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.
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.
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.
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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.
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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.
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.
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.
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: •...
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.
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.
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.
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.
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.
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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.
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.
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.
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.
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.
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.
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.
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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.
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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.
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.
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.
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.
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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.
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.
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.
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.
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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.
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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.
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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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