MIR 500 User Manual

Mobile industrial robots

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User guide (en)

Date: 09/2019

Revision: v.1.3

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Summary of Contents for MIR 500

Page 1 User guide (en) Date: 09/2019 Revision: v.1.3...
Page 2 All rights reserved. No parts of this manual may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, express or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice.
Page 3: Table Of Contents
Table of contents 1. About this document 1.1 Where to find more information 1.2 Version history 2. Safety 2.1 Safety message types 2.2 General safety precautions 2.3 Intended use 2.4 Users 2.5 Foreseeable misuse 2.6 Risk assessment 2.7 Residual risks 2.8 Safety-related functions and interfaces 2.9 Lithium battery 3.
Page 4 3.9 Light indicators and warning sounds 3.10 Limiting safety-related functions 3.11 Safety-related electrical interfaces 4. Getting started 4.1 In the box 4.2 Unpacking MiR500 4.3 Powering up 4.4 Connecting to the robot interface 4.5 Driving the robot in manual mode 4.6 Checking the hardware status 4.7 Charging the robot 4.8 Shutting down the robot...
Page 5 6.5 Handover testing 7. Applications 7.1 Mounting a top module 7.2 Lift modifications 8. Maintenance 8.1 Regular weekly checks and maintenance tasks 8.2 Regular checks and replacements 8.3 Packing for transportation 9. Payload specifications 9. Disposal and environment 9.1 Battery disposal 10.
Page 6: About This Document
This page contains the following resources: • Quick starts describe how you start operating MiR robots quickly. This document is 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.
Page 7: Version History
This page contains frequently asked questions regarding MiR products. • Distributor site > How to http://www.mobile-industrial-robots.com/en/account/how-to/ This page contains how-to guides that describe how to perform specific tasks with MiR products. • Distributor site > Troubleshooting https://www.mobile-industrial-robots.com/en/account/troubleshooting/ This page contains troubleshooting guides to solve common issues with MiR products.
Page 8 1. About this document Release Revision Description date 2019-07- New sections: Create mission, Mission 2.7.0 editor, Lift modifications Updated status lights Added notice regarding using smart phones in flight mode for manual driving 2019-10- New section: Updating MiR500 software 2.7.x Revision Release date Description...
Page 9: Safety
2. Safety 2. Safety Read the information in this section before powering up and operating MiR500. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR500 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR500, accessories, or any other equipment due to programming errors or malfunctioning of MiR500.
Page 10: General Safety Precautions
• Only use the original charger. WARNING The protective fields on the site of MiR 250 is only 10-15 mm. MiR500 may drive over the feet of personnel. Risk of injury. • All personnel must be instructed to wear safety shoes near an operating robot.
Page 11 2. Safety WARNING Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically. Observe the following precautions when handling and using lithium batteries: • Do not short-circuit, recharge or connect with false polarity. •...
Page 12: Intended Use
MiR500. MiR500 is designed for and all risks are considered when used with one of the following types of top applications: • MiR500 Pallet Lift used with MiR Lift Pallet Rack. • MiR500 EU Pallet Lift used with MiR EU Pallet Rack. •...
Page 13: Users
Operators Operators have thorough knowledge of MiR500 and of the safety precautions presented in the user guide of MiR 250MiR Fleet PCMiR500 and operating guide of MiR500. Operators have the following main tasks: MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 14: Foreseeable Misuse
2. Safety • Servicing and maintaining MiR500. • Creating and changing missions and map positions in the robot interface. Direct users Direct users are familiar with the safety precautions in the user guide and have the following main tasks: • Assigning missions to MiR500MiR Fleet PC.
Page 15: Risk Assessment
MiR does not take any responsibility for the creation of the risk assessment, but we provide information and guidelines that may be used in the MiR 500 and MiR1000 Risk Analysis Guide found on the Distributor Site under Manuals.
Page 16: Safety-Related Functions And Interfaces
The battery can be swaped fast and charged both inside and outside of the robot. It is possible to purchase extra batteries from MiR. See the Spare parts list on the Distributor site on the MiR website.
Page 17 2. Safety This section contains safety precautions related to lithium batteries in MiR robots. NOTICE MiR does not support any additional batteries applied to the MiR500 by the customer. WARNING Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically.
Page 19 2. Safety To access the battery, first pull the bottom metal lever and push the top lever, as shown in the photo. Then press down on the top lever. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 21 2. Safety Pull out the battery. Do the steps in reverse when putting in the battery. Storage The battery should be stored in an area with a room temperature between 15°C and 25°C. Temperatures below or above this range will shorten the service life of the battery. The battery should be stored in an area with at maximum of 80% (non-condensing) relative air humidity.
Page 22: Product Presentation
(people, furniture) that are not mapped. With a MiR Charge 48V, the robot can charge automatically with a charging mission and a charging position on the map. The robot interface of MiR500 can be accessed via Chrome, Safari, Firefox and Edge browsers.
Page 23 3. Product presentation • Driving in a populated workspace The robot is designed to operate among people and maneuvers safely and efficiently in even highly dynamic environments. • Overall route planning and local adjustments The robot autonomously navigates to find the most efficient path to its destinations. The robot adjusts the path when it encounters obstacles which are not on the map (like people and objects).
Page 24: Identification Label
• MiR 250 Cart Carrier A top application that allows MiR500 to tow carts with a payload of up to 500 kg. To read more about the add-ons, go to www.mobile-industrial-robots.com. 3.2 Identification label The identification label of MiR500 is placed above the MiR controller behind the rear maintenance hatch.
Page 25: Mir500 Control Panel
3. Product presentation 3.3 MiR500 control panel MiR500 has a control panel in the rear-left corner of the robot. The Operating mode key The Operating mode key lets you switch between operating modes. • Left position: Autonomous mode. Puts the robot in Autonomous mode. •...
Page 26 3. Product presentation The control panel buttons The buttons on the control panel have the following functions. 1. Stop 3. On/Off 2. Restart Stop Pressing the button stops the robot. After pressing this button, you must press the Restart button to let the robot continue operating. Color indication: •...
Page 27: Mir500 Operating Modes
3. Product presentation • Blue: The robot is off. • Blinking green: The robot is starting up. • Green: Normal operation. • Red: The robot detected an error. • Yellow: The battery level is low. 3.4 MiR500 operating modes MiR500 has the following operating modes: Manual mode In this mode, you can drive the robot manually using the joystick in the robot interface.
Page 28 3. Product presentation • In the robot interface, select Mute personnel detection meansin the Joystick control. • In the prompt dialog, select to acknowledge the muting of personnel detection means. The status and the signal lights start flashing yellow, the robot is ready to drive with muted personnel detection means.
Page 31 3. Product presentation 1. Left cover plate: access to power 8. Proximity sensors: eight pcs., two interface, GPIO interface and in each corner behind corner Ethernet interface cover (see Sensor system on page 51) 2. Right cover plate: access to safety 9.
Page 32 3. Product presentation 7. Emergency stop button: four buttons., two on each side CAUTION The emergency stop button is not intended for operational stops. The emergency stop is only intended for use in case of an unforeseen hazard. 1. Signal light: eight pcs., two on 8.
Page 33 3. Product presentation 6. Left cover plate: access to power 13. Status light on all four sides of the interface, GPIO interface and robot (see Sensor system on Ethernet interface page 51) 7. Brake release MiR500 external parts MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 36: Mir500 Internal Parts
3. Product presentation 1. Not accessible; used for fixation of 3. M10 mounting holes for fixation the top cover. of top module, e.g. MiR500 EU Pallet Lift or MiR500 Pallet Lift. For more information on mounting top modules, see Mounting a top module on page 119.
Page 37 3. Product presentation Front compartment The front compartment holds the electronic components that may need regular service or replacement, such as PC, main control board and safety PLC. To open the front compartment: Push the two white buttons and pull the hatch. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 38 3. Product presentation Turn the two levers 180°. The right lever goes from top to bottom and the left lever goes from bottom to top. Then pull out the compartment drawer while holding underneath it and lifting slightly. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 39 3. Product presentation Front compartment components The front compartment contains the following components: 1. Cable chain 5. Loudspeaker 2. Safe Torque Off contactors 6. Power board: controlling power distribution for motor controller, PC and safety PLC 3. Access point/Router 7. Motor controller carrier board: contains motor controllers and controller for proximity sensors and light indicators.
Page 40 3. Product presentation Rear compartment The rear compartment holds the robot’s battery and most of the accessible components. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 42 3. Product presentation Pull the hatch. To access the battery, first pull the bottom metal lever and push the top lever, as shown in the photo. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 44 6. Battery with connector, main in Off position power to the robot 3. Connector for status light band 7. Connection interface for MiR Controller 4. Brake release switch, shown in On position. When turned off, the brakes are released, and the...
Page 45 3. Product presentation To open a side hatch, turn the two screws 90° counterclockwise with a hex keyflat-head screwdriver, and pull the hatch. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 46 3. Product presentation Side compartment components The left- and right-hand side compartments contain the following components (the same on both sides): 1. Connector for status light band 2. Drive wheel Top compartments The two top compartments hold interfaces to external units, for example MiR500 EU Pallet Liftor MiR500 Pallet Lift.
Page 47 3. Product presentation The two top compartments contain interfaces for top applications and added safety functions. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 48 3. Product presentation Top compartment components The top compartments contain the following electrical interfaces for top applications. For detailed information, see Interface specifications on page 137. 1. Ethernet 4. Auxiliary emergency stop 2. GPIO: General purpose I/O 5. Auxiliary safety functions 3.
Page 49: Safety Functions
3. Safety functions 3. Safety functions This section describes the safety functions of the MiR 250. Read the information in this section before powering up and operating MiR500. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR500 or its accessories are damaged, changed, or modified in any way.
Page 50 3. Safety functions The following illustrations show how the robot sees the surrounding environment. Figure 3.1. The laser scanners detect a dynamic object in the bottom left corner. Figure 3.2. Human eyes see the chair and surrounding details. Figure 3.3. Laser scanners of the robot will only detect parts of the chair. Here, the scanners detect the four legs of the chair in the upper left corner of the map.
Page 51: Sensor System
3. Safety functions The 3D camera will detect more details of the chair when it is close enough to it. Limitations The safety laser scanners detect objects in a plane approximately 200 mm above ground. Objects above or below this plane are not detected by the laser scanners. The safety laser scanners cannot detect negative obstacles (downward going stairs or holes in the floor) or any type of glass.
Page 52 • They are used for mapping, see alsoCreating and configuring a map on page 86Creating and configuring a map on page 86 Planning on page 1 MiR Robot Interface 2.0 Reference Guide. • They are used to localize the robot and to plan routes between points.
Page 53 3. Safety functions The safety laser scanners detect objects in a plane approximately 200 mm above ground. Objects above or below are not detected by the safety laser scanners. Figure 3.4. The two safety laser scanners together provide a full 360° view around the robot. When in motion, the safety laser scanners continuously scan the surroundings using a distance of up to 40 m while taking into account and weighing the viewed objects in a so- called "particle filter".
Page 54 See Brake test. See the how-to guide "How to adjust the field sets on MiR250/500/1000" on the distributor site. Figure 3.6. Protective fields of the front and rear safety laser scanners. Protective field settings The following table shows how the protective fields are configured.
Page 55 3. Safety functions Protective fields opposite the driving direction: Protective fields Speed range Field size Protective field all speeds 35 cm When the robot moves backwards, the protective fields switch, so that the largest protective fields are in the driving direction. CAUTION The speed/zone rate is configured to comply with the safety standards of MiR500.
Page 56 3. Safety functions The following illustrations show the fields of view of the cameras. Figure 3.7. The two 3D cameras can see objects up to 1700 mm above floor height. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 58: Light Indicators And Warning Sounds
3. Safety functions Proximity sensors Proximity sensors placed in all four corners of the robot detect objects close to the floor that cannot be detected by the safety laser scanners. Using infrared light, the proximity sensors point downwards and make sure that the robot does not run into low objects, such as pallets and forklift forks.
Page 59 3. Safety functions signal the current status of the robot • Signal lights The signal lights at the front and back of the robot show if the robot is about to turn a corner or go backwards. Front lights are white and rear lights are red. Right and left turns are indicated by blinking.
Page 60 3. Safety functions Status lights The LED light band running all the way around the robot indicates the robot’s current operational state. Colors may also be used as part of missions, but as standard, the robot is delivered with the following setup. NOTICE When the robot's battery reaches a critically low level of power (0-1%), the corner LED lights flash red.
Page 61: Limiting Safety-Related Functions
3. Safety functions Warning sounds When the robot drives with muted protective fields, it displays a sound. In System > Settings > Safety system, you can choose which sound the robot makes and the volume of the sound. CAUTION Changing in the Safety system can cause the robot not to comply with safety standards.
Page 62 3. Safety functions The function measures the speed on the two driving wheels and switches between the predefined protective fields accordingly. The faster the speed, the larger the protective fields will be. This ensures that the robot will be brought to a stop in case a human or object is detected within the active protective field.
Page 63: Safety-Related Electrical Interfaces
3. Safety functions MiR500 has four means of stopping: 1. Manual stop via the blue stop button. 2. Operational stop via the robot or fleet interface. 3. Protective stop triggered by the robot's safety function. 4. Emergency stop triggered by the emergency stop button. The emergency stop is only intended to be used in case of an emergency and shall not be used for operational stop.
Page 64 3. Safety functions System emergency stop input This input should be used in case a top manipulator has its own emergency stop circuit. The input must be used in combination with a system emergency stop output. With this, it is possible to ensure that activation of any emergency stop button will cause an emergency stop of both MiR500 and top manipulator.
Page 65: Getting Started
MiR500 document folder containing the printed documents and the USB flash drive. Printed documents: • MiR500 Quick Start • MiR username and passwords • CE declaration of conformity MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 66: Unpacking Mir500
4. Getting started USB flash drive with the following content: • MiR500 User Guide • MiR Robot Interface 2.0 Reference guide • MiR robot REST API reference • MiR Charge 48V Operating Guide • MiR500 Pallet Lift Operating Guide • MiR500 EU Pallet Lift Operating Guide •...
Page 67 4. Getting started Remove the lid from the box. Take the folder with the printed documents and the USB drive out of the box. Remove the walls of the box and the protective foam blocks. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 68 4. Getting started Cut the protective straps. 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. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 69: Powering Up
4. Getting started Remove the wheel stop board from the pallet to let the robot drive on the ramp. 4.3 Powering up Follow these steps to power up MiR500. Open the rear maintenance hatch. To open the hatch, push two buttons on the hatch and pull the hatch.
Page 70 4. Getting started Turn the battery disconnect switch to position ON. On/Off button turns blue. See MiR500 control panel on page 25. Close the maintenance hatch. Ensure that all four emergency stop buttons are in the released state. Turn an emergency stop button clockwise to release it.
Page 71: Connecting To The Robot Interface
NOTICE The username and password for the robot’s WiFi access point and for accessing the web interface are in the MiR username and passwords document. The document is in the box with the robot. Follow these steps to connect to the robot interface: Using your pc, tablet or phone, connect the WiFi access point of the robot.
Page 72: Driving The Robot In Manual Mode
4. Getting started In a browser, go to the address mir.com and sign in. Switch to manual mode, and drive the robot down the ramp, see section Driving the robot in manual mode on page 1. 4.5 Driving the robot in manual mode To drive the robot in Manual mode: MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 73 4. Getting started CAUTION It is possible to mute the personnel detection means when driving the robot manually. Risk of injury or damage. • Be aware not to collide with any humans or objects when driving with muted personnel detection means. Put the Operating mode key into the Manual mode (turn to the right).
Page 74: Checking The Hardware Status
4. Getting started Drive the robot using the joystick. 4.6 Checking the hardware status To check that all hardware components work as intended follow the steps below: Sign in to the robot interface. See the section Connecting to the robot interface on page 1.
Page 75: Charging The Robot
Check that all elements on the page have the OK status and that they have green dots on the left. For more information, see Hardware health MiR Robot Interface 2.0 Reference Guide. 4.7 Charging the robot A charger cable and an external charger is not part of the MiR500 standard delivery.
Page 76 4. Getting started Connect the charger cable to the charging connector on the robot. For information about the charging time, see the robot specifications at www.mobile- industrial-robots.com. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 77: Shutting Down The Robot
4. Getting started 4.8 Shutting down the robot To shut down MiR500: Ensure that the robot is not moving or executing an action. Press the On/Off button for five seconds. The robot starts the shutdown process. Status lights blink yellow, the On/Off button blinks red.
Page 78: Commissioning
5. Commissioning 5. Commissioning This section describes how to get started with MiR500. 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 relevant personnel should be present during commissioning.
Page 79: Creating Markers And Positions
Positions are used either as destination positions or as via positions on a route. There are different types of positions depending on whether the robot is part of a fleet or drives with top applications, but the standard position that is available in all MiR applications is the Robot position.
Page 80 5. Commissioning V-marker is a small V-shaped marker. VL-marker is a larger marker that generally is more precise than V-markers. L-markers make it possible for the robot to dock sideways. Charging stations, Shelves Pallet racks also have markers. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 81 5. Commissioning V, VL, and L-markers markers must have open space on each edge of the marker. Charging stations pallet racks and shelves have additional space requirements. Refer to the relevant Operating guides. Even though a few centimeters between markers should make docking possible, we recommend at least 20 cm.
Page 82 5. Commissioning In the Object-type drop-down menu, select Markers (1), and then select Draw a new marker (2). In the Create marker window, enter a name for the marker and select Type > . This is the name of the 48V Charging station in the robot interface. Select Detect marker.
Page 83 5. Commissioning Select to create the marker. A new marker icon (2) represented by a lightning symbol is now visible on the map in front of the robot (1) and is ready to be used in missions. If the robot is too far from the charging station, a message that the robot failed to locate the marker is displayed.
Page 84 5. Commissioning In the robot interface, enter the map editor of the map where you want to create a marker. This is done by navigating to Setup > Maps and selecting Edit next to the map you would like to work on. In the Object-type drop-down menu, select Positions, and then select Draw a new position...
Page 85: Operating Hazard Zones
The muting starts when the robot reaches the entry position approximately one meter from . To indicate this to people nearby, MiR Fleet PC slows down and starts blinking yellow, using the eight signal lights on the corners of the robot.
Page 86: Creating And Configuring A Map
The speed in operating hazard zones shall be reduced to 0,3 m/s. For more information on Personnel detection means, see the MiR Fleet PC User guide.
Page 87 5. Commissioning For more information on creating a map, see the Reference Guide in the robot interface and the Creating your first map-course in MiRAcademy on the MiR website. Creating the map Before you map a new location, prepare the area with the following steps: •...
Page 88 5. Commissioning Click the three dots in the top left corner and start recording by selecting Record and overwrite. In the In the upper right corner, select the joystick icon. Select Manual control. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 89 5. Commissioning A blinking recording icon indicates that the recording has started. Drive the robot around manually with the joystick. The mapping window will update with new objects continuously. Focus on mapping in a circular pattern around the perimeter of the working environment.
Page 90 5. Commissioning Once the mapping engine stops, the interface will show the newly recorded map on a grid background. Align the map so the walls are parallel to the grid lines behind it. Maps must be aligned along the X-Y axis because the robot uses the X-Y axis to plan its routes. Drag the map to rotate it.
Page 91 5. Commissioning Select the Draw a new line and mark on the map where there are walls or other static landmarks. It is a good idea to draw walls on top of all the walls and static objects the robot has recorded with its laser scanners. This will help the robot's localization and make the map more clean.
Page 92 5. Commissioning In the drop down menu, go to the floors layer by selecting Floors. The grey areas on the map is where there is missing a floor, but often the easiest thing to do is to add a whole new floor on top of the existing one.
Page 93 5. Commissioning Go to the walls layer and select the erase tool . Use the tool to erase all unwanted objects on the map. The erase tool will only erase walls when you are on the walls layer. Select the check mark . Once you've cleaned the map, it should look neat and only contain static landmarks.
Page 94 5. Commissioning • Directional zones, lets you organize the motion of robots by specifying the directions in which the robots can move in specific zones. • Preferred zones, the robot tries to run within a preferred area, taking dynamic obstacles into account.
Page 95 5. Commissioning Examples of when and how to use zones: Downwards going staircases Issue: The 3D camera cannot detect downwards going 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.
Page 96 5. Commissioning Solution: Mark highly dynamic areas on the map with for example Unpreferred zones Forbidden zones, depending on the environment. Directional zones can also be used here to guide the robot in a specific direction. Figure 5.4. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with re-planning of paths.
Page 97 5. Commissioning Solution: Add a Critical zone to the narrow doorway to force the global planner to make a path through the corridor. Add Sound and light zones in narrow doorways to attract attention. This will warn people near the doorway that the robot is coming through. Figure 5.5.
Page 98 5. Commissioning Solution: Add a Forbidden zone (marked red in the image) around the shelves. Figure 5.6. The shelves are marked as a Forbidden zone in the map. Pallet rack When MiR500 docks to a pallet rack, personnel detection means are temporarily muted. This could cause a dangerous situation if a person steps in front of the robot and the pallet rack.
Page 99: Creating User Groups And Users
• What functions or widgets should be available for the different users? For more details on interface and dashboards, see the Reference Guide in the MiR Robot Interface. Create user groups Setup > User groups you can create specific groups with specific access to different parts of the robot interface.
Page 100 5. Commissioning Under permissions, you can select the specific parts of the robot interface that the user group has access to. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 101 5. Commissioning Create users Setup > Users, you can create new users and select: • What user group they belong in. • If they are single dashboard users with no access to other parts of the interface than to control the robot from a dashboard. •...
Page 102: Creating Dashboards
5. Commissioning The following table contains some of the recommended settings for user profiles: Permission Manual control Operator Maps & positions Commissioner Missions Operator Adjustment of warnings (System settings) Commissioner Create new user groups Commissioner Assign missions Direct user System settings Commissioner 5.6 Creating dashboards To make the user experience as easy and simple as possible, you can build up a unique...
Page 103 What functions or widgets should be available for the different users? For more details on interface and dashboards, see the Reference Guide in the MiR Robot Interface. A dashboard is made up of a number of widgets, each representing a feature in the system, for example a particular mission, the map the robot is operating in, or the current mission queue.
Page 104 The dashboard is now available under Dashboards. For details on the widgets and missions available in dashboards, see the Reference Guide in the MiR Robot Interface. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 105: Updating Mir500 Software
6.1 Updating MiR500 software This section describes how to update the robot 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 106 Navigate to System > Software versions and select Upload software. Locate and select the downloaded software package. It may take a few minutes for the package to successfully upload. Once the software is uploaded, turn the robot off and then on again. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 107: Usage
6.2 Creating a mission This section describes what a mission is and how to make one. MiR robots function through missions that the user creates. A mission is made up of actions , such as: move actions, logic actions, cart pick-up/delivery and sounds, which can be put together as building blocks to form a mission with as many actions as needed.
Page 108 6. Usage Most actions have adjustable parameters, for example which position to go to. Most actions also have adjustable variables where the user is asked a question regarding the variable every time the mission is added to the queue. This can be practical if for example the robot performs the same series of actions in different areas of the facility that requires different variables in a mission action.
Page 109 6. Usage Mission groups Each mission group has a number of predefined actions that can be selected when you build the mission. One mission can contain actions from several groups. When you save the new mission, it will be placed in the selected group and can be used as a separate mission or as an embedded mission in other missions.
Page 110: Mission Editor
6. Usage 6.3 Mission editor A mission is built from actions that you pick from the menus in the top bar. You can also pick already created missions and embed them in new missions. Actions and missions are grouped together in the top bar menus. All predefined actions are identified by a running-man icon.
Page 111 6. Usage In the Mission editor window, move the mouse over the name of the mission, and select the gearwheel. Save mission When you have completed the missions by adding all actions and sorted them in the desired order, click Save to save the mission.
Page 112: Creating A Pick Up Shelf And A Place Shelf Mission
6. Usage In the Mission editor window, select Save 6.4 Creating a pick up shelf and a place shelf mission This section describes how to create a pick up and place shelf mission. To create the mission, it is assumed you have completed the following: •...
Page 113 6. Usage Select the following actions: In the Move menu, select Move. In the Shelf menu, select the Pick up MiR500/1000 Shelf template mission. In the Move menu, select Move. In the Shelf menu, select the Place MiR500/1000 Shelf template mission. The mission dialog should look like this: The following steps describe which parameters each action should be set to.
Page 114 Under Marker type, choose the marker type that fits the dimensions of your shelf. Under Shelf footprint, select the footprint that matches the footprint of your shelf. If you are using a shelf with dimensions not supported by MiR (see Shelf...
Page 115 6. Usage Under Position type, select Entry. Select Validate and close. Under Place MiR500/1000 Shelf, select Mute front or Mute rear if you want the safety scanners to be muted on the front or rear. This can be necessary if the shelf is located near other obstacles (see Mark potentially hazardous floor areas).
Page 116: Handover Testing
6. Usage Select Save to save the mission. The mission should look like this: 6.5 Handover testing It is very important to schedule time for handover testing. The new users of MiR500 might have new questions after they start using the robot or new issues or situations might have appeared.
Page 117 • Directional zones. • Incorporation with other plant management systems, such as ERP. • MiR Fleet. • Rest calls. Stay in contact It is important to stay in contact with the users after the installation of MiR500. Make sure to follow up with the following in mind: MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 118 6. Usage • If the customer does not call for support, it might be because the robot is running perfectly, but it might also be because they have problems and gave up on the robot. • Urge them to contact you with problems, especially in the beginning. •...
Page 119: Applications
You can install top modules on top of MiR500 for specific applications. For more information about top modules, go to the following page: http://www.mobile-industrial-robots.com/en/mir-tradeforum/ For instructions on how to mount top modules and accessories, refer to the application manuals at www.mobile-industrial-robots.com...
Page 122 7. Applications Figure 7.1. Mounting holes on the top of MiR500. M12 lifting holes can also be used to mount top modules. If a top module is mounted using these holes, it is necessary to drill M12 lifting holes in the top application in order to lift the robot.
Page 123 7. Applications CAUTION Stay within the specifications for weight and the payload’s center of gravity, Payload specifications on page 134. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 124: Lift Modifications
7. Applications 7.2 Lift modifications Additional holes can be added to the MiR500MiR500 Pallet Lift for custom applications. However, it is important not to damage any vital parts of the lift when doing so. Top plate of the lift 1. Material: Steel (S355) 2.
Page 125 7. Applications Bottom frame of the lift 1. Material: Steel (S355) 2. Areas marked with red indicate where you are not allowed to Thickness: 3 mm make modifications, such as drilling holes or mounting Treatment: Powder coating RAL accessories. 7011 NOTICE The drawings above only show where you can make minor modifications without damaging the product.
Page 126 7. Applications NOTICE It is only possible to modify the MiR500 Pallet Lift, not the MiR500 EU Pallet Lift. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 127: Maintenance
8. Maintenance 8. Maintenance The following maintenance schedules give an overview of regular cleaning and parts replacement procedures. The stated intervals are indicative and depend on the operating environment and frequency of usage of the robot. NOTICE Only use approved spare parts. Mobile Industrial Robots disclaims any and all liability if unapproved spare parts are used.
Page 128: Regular Checks And Replacements
8. Maintenance Parts Maintenance tasks Laser scanners Clean the optics covers of the scanners for optimum performance. Avoid aggressive or abrasive cleaning agents. NOTICE Static charges cause dust particles to be attracted to the optics cover. You can diminish this effect by using the anti-static plastic cleaner (SICK part no.
Page 129 8. Maintenance Part Maintenance Interval Loudspeaker and Check that all visual and auditory Check monthly and replace as signal lights warnings functions. needed. Caster wheels Check bearings and tighten. Check weekly and replace as (the four corner needed. wheels) Drive wheels (the Check wheel surfaces for wear.
Page 130 Check every six months and the floor with e.g. tape around replace as needed. MiR EU Pallet Rack or MiR Lift Pallet Rack are intact and visible. Safety stickers Check if the safety stickers on the Check every six months and robot are still intact and visible.
Page 131: Packing For Transportation
8. Maintenance 8.3 Packing for transportation This section describes how to pack the robot for transportation. Original packaging Use the original packaging materials when transporting the robot. The packaging materials are: • The bottom of the box (the pallet). • The lid of the box (the ramp).
Page 132 8. Maintenance Packing the robot for transportation To pack the robot for transportation: Shut down the robot. See section . Open the rear maintenance hatch. Turn the battery disconnect switch to position OFF. Repeat the steps in section Getting started on page 65 in the reverse order.
Page 133 8. Maintenance sea, or air. Contact your distributor for more information. CAUTION Lithium batteries are subject to special transportation regulations according to United Nations Regulation of Dangerous Goods, UN 3171. Special transport documentation is required to comply with these regulations. This may influence both transport time and costs.
Page 134: Payload Specifications
Ensure that the load is positioned according to the specifications and is fastened correctly. The specifications apply to payloads of up to 500 kg. Side view 500 kg MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 136: Disposal And Environment
9. Disposal and environment 9. Disposal and environment MiR500 robots must be disposed of in accordance with the applicable national laws, regulations and standards. MiR500 robots are produced with restricted use of hazardous substances to protect the environment. as defined by the European RoHS directive 2011/65/EU. These substances include mercury, cadmium, lead, chromium VI, polybrominated biphenyls and polybrominated diphenyl ethers.
Page 137: Interface Specifications
10. Interface specifications 10. Interface specifications This section describes the specifications of the top application interface. NOTICE Read Safety on page 9 before using the electrical interface. MiR500 has five electrical interfaces divided into two groups: • General purpose interfaces below: •...
Page 138 10. Interface specifications Power An auxiliary power connection for top applications is provided in the top left-hand side compartment. See Connector list on page 148 for more information. Figure 10.1. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). The following table contains the description of the pins of the Power interface.
Page 139 10. Interface specifications Signal Max. Description number name current 48V safe Turns off in case of a protective or emergency stop. power This output is controlled by the internal safety PLC and the STO contactor, to ensure that power is always disconnected from this pin in case of a protective or emergency stop.
Page 140 10. Interface specifications GPIO A GPIO connection is in the top left-hand side compartment. Figure 10.2. Pin numbers: male connector viewed from the front (left) and wiring diagram (right). A variety of top applications requires a general purpose and "simple-to-use" digital I/O (GPIO).
Page 141 10. Interface specifications The GPIO supports low current/power devices like relays, contactors, lamps and/or separate PLC units. Figure 10.3. It is intended that outputs and RTNs are used to send signals to the top application, and inputs and 24V pins are used to receive signals from the top application. The GPIO has the following features: •...
Page 142 10. Interface specifications This enables the GPIO interface to work as input and output to top applications that can be used in missions. The pallet lift feature uses a different kind of communication that is specific to the pallet lift top module. Outputs (O0, O1, O2, O3) can be toggled on and off by the robot in a Set I/O module mission action or manually in Setup > I/O modules.
Page 143 10. Interface specifications Output pins must be connected to RTN pins, and input pins must be connected to 24V pins. The following table contains the description of the pins of the GPIO interface. Pin number Signal name Max. current Description 1A @ 24V Output 0.
Page 144 Various protocols are supported, such as Modbus. For more information on how to use Modbus, refer to the how-to guide How to use Modbus with MiR robots found on the Distributor site. The following table contains the description of the pins of the Ethernet interface.
Page 145: Safety Interfaces
10. Interface specifications 10.2 Safety interfaces This section describes the safety interfaces located in the right-hand side compartment on the top side of MiR500. Auxiliary emergency stop An Auxiliary emergency stop connection is provided in the top right-hand side compartment. Figure 10.6.
Page 146 10. Interface specifications Signal Description number name E-stop 1 Output signal 1 to safety PLC for emergency stop circuit. Should connect to pin 1. E-stop 2 Output signal 2 to safety PLC for emergency stop circuit. Should connect to pin 2. Reset When high, the robot restarts.
Page 147 10. Interface specifications The following table contains the description of the pins of the Auxiliary safety functions interface. Pin num- Signal name Description Test output 24V out. Test output 24V out. Safeguarded stop Safeguard dual channel input. Set any or both pin(s) low to enter Emergency stop.
Page 148: Connector List
10. Interface specifications Pin num- Signal name Description Unassigned Unassigned. Safe RTN Safe return - Ground. Unassigned Unassigned. Unassigned Unassigned. 10.3 Connector list We recommend the following connectors for the five different interfaces. Dimension draw- Connector name Connector type Phoenix Contact Power M23 6p CA-06P1N8A8008S...
Page 149 10. Interface specifications Figure 10.9. Connector dimensions for GPIO, Auxiliary Emergency Stop, and Auxiliary Safety Functions connectors. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
Page 150: Troubleshooting
• The laser scanner covers may need to be cleaned. Refer to the maintenance chapter in the MiR Fleet PC User guide. 10.7 Robot placing shelf imprecisely If the robot does not place shelves precisely enough for your application, you will need to use a docking marker, such as VL.
Page 151: Error Handling
Remove noise from maps. To clear an error, select the red warning indicator in the interface and select reset. For more details on setting up missions and error handling, see MiR Robot Interface 2.0 Reference Guide. MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

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