
Note that the input and output values in the interface do not directly control the corresponding GPIO pins in the electrical interface. Figure 18.2. Example of input 2 registered as active by the robot. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 239 Output 1. Is active when the carrier pins are free to move. Ground Protected return. OUT2 Output Output 2. When active, the carrier pins are raised. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 240 Input 2. Is active when the carrier pins are raised. Output 24 V output. Input Input 3. Unassigned. Output 24 V output. Input Input 4. Unassigned. Output 24 V output. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 241 24 V test signal. Sends test pulses (not on constantly). STO feedback 1 Input Feedback from top module safety relay Pins down Input Indicates when the carrier pins are lowered. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 242 Output Signals when to activate the safety relays. Pins up out Output Indicates when the carrier pins are raised. SAFE_RETURN Safe return for output signals. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 243: Error Handling
Always test your missions under full observation and normal work environment conditions before leaving the robot to execute the missions autonomously—see Testing a mission on page 213. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 244: Hardware Errors
Check your robot for any physical damage such as cracks, dents, or severe scratches or contamination such as dust, dirt, and grease. Pay special attention to the 3D cameras, safety laser scanners, and drive wheels. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 245 MiR Technical Support. For a full list of MiR error codes, contact your distributor for the document Error codes and solutions. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 246 Emergency stop. To do this, you must release the Emergency stop button and then press the Resume button. MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
Page 247 A MiR application is often a MiR base robot combined with a 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.
Page 248 The MiR robot interface is the web-based interface that enables you to communicate with your MiR robot. It is accessed by connecting to the robot's WiFi and then going to the site mir.com or by entering the robot's IP address in a browser.
Page 249 Shelf A shelf can be picked up by a MiR robot with a shelf lift top module mounted to it. Static landmark Static landmarks are obstacles that cannot be moved, such as walls, columns, and fixed structures.

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MIR MIR250 Shelf Carrier User Manual

1 About this Document

2 Product Presentation

3 Warranty

4 Safety

5 Accessing the Internal Parts

6 Getting Started

7 Battery and Charging

8 Security

9 Navigation and Control System

10 Safety System

11 Commissioning

12 Usage

13 Unmounting the Top Module

14 Maintenance

15 Packing for Transportation

16 Disposal of Robot

17 Payload Distribution

18 Interface Specifications

19 Error Handling

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