MIR 250 Shelf Carrier Quick Start Manual
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MIR 250 Shelf Carrier Quick Start Manual

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Quick Start (en)
Date: 11/2020
Revision: v.1.3

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Summary of Contents for MIR 250 Shelf Carrier

  • Page 1 Quick Start (en) Date: 11/2020 Revision: v.1.3...

  • Page 2: Table Of Contents

    5. Accessing the internal parts 5.1 Front compartment 5.2 Rear compartment 5.3 Side compartments 5.4 MiR Shelf Carrier 250 6. IT security 6.1 Managing users and passwords MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 3 6.2 Software security patches 7. Getting started 7.1 In the box 7.2 Unpacking MiR250 Shelf Carrier 7.3 Connecting the battery 7.4 Connecting to the robot interface 7.5 Driving the robot in Manual mode 7.6 Moving the robot by hand 7.7 Checking the hardware status 7.8 Mounting the nameplate 7.9 Enable the MiR250 Shelf Carrier feature 7.10 Testing the top module...

  • Page 4: Version History

    1. Version history 1. Version history This table shows current and previous versions of this document. MiR250 Shelf Carrier Revision Release date Description 2020-06-26 First edition 2020-07-01 General improvements throughout the document. 2020-07-08 General improvements throughout the document. 2020-11-30 Added sections: Charging the robot. General improvements throughout the document.

  • Page 5: Safety

    2. Safety 2. Safety Read the information in this section before powering up and operating MiR250 Shelf Carrier. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR250 Shelf Carrier or its accessories are damaged, changed, or modified in any way.

  • Page 6: General Safety Precautions

    2. Safety 2.2 General safety precautions This section contains general safety precautions. WARNING If the robot is not running the correct software and is therefore not functioning properly, the robot may collide with personnel or equipment causing injury or damage. •...
  • Page 7 • Only use an original MiR charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns.
  • Page 8 Rinse well with water, and immediately seek medical care. If left untreated, the battery fluid could cause damage to the eye. • Use only an original MiR charger (cable charger or charging station) and always follow the instructions from the battery manufacturer. •...
  • Page 9 • Only use the robot to transport safely commissioned shelves—see the specifications of MiR supported shelves in your robot's user guide. WARNING Personnel standing in the blind spot of the robot when it is pivoting with a shelf risk being struck and injured.
  • Page 10 2. Safety WARNING If a load is positioned incorrectly on a shelf, the load may fall off. Nearby personnel or equipment risk injury or damage. • Ensure that each load is positioned correctly on the shelf. It is the responsibility of the commissioner to determine correct and safe methods of loading shelves.

  • Page 11: Intended Use

    2. Safety WARNING If the robot drives on a slope and looses grip of the attached shelf, the shelf or its load may collide with personnel or equipment causing injury or damage. • Do not operate MiR250 Shelf Carrier on slopes. WARNING If the robot transports a shelf with a load that extends the footprint of the robot, the load may collide with personnel or equipment causing injury or...

  • Page 12: Users

    MiR250 Shelf Carrier is a completed MiR application that consists of a MiR250 with a mounted MiR Shelf Carrier 250. The application is CE marked as long as it is not modified or altered. However, a CE marked application does not guarantee a CE marked setup. It is the responsibility of the commissioner to commission MiR250 Shelf Carrier safely.

  • Page 13: Foreseeable Misuse

    2. Safety • Ensuring the safety of nearby personnel when the robot is accelerating, braking, and maneuvering. • Marking operating hazard zones. Operators Operators have thorough knowledge of MiR250 Shelf Carrier and of the safety precautions presented in this user guide. Operators have the following main tasks: •...

  • Page 14: Residual Risks

    2. Safety • Operating the robot outside the permissible operating parameters and environmental specifications • Using the robot in potentially explosive environments • Using the robot outdoors • Using the robot in hygiene zones 2.6 Residual risks Mobile Industrial Robots has identified the following potential hazards that commissioners must inform personnel about and take all precautions to avoid when working with MiR250 Shelf Carrier: •...
  • Page 15 2. Safety Figure 2.1. The warning label must be placed on the robot or top module. MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 16: Light Indicators And Speakers

    3. Light indicators and speakers 3. Light indicators and speakers The robot uses two types of light indicators to let people in the environment know what the robot is currently doing or planning to do. • Status lights LED light bands on all four sides of the robot uses colors and light motion patterns to signal the current status of the robot.
  • Page 17 Prompt user / Waiting for user's response Cyan wavering (robots connected to MiR Fleet 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.

  • Page 18: Signal Lights

    3. Light indicators and speakers When the robot is charging in a charging station, the status lights on the side of the robot indicate the robot's battery percentage. 3.2 Signal lights Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards- backwards-braking and left-right turns.
  • Page 19 3. Light indicators and speakers Figure 3.2. 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.

  • Page 20: Control Panel

    4. Control panel 4. Control panel MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot. 4.1 The control panel buttons Figure 4.1. The MiR250 Shelf Carrier control panel. Table 4.1. Identification of items on the control panel in Figure 4.1 Pos.

  • Page 21: The Operating Mode Key

    4. Control panel Resume Pressing this button: • Clears the Emergency stop state. • Lets the robot continue operating after the Manual stop button was pressed or after the operating mode changes. • Lets the robot start operating after powering up. Color indication: •...
  • Page 22 4. Control panel • Middle position: Locked Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot manually. • Right position: Manual mode Puts the robot in Manual mode. MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 23: Accessing The Internal Parts

    For more information on how to remove the covers on MiR250, see the video How to remove and attach the covers on MiR250 on MiR Academy at the MiR website. Contact your distributor for access to MiR Academy. WARNING...

  • Page 24: Front Compartment

    5. Accessing the internal parts 5.1 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 Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 25: Rear Compartment

    5. Accessing the internal parts 5.2 Rear compartment To open the rear compartment, follow these steps: Push the two white buttons at the same time. Loosen the cover by first loosening the bottom corners one at the time, then the two top corners.

  • Page 26: Side Compartments

    5. Accessing the internal parts Pull off the cover. 5.3 Side compartments To open a side compartment, follow these steps: Turn the two screws counterclockwise with a T30 Torx screwdriver. MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 27: Mir Shelf Carrier 250

    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 28: Security

    6.2 Software security patches To improve the security of MiR250 Shelf Carrier, MiR supplies security patches to the operating system in new MiR software update files. When you install a security patch, it takes approximately 10-15 minutes longer to update a MiR product.
  • Page 29 6. IT security Understanding MiR software versions MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1 means that the software is based on the second major release, the eighth minor release of the major version, the first patch release of the minor version, and, in this example, a single hot fix is included too.

  • Page 30: Getting Started

    Read Safety on page  5 before powering up MiR250 Shelf Carrier. In some images in this section, the robot is shown without a MiR Shelf Carrier 250 top module. 7.1 In the box This section describes the contents of the MiR250 Shelf Carrier box.

  • Page 31: Unpacking Mir250 Shelf Carrier

    The USB flash drive in the document folder has the following content: • MiR250 Shelf Carrier User Guide • MiR250 Shelf Carrier Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference •...
  • Page 32 7. Getting started Cut the protective straps surrounding the box. 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 Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 33 7. Getting started Remove the walls of the box and the protective foam blocks. Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush with the base of the box. MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 34: Connecting The Battery

    7. Getting started 7.3 Connecting the battery To connect the battery to the robot, you need to open the rear compartment—see Accessing the internal parts on page  To connect the battery to the robot, follow these steps: Turn the battery lever lock clockwise to unlock the battery lever. Pull up the lever to connect the battery connector to the battery.
  • Page 35 7. Getting started Reattach the rear cover by tilting it slightly so that the bottom point forward and insert it into the two attachment sockets. 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 Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 36: Connecting To The Robot Interface

    7. Getting started 7.4 Connecting to the robot interface When the robot is turned on, it enables the connection to its WiFi access point. The name of the access point appears in the list of available connections on your PC, tablet, or phone. NOTICE The original username and password for the robot’s web interface are in the document Getting the robot online.

  • Page 37: Driving The Robot In Manual Mode

    7. 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 Driving the robot in Manual mode below. 7.5 Driving the robot in Manual mode CAUTION...
  • Page 38 7. Getting started On the robot, press the Resume button. The status lights turn blue, indicating that the robot is in Manual mode. In the robot interface, select the joystick icon. The joystick control appears. Drive the robot off the ramp using the joystick. Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping.

  • Page 39: Moving The Robot By Hand

    7. Getting started 7.6 Moving the robot by hand You should generally avoid moving the robot by hand, but if, for example, the robot gets stuck near an obstacle and cannot be moved by manual control, it is possible to do so. Before moving the robot by hand, make sure the mechanical brakes are released.
  • Page 40 To move the robot by hand, either push or pull it. 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.

  • Page 41: Checking The Hardware Status

    7. Getting started NOTICE When handling the robot, do not push or pull the robot sideways, and do not use the covers for pushing or pulling. Only use the designated pull handles or the top module. 7.7 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 ...

  • Page 42: Mounting The Nameplate

    Check that all elements on the page have the status and that they have green dots on the left. For more information, see Hardware health in MiR Robot Reference Guide on the MiR website. 7.8 Mounting the nameplate Before using MiR250 Shelf Carrier, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application.
  • Page 43 7. Getting started To mount the nameplate correctly, follow these steps: Locate the rear cover. Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 44: Enable The Mir250 Shelf Carrier Feature

    7. Getting started 7.9 Enable the MiR250 Shelf Carrier feature To access the MiR250 Shelf Carrier settings and mission menus, the MiR250 Shelf Carrier features must be enabled. To check that they are enabled, follow these steps: Sign in to the robot interface, and go to System >...
  • Page 45 ShelfPallet Lift and Shelf, select True. Under modules, select 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 Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 46: Testing The Top Module

    7. Getting started 7.10 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 Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 47 7. Getting started Under MiR internal I/Os, complete the following sequence, and verify that the robot executes the expected action: Under Outputs, select 3. Verify that the carrier pins rise up. Once the pins are raised, verify that under Inputs is green.

  • Page 48: 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 ...

  • Page 49: Charging The Robot

    7.12 Charging the robot This section describes how to charge MiR250 Shelf Carrier using a MiR cable charger. A MiR cable charger is not part of the MiR250 Shelf Carrier standard delivery. Contact your distributor for more information.
  • Page 50 30 seconds before turning on the robot, or connect a MiR cable charger to the robot. For information about the charging time, see specifications on the MiR website. MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 51 7. Getting started MiR250 Shelf Carrier Quick Start (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 52 All rights reserved. No parts of this document may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice.

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