MIR 500 Pallet Lift User Manual
  1. Manuals
  2. Brands
  3. MIR Manuals
  4. Lifting Systems
  5. 500
  6. User manual

MIR 500 Pallet Lift User Manual

Hide thumbs Also See for 500 Pallet Lift:
Table of Contents

Advertisement

Quick Links

User Guide (en)
Date: 12/2020
Revision: v.2.1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 500 Pallet Lift and is the answer not in the manual?

Questions and answers

Related Manuals for MIR 500 Pallet Lift

Summary of Contents for MIR 500 Pallet Lift

  • Page 1 User Guide (en) Date: 12/2020 Revision: v.2.1...
  • Page 2 All rights reserved. No parts of this document may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice.

  • Page 3: Table Of Contents

    2. Product presentation 2.1 Main features of MiR500 Pallet Lift 2.2 External parts 2.3 Internal parts 2.4 Manual brake release switch 2.5 How MiR Pallet Lift 500 works 2.6 MiR Pallet Rack 3. Warranty 4. Accessing the internal parts 4.1 Front compartment 4.2 Rear compartment...
  • Page 4 5.6 Residual risks 6. Getting started 6.1 In the box 6.2 Unpacking MiR500 Pallet Lift 6.3 Connecting the battery 6.4 Powering up the robot 6.5 Connecting to the robot interface 6.6 Driving the robot in Manual mode 6.7 Checking the hardware status 6.8 Mounting the nameplate 6.9 Enable the MiR500 Pallet Lift feature 6.10 Testing the top module...
  • Page 5 10.1 System overview 10.2 Personnel detection 10.3 Overspeed avoidance 10.4 Stability 10.5 Emergency stop buttons 10.6 MiR Pallet Lift 500 safety functions 10.7 Safety stop 10.8 Light indicators and speakers 11. Commissioning 11.1 Analysis of the work environment 11.2 Risk assessment 11.3 Lift modifications...
  • Page 6 11.9 Using operating hazard zones 11.10 Making a brake test 11.11 Creating user groups and users 11.12 Creating dashboards 11.13 Updating MiR500 Pallet Lift software 11.14 Creating backups 11.15 System settings 12. Usage 12.1 Creating markers 12.2 Creating positions 12.3 Creating the mission Prompt user 12.4 Creating the mission Try/Catch 12.5 Creating the mission Variable docking 12.6 Creating the mission Pick up and place pallet...
  • Page 7 16. Payload distribution 17. Disposal of robot 18. Interface specifications 18.1 General purpose interfaces 18.2 Safety interfaces 19. Error handling 19.1 Software errors 19.2 Hardware errors MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 8: About This Document

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

  • Page 9: Version History

    Navigation and control system, Safety system, Usage, Disposal of robot, Error handling, and Glossary. The MiR500 User Guide has been merged with the MiR Pallet Lift 500 Operating Guide to provide a complete application manual. As a result, the version histories have been aligned, and the revision number has changed to version 2.0.
  • Page 10 New sections: Create mission, Mission editor, Lift modifications. Updated section: Status lights. 2019-10-08 New section: Updating MiR500 software. 2020-06- 11 New section: IT security. Added new information about payload. MiR Pallet Lift 500 Revision Release date Description 2019-01-25 First edition. 2019-03-19 General improvements throughout the document.
  • Page 11 1. About this document MiR Pallet Lift 500 Revision Release date Description document. 2020-06-18 Added new information about payload. General improvements throughout the document. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 12: Product Presentation

    The total payload capacity is 500 kg, which includes the weight of MiR Pallet Lift 500 and its load. The robot uses MiR Pallet Rack as a load transfer station where it can pick up or place loads autonomously.

  • Page 13: Main Features Of Mir500 Pallet Lift

    Efficient transportation of pallets The robot is designed to automate transportation of loaded pallets. The total payload of the robot may not exceed 500 kg, including the weight of the MiR Pallet Lift 500 top module and its load. •...
  • Page 14 2. Product presentation • Internal map The robot can either use a floor plan from a CAD drawing, or a map can be created by manually driving the robot around the entire site in which the robot is going to operate. When the robot is mapping, the robot’s sensors detect walls, doors, furniture, and other obstacles, and the robot then creates a map based on these input.

  • Page 15: External Parts

    2. Product presentation 2.2 External parts This section presents the parts of MiR500 Pallet Lift that are visible on the outside. Figure 2.1. MiR500 Pallet Lift external parts. Table 2.1. Identification of the external parts in Figure 2.1 Pos. Description Pos. Description Lift plate Lift frame Emergency stop button: four...
  • Page 16 2. Product presentation Pos. Description Pos. Description parts on page 21 Front maintenance hatch: 3D depth cameras: two pcs, opens to the front detect objects in front of the compartment—see Internal robot— see Obstacle parts on page 21 detection on page 77 Proximity sensors: eight pcs., Right side maintenance two in each corner behind...
  • Page 17 2. Product presentation Figure 2.2. Placement of the MiR500 identification label. The identification label of MiR Pallet Lift 500 is located on rear of the lift and can only be accessed when the lift is raised. Figure 2.3. Placement of the MiR Pallet Lift 500 identification label.
  • Page 18 2. Product presentation Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR500 Pallet Lift identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots.
  • Page 19 2. Product presentation The control panel buttons Figure 2.6. The MiR500 Pallet Lift control panel. Table 2.1. Identification of items on the control panel in Figure 2.6 Pos. Description Pos. Description Manual stop button Resume button Power button Operating mode key Manual stop Pressing this button stops the robot.
  • Page 20 2. Product presentation operating mode changes. • Lets the robot start operating after powering up. Color indication: • Blinking blue: The robot is waiting for a user action (clear the Emergency stop state, acknowledge the change of operating mode). Power Pressing this button for three seconds turns the robot on or shuts it off.

  • Page 21: Internal Parts

    2. Product presentation Manual mode In this mode, you can drive the robot manually using the joystick in the robot interface. Only one person can control the robot manually at a time. To ensure that nobody else takes control of the robot, the robot issues a token to the device on which you activate the Manual mode.
  • Page 22 2. Product presentation Front compartment The front compartment holds several electronic components, such as the robot computer and the motor controller carrier board. To open the front compartment, see Accessing the internal parts on page Front compartment components The front compartment components are listed in Table 2.1. Figure 2.7.
  • Page 23 2. Product presentation Pos. Description Pos. Description Access point/Router: access point Robot computer: processes data that broadcasts the robot's WiFi from the sensors and controls signal so you can connect to the the robot's navigation. robot wirelessly. Loudspeaker: emits sounds Power board: controls the power programmed in missions.
  • Page 24 Manual brake release switch on page Charging connection interface: Battery with connector: main for external MiR cable charger. power to the robot. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 25 2. Product presentation Pos. Description Pos. Description Connection interface for MiR Controller: connect a MiR controller to drive the robot with a joystick. Side compartments The side compartments contain the bogies and drive wheels. To access a side compartment, see...
  • Page 26 2. Product presentation Table 2.3. Identification of internal parts in Figure 2.9 Pos. Description Pos. Description Connector for status light band Drive wheel Top compartments 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 188.
  • Page 27 Within the lift top module there is a lift controller connected to four actuators to raise and lower the lift. To check the current position of the lift, there are two switches located inside the lift actuators that signal when the lift is lowered. To access the internal parts of MiR Pallet Lift 500, see Accessing the internal parts on page MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 28 2. Product presentation MiR Pallet Lift 500 components The components of MiR Pallet Lift 500 are listed in Table 2.5. Figure 2.12. Internal parts of MiR Pallet Lift 500 Table 2.5. Identification of internal parts in Figure 2.12 Pos. Description Pos.

  • Page 29: Manual Brake Release Switch

    The robot cannot operate while the mechanical brakes are released manually. 2.5 How MiR Pallet Lift 500 works When MiR500 Pallet Lift docks to a pallet rack, the lift can either be elevated to pick up a pallet or lowered to place a pallet.
  • Page 30 2. Product presentation To see the menu options for I/O modules in the robot interface, you must enable them first—see Enable the MiR500 Pallet Lift feature on page Table 2.1. Descriptions of how the internal outputs control the lift Output Function Initiates calibration process after five seconds Stops or puts the lift in motion Lowers the lift...

  • Page 31: Mir Pallet Rack

    MiR500 Pallet Lift can be used together with MiR Pallet Rack. MiR Pallet Rack is a delivery station for heavy loads and pallets. MiR500 Pallet Lift drives autonomously into the MiR Pallet Rack and delivers or picks up loads safely with a total payload of up to 1000 kg.
  • Page 32 2. Product presentation Figure 2.14. MiR Pallet Rack WARNING Pallets may break when placed on a MiR pallet rack if the pallet's load is not distributed evenly across the pallet. • During commissioning, determine a safe load capacity and distribution for pallets when they are placed on MiR pallet racks.

  • Page 33: Warranty

    3. Warranty 3. Warranty Mobile Industrial Robots offers a standard warranty on all products. Contact your distributor to see the terms and extend of product coverage. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR500 Pallet Lift or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR500 Pallet Lift, accessories, or any other equipment due to programming errors or malfunctioning of MiR500 Pallet Lift.

  • Page 34: Accessing The Internal Parts

    4. Accessing the internal parts 4. Accessing the internal parts Most internal parts of MiR500 Pallet Lift are accessed through maintenance hatches that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments WARNING Opening or removing hatches 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 35 4. Accessing the internal parts Turn the two levers 180°. Pull out the compartment drawer while holding underneath it and lifting slightly. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 36: Rear Compartment

    4. Accessing the internal parts 4.2 Rear compartment To open the rear compartment, push the two white buttons at the same time and pull the hatch. 4.3 Side compartments To open a side hatch, turn the two screws 90° with a flat-head screwdriver, and pull open the hatch.

  • Page 37: Top Compartments

    4. Accessing the internal parts 4.4 Top compartments To open a top compartment, remove the four screws and lift off the top cover. The top compartments are only accessible after the top module has been removed—see Unmounting the top module on page 188.

  • Page 38: Mir Pallet Lift

    4. Accessing the internal parts 4.5 MiR Pallet Lift 500 To access the top module, unscrew the twenty screws in the lift cover with a size 4 Hex key, and carefully remove the cover using suction cups. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 39: Safety

    5. Safety 5. Safety Read the information in this section before powering up and operating MiR500 Pallet Lift. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR500 Pallet Lift or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR500 Pallet Lift, accessories, or any other equipment due to programming errors or malfunctioning of MiR500 Pallet Lift.

  • Page 40: General Safety Precautions

    5. Safety 5.2 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 41 • Only use an original MiR charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns.
  • Page 42 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 43 5. Safety WARNING Load falling or robot overturning if the load on the robot is not positioned or fastened correctly can cause fall injuries to nearby personnel or damage to equipment. • Ensure that the load is positioned according to the specifications and is fastened correctly—see Payload distribution on page 201.
  • Page 44 5. Safety WARNING If a load is positioned incorrectly on a pallet, the load may fall off. Nearby personnel or equipment risk injury or damage. • Ensure that each load is positioned correctly on the pallet. It is the responsibility of the commissioner to determine correct and safe methods of loading pallets.

  • Page 45: Intended Use

    MiR500 Pallet Lift is a completed MiR application that consists of a MiR500 with a mounted MiR Pallet Lift 500. 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 MiR500 Pallet Lift safely.

  • Page 46: Foreseeable Misuse

    5. Safety • Commissioning of the product. This includes creating maps and restricting the user interface for other users and making brake tests with a full payload. • Conducting the risk assessment. • Determining the payload limit, weight distribution, safe fastening methods, safe loading and unloading of loads on MiR500 Pallet Lift, and ergonomic loading and unloading methods if relevant.

  • Page 47: Residual Risks

    5. Safety • Exceeding the total payload • Positioning or fastening loads incorrectly according to the specifications—see Payload distribution on page 201 • Using Emergency stop buttons for anything other than emergency stops • Using the robot in medical and life critical applications •...

  • Page 48: Getting Started

    Read Safety on page 39 before powering up MiR500 Pallet Lift. In some images in this section, the robot is shown with a MiR EU Pallet Lift 500 top module. 6.1 In the box This section describes the contents of the MiR500 Pallet Lift box.

  • Page 49: Unpacking Mir500 Pallet Lift

    The USB flash drive in the document folder has the following content: • MiR500 Pallet Lift User Guide • MiR500 Pallet Lift Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference •...
  • Page 50 6. Getting started Remove the screws that attach the walls of the box to the box lid and the base of the box. Remove the lid from the box. Take the folder with the printed documents and the USB flash drive out of the box. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 51 6. 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 52: Connecting The Battery

    6. Getting started Remove the wheel stop board from the pallet to let the robot drive on the ramp. 6.3 Connecting the battery To connect the battery to the robot, you need to open the rear compartment—see Accessing the internal parts on page Once you have accessed the rear compartment, turn the Battery disconnect switch to the On position.

  • Page 53: Powering Up The Robot

    6. Getting started 6.4 Powering up the robot To power up the robot, follow these steps: Ensure that all four Emergency stop buttons are in the released state. Turn an Emergency stop button clockwise to release it. Press the Power button for five seconds. The robot turns on the red signal lights and starts the software initialization process.
  • Page 54 6. Getting started 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 55: Connecting To The Robot Interface

    6. Getting started 6.5 Connecting to the robot interface When the robot is turned on, it enables the connection to its WiFi access point. The name of the access point appears in the list of available connections on your PC, tablet, or phone. NOTICE The original username and password for the robot’s web interface are in the document Getting the robot online.

  • Page 56: Driving The Robot In Manual Mode

    6. 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. 6.6 Driving the robot in Manual mode CAUTION...
  • Page 57 6. Getting started On the robot, press the Resume button. The status lights turn blue, indicating that the robot is in Manual mode. The robot is shown with an EU pallet lift. In the robot interface, select the joystick icon. The joystick control appears. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 58 6. Getting started 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 59: Checking The Hardware Status

    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. 6.8 Mounting the nameplate Before using MiR500 Pallet Lift, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see...
  • Page 60 6. Getting started NOTICE The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CE mark is invalid. To mount the nameplate correctly, follow these steps: Locate the right side hatch—see External parts on page Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area.

  • Page 61: Enable The Mir500 Pallet Lift Feature

    6. Getting started 6.9 Enable the MiR500 Pallet Lift feature To access the MiR500 Pallet Lift settings and mission menus, the MiR500 Pallet Lift features must be enabled. To check that they are enabled, follow these steps: Sign in to the robot interface, and go to System >...
  • Page 62 6. Getting started Under Pallet lift, select True. Under modules, select True. MiR500 Pallet Lift communicates with the robot through I/O modules, so they must be activated for the lift to work. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 63: Testing The Top Module

    6. Getting started 6.10 Testing the top module To test that the top module of MiR500 Pallet Lift is configured and connected correctly, follow these steps: Sign in to the robot interface, and go to Setup > I/O modules. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 64 6. Getting started Under MiR internal I/Os, complete the following sequence, and verify that the robot executes the expected action: Under Outputs, select 0, and wait for clicking sounds. This is the initialization of the calibration process. Under Outputs, select 3. Verify that the lift rises.

  • Page 65: Shutting Down The Robot

    If the lift was raised and lowered as expected and the correct input feedback was received, MiR Pallet Lift 500 is correctly installed. If MiR Pallet Lift 500 did not operate correctly, verify that you have enabled the feature as described in Enable the MiR500 Pallet Lift feature on page...
  • Page 66 6. Getting started When the robot finishes the shutdown process, the status and the signal lights go off, and the 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 MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 67: Battery And Charging

    7. Battery and charging 7. Battery and charging The robot is powered by a lithium battery that can be charged with a MiR cable charger or a MiR Charge 48V charging station. 7.1 Charging the robot This section describes how to charge MiR500 Pallet Lift using a MiR cable charger.

  • Page 68: Disconnecting The Battery

    7. Battery and charging Use only an original MiR cable charger. For information about the charging time, see specifications on the MiR website. 7.2 Disconnecting the battery Whenever the robot is to be transported, undergo maintenance, or stored for long periods of time, you should always disconnect the battery.

  • Page 69: Battery Disposal

    7. Battery and charging Charge the battery before storage to preserve the service life of the battery. To preserve the battery, disconnect the battery from the robot before storing the robot. 7.4 Battery disposal Return unserviceable batteries to relevant facilities in accordance with local statutory regulations.

  • Page 70: Security

    MiR500 Pallet Lift communicates all data over the network that it is connected to. It is the responsibility of the commissioner to ensure that it is connected to a secure network. MiR recommends conducting an IT-security risk assessment before commissioning the robot.
  • Page 71 Security patches are included from software version 2.8.3 and higher. Understanding MiR software versions MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1 means that the software is based on the second major release, the eighth minor release of the major version, the first patch release of the minor version, and, in this example, a single hot fix is included too.

  • Page 72: Navigation And Control System

    9. Navigation and control system 9. Navigation and control system The navigation and control system is responsible for driving the robot to a goal position while avoiding obstacles. This section describes the processes and components involved in the robot's navigation and control system. 9.1 System overview The purpose of the navigation and control system is to guide the robot from one position on a map to another position.
  • Page 73 9. Navigation and control system Figure 9.1. Flow chart of the navigation and control system. The user provides the necessary input for the robot to generate a path to the goal position. The robot executes the steps in the navigation loop until it reaches the goal position and stops by engaging the brakes.

  • Page 74: User Input

    9. Navigation and control system 9.2 User input To enable the robot to navigate autonomously, you must provide the following: • A map of the area, either from a .png file or created with the robot using the mapping function—see Creating and configuring maps on page 112.
  • Page 75 9. Navigation and control system Figure 9.3. The global path is shown with the blue dotted line that leads from the start to the goal position. The global path is created only at the start of a move action or if the robot has failed to reach the goal position and needs to create a new path.

  • Page 76: Local Planner

    9. Navigation and control system 9.4 Local planner The local planner is used continuously while the robot is driving to guide it around obstacles while still following the global path. Figure 9.5. The global path is indicated with the dotted blue line and is visible on the map. The local path is indicated with the blue arrow, showing the robot driving around a dynamic obstacle.

  • Page 77: Obstacle Detection

    9. Navigation and control system Figure 9.6. The local planner usually follows the global planner, but as soon as an obstacle gets in the way, the local planner determines which immediate path will get the robot around the obstacle. In this case, it will likely choose the path indicated with a green arrow.
  • Page 78 9. Navigation and control system Table 9.1. Description of how the robot sees obstacles with its sensors What the laser scanners What a human sees What the 3D cameras see A chair placed in the In the robot interface, the The 3D cameras detect corner of a room is red lines on a map are...
  • Page 79 9. Navigation and control system Figure 9.7. The two safety laser scanners together provide a full 360° view around the robot. When mapping, the safety laser scanners' view is reduced to 20 m to ensure that maps get the highest possible quality. The laser scanners have the following limitations: •...
  • Page 80 9. Navigation and control system 3D cameras Two 3D cameras positioned on the front of the robot detect objects in front of the robot. The 3D cameras detect objects: • Vertically up to 1700 mm at a distance of 950 mm in front of the robot. •...
  • Page 81 9. Navigation and control system Figure 9.9. The two 3D cameras have a horizontal field of view of 114°. The 3D cameras have the following limitations: • They can only detect objects in front of the robot, unlike the full 360° view of the laser scanners.
  • Page 82 9. Navigation and control system • The cameras are not reliable at determining depth when viewing structures with repetitive patterns. • The cameras may detect phantom obstacles if they are exposed to strong direct light. 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.

  • Page 83: Localization

    9. Navigation and control system 9.6 Localization The goal of the localization process is for the robot to determine where it is currently located on its map. The robot has three inputs for determining where it is: • The initial position of the robot. This is used as a reference point for the methods used to determine the robot position.
  • Page 84 9. Navigation and control system Failed localization Successful localization Figure 9.11. In a failed localization, the robot cannot determine a position where the red lines (laser scanner data) align with the black lines on the map. When the robot can localize itself, it determines a cluster of likely positions, indicated in the images above as blue dots.
  • Page 85 9. Navigation and control system • The robot must be able to detect the static landmarks that are marked on the map to be able to approximate its current position. Make sure there are not too many dynamic obstacles around the robot so that it cannot detect any static landmarks. Cannot detect any static landmarks Can detect enough static landmarks •...

  • Page 86: Motor Controller And Motors

    9. Navigation and control system • The robot does not compare the laser scanner data with the entire map, but only around the area that it expects to be close to based on the IMU and encoder data and its initial position.
  • Page 87 9. Navigation and control system Once the robot has stopped, the mechanical brakes are enabled. These brakes are used to keep the robot in place once it has stopped. You can compare the mechanical brakes with the parking brake or hand brake in a car. The mechanical brakes are only used to stop the robot when it is in motion in emergency situations triggered by the safety system.

  • Page 88: Safety System

    10. Safety system 10. Safety system The robot's safety system is designed to mitigate significant hazards which could lead to injury, for example, stopping the robot if a person is in its path. MiR500 Pallet Lift is equipped with a range of built-in safety-related functions. Each safety function is designed according to the standard ISO 13849-1.
  • Page 89 10. Safety system Operational stop The robot is in Operational stop when it is stopped through the robot interface either through a mission action or by pausing the mission. The top module and all moving parts are still connected to a power supply. Protective stop The robot enters Protective stop automatically to ensure the safety of nearby personnel.
  • Page 90 10. Safety system When the robot is in Emergency stop, the status lights of the robot turn red, and you are not able to move the robot or send it on missions until you bring the robot out of the Emergency stop.
  • Page 91 10. Safety system Figure 10.2. The Stop button is the left-most button on the control panel. Safety-related functions The following functions are integrated within the robot itself and cannot be modified or used with other applications. The following list introduces the main safety-related functions integrated in MiR500 Pallet Lift: •...
  • Page 92 • MiR Pallet Lift 500 safety functions MiR Pallet Lift 500 uses the electrical interfaces between the top module and the robot to communicate safety related information that is used for additional safety features. This includes monitoring the lift position to make sure the robot drives with the correct behaviour and checking the lift controller status for errors that may indicate that the lift is not working correctly.

  • Page 93: Personnel Detection

    10. Safety system 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. 10.2 Personnel detection The Personnel detection safety function prevents the robot from colliding with personnel or obstacles by stopping it before it collides with any detected obstacles.
  • Page 94 10. Safety system Drives when the area is clear Stops when an obstacle is detected Figure 10.4. Personnel detection ensures that the robot drives when its path is clear and stops if an obstacle is detected within its Protective field. The safety laser scanners are programmed with two sets of Protective fields. One field set is used when the robot is driving forward and the other when it is driving backward.
  • Page 95 10. Safety system WARNING The Protective field sets are configured to comply with the safety standards of MiR500 Pallet Lift. Modifications may prevent the robot from stopping in time to avoid collision with personnel and equipment. Any modifications of the SICK configuration requires a new CE certification of the robot and compliance to all safety standards listed in the specification of the application and in other way declared.
  • Page 96 10. Safety system Field set when driving forward The following table shows speeds and the field range when driving forward. The table describes the length of the Protective field in front of the robot in different cases. Each case is defined by a speed interval that the robot may operate at. The colors and cases in Table 10.1 correspond to the field set shown in Figure 10.5.
  • Page 97 10. Safety system Table 10.2. Range of the robot's Protective fields within its backward speed interval cases. Case Speed Protective field range Comments -0.10 to 0.0 m/s 0-350 mm When pivoting -0.30 to -0.10 m/s 0-400 mm -0.60 to -0.30 m/s 0-600 mm -0.90 to -0.60 m/s 0-850 mm...

  • Page 98: Overspeed Avoidance

    10. Safety system CAUTION When the robot has muted Protective fields, it may not stop in time to avoid collisions with obstacles or personnel in its path. • Mark areas where the robot mutes its Protective fields as operating hazard zones, and inform personnel not to enter the zone while the robot is operating in it.

  • Page 99: Emergency Stop Buttons

    10. Safety system If the robot detects instability, it is immediately brought into Protective stop. This ensures that the robot cannot drive if it has lost control of the speed of each drive wheel. 10.5 Emergency stop buttons There are four Emergency stop buttons on MiR500 Pallet Lift. When one of the buttons is pressed, it breaks the Emergency stop circuit, triggering an Emergency stop.

  • Page 100: Mir Pallet Lift 500 Safety Functions

    Front-left Emergency stop button 10.6 MiR Pallet Lift 500 safety functions When MiR Pallet Lift 500 is mounted to MiR500, the electrical top interfaces are no longer accessible. The interfaces are used to communicate the position of the lift and any errors detected by the lift controller in MiR Pallet Lift 500.

  • Page 101: Safety Stop

    10. Safety system Lift controller errors The lift controller can detect certain errors with the lift and uses the GPIO interface to forward the error to the robot computer so it is displayed in the robot interface. The lift controller will detect an error if: •...

  • Page 102: Light Indicators And Speakers

    10. Safety system The mechanical brakes are only intended to engage when the robot has stopped. Only when the dynamic brake function does not stop the robot within the expected amount of time are the mechanical brakes engaged to stop the robot while it is in motion. This is considered an emergency situation where the dynamic brakes have failed, and an error is reported in the robot interface.
  • Page 103 10. Safety system Table 10.1. Identification of indicator lights in Figure 10.8 Pos. Description Pos. Description Status lights Signal lights Status lights 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 10.2.
  • Page 104 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 105 10. Safety system CAUTION Changing the safety system can cause the robot to not comply with safety standards. • Do not disable the sound in the safety system. Figure 10.9. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its Protective fields.

  • Page 106: Commissioning

    11. Commissioning 11. Commissioning This section describes how to commission MiR500 Pallet Lift. Commissioning should be done without any load on the robot, except when doing brake tests where the robot should have a load equaling the heaviest load it will be driving with. Only persons assigned with the commissioning task should be present during commissioning.
  • Page 107 Temperature and humidity Temperatures outside of the approved temperature range can affect the performance and durability of the robot—see specifications on the MiR website. This is especially relevant for the robot's battery—see Battery storage on page...

  • Page 108: Risk Assessment

    Make sure the environment MiR500 Pallet Lift operates in is suitable for its IP rating—see specifications on the MiR website.
  • Page 109 11. Commissioning • 1.2.2 Control devices • 1.3.7 Risk related to moving parts • 1.7.1 Information and warning on the machinery • 1.7.2 Warning of residual risks • 1.7.3 Marking of the machinery • 1.7.4 Instructions The risk assessment will lead to new instructions that shall be written by the party who draw up the CE marking.

  • Page 110: Lift Modifications

    11. Commissioning 11.3 Lift modifications Additional holes can be added to MiR Pallet Lift 500 for custom applications. However, it is important not to damage any vital parts of the lift when doing so. NOTICE Modifying MiR Pallet Lift 500 voids the warranty of the lift.
  • Page 111 11. Commissioning Bottom frame of the lift The bottom frame of the lift is a 3 mm steel (S355) plate with a RAL 9005 powder coating. The hatched red areas in Figure 11.2 indicate areas where you are not allowed to make modifications in the bottom frame.

  • Page 112: Creating And Configuring Maps

    11. Commissioning 11.4 Creating and configuring maps The map is visible in the robot interface and is the basis for the robot's ability to navigate its surroundings safely and efficiently. The map illustrates the physical area in which the robot operates.
  • Page 113 MiR Fleet. • If you are using ramps, connect the maps using transitions—see MiR Robot Reference Guide, or ask your distributor for the guide How to set up transitions between maps. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 114 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 115 11. Commissioning Cleaning up a map The robot navigates best when using a clean map with as little noise as possible. Figure 11.5 is an example of what a map can look like after the mapping process but where it still needs further editing.
  • Page 116 11. Commissioning There are several tools in the robot interface that you can use to improve your map: • Erase uploaded or recorded data when editing walls to remove walls that were created around dynamic obstacles and noise on the map. Noise refers to recorded data that originates from interfering elements.
  • Page 117 For more information about what each zone does, see MiR Robot Reference Guide on the MiR website, or ask your distributor for the guide How to use zones on a map.
  • Page 118 11. Commissioning For more examples, contact your distributor for the guide How to use zones on a map. Descending staircases Issue: The robot sensors cannot detect descending staircases. Marking a staircase as a wall on the map will only confuse the robot as it will try to navigate from a wall that is not there. Solution: Mark staircases and areas surrounding staircases or holes in the floor as Forbidden zones on the map.
  • Page 119 11. Commissioning Highly dynamic areas A highly dynamic area is an area where objects are moved frequently. This could be a production area where pallets and boxes are often moved back and forth. Issue: The robot will stop if a person steps out in front of it. In a transient work flow area, the robot will stop and reassess its paths many times a day, thereby wasting valuable time.
  • Page 120 11. Commissioning Doorways Going through narrow doorways can cause problems for the robot's global planner since the robot must drive closer to wall edges than it usually would. It can also be hazardous for the people working near the robot, as they might not see the robot coming. Issue: The robot does not plan its global path through narrow doorways, since this will bring the robot too close to a known obstacle.
  • Page 121 11. Commissioning Shelves Shelves are often placed in a certain height above the floor on four (or more) posts and will often appear as dots on a map for the robot. This may cause the robot to believe that there is enough space (if the posts are far enough apart) below the shelves to pass through.
  • Page 122 If there isn't enough space for robots to pass each other, you can use a Limit-robots zone to specify that only one robot may drive down the corridor at a time. To use Limit-robots zones, your robots must be connected to MiR Fleet. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 123: 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 124 11. Commissioning robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm. Figure 11.11. The icon used for V-markers in the interface and an illustration of how robots can dock to the marker.
  • Page 125 11. Commissioning can be on any side of the robot. The marker is shaped liked an L with a defined angle of 90˚ and the dimensions 400 mm x 600 mm. Figure 11.13. The icon used for L-markers in the interface and an illustration of how robots can dock to the marker.
  • Page 126 Bar-marker or a Pallet rack marker to mark it on the map. Pallet rack marker Use a Pallet rack marker if the dimensions of your pallet racks are the same as MiR Pallet Rack—see MiR's website for MiR Pallet Rack specifications.

  • Page 127: 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 128: Creating Missions

    162. 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 129 How to use variables in missions. To create efficient missions, you should first familiarize yourself with the available actions in MiR Robot Interface—see the MiR Robot Reference Guide— and then consider: • Which tasks do I want the robot to perform? •...
  • Page 130 11. Commissioning Figure 11.17. You can use variables to make a mission where you can set a parameter in one of the actions each time you use the mission (either when you add the mission to the mission queue or embed it in another mission).
  • Page 131 169. 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 132: Creating A Footprint

    For more information on creating missions, see MiR Robot Reference Guide and the Making your first missions-course in MiR Academy on the MiR website. Contact your distributor for access to MiR Academy. 11.8 Creating a footprint The footprint specifies how much space the robot occupies, including any loads or top modules.
  • Page 133 11. Commissioning Default footprint Larger footprint Figure 11.19. Examples of the default robot footprint and an extended footprint. The values displayed along each line is the length of the edge in meters. The number of footprints you need to define depends on: •...
  • Page 134 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 135 11. Commissioning If you want to change the footprint in a mission, use the Set footprint action found under the Move action group. This is used to change the footprint when the robot picks up a load that extends the footprint or places a load and the footprint returns to the default. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 136: Using Operating Hazard Zones

    11. Commissioning If you want to edit the default footprint of the robot, for example if the mounted top module is larger than the robot, go to System > Settings > Planner, and select a new footprint under Robot footprint. 11.9 Using operating hazard zones Operating hazard zones are areas that must be visibly marked to comply with safety standards in EN 1525 and ISO 3691-4.
  • Page 137 Sound and light zones can be used to add acoustic and visual warnings when the robot drives into the zones. For more information about zones, see the MiR Robot Reference Guide. Docking to a marker If the robot needs to dock very close to a marker or another object, you can choose to make the robot mute its Protective fields temporarily—see...
  • Page 138 11. Commissioning Figure 11.20. The striped black and yellow line identifies the required operating hazard zone around the marker. The robot is placed on the Entry position to the marker.  You must mark the floor area one meter around the docking marker and the robot when it is at the entry position.
  • Page 139 11. Commissioning Multiple pallet racks When you have multiple pallet racks placed next to each other, they are part of the same operating hazard zone. The zone must be large enough to ensure that the edge of the zone is at least one meter from the pallet racks and the robot when it is at the Entry position to any pallet rack.
  • Page 140 11. Commissioning Pallet racks against a wall or structure When setting up pallet racks against a wall or other fixed structures, there must be escape routes between the pallet racks. To fulfill the safety requirements, place the pallet racks so there is 0.5 m of space between every second rack.

  • Page 141: Making A Brake Test

    11. Commissioning Pallet racks close together When setting up pallet racks so they are placed as closely together as possible, there must be an escape route behind the racks. To fulfill the safety requirements, there must be at least 0.5 m of free space behind the pallet racks and 0.5 m of free space on the side of one of the racks leading out of the operating hazard zone.

  • Page 142: 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 143 11. Commissioning For more details on users and dashboards, see MiR Robot Reference Guide on the MiR website. Create user groups Setup > User groups, you can create specific user groups with specific access to different parts of the robot interface.
  • Page 144 11. Commissioning Figure 11.24. You can select the specific parts of the robot interface that the user group has access to. Create users Setup > Users, you can create new users and select: • Which user group they belong in. •...

  • Page 145: Creating Dashboards

    11. Commissioning Figure 11.25. When you create a user, you must fill out the fields shown in this image. Table 11.1. Examples of which users MiR recommends should be able to edit which features Feature User group Controlling the robot manually...
  • Page 146 11. Commissioning For more details on how to use and create dashboards, see MiR Robot Reference Guide on the MiR website. 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 on, or the current mission queue.

  • Page 147: Updating Mir500 Pallet Lift Software

    Try to include only the necessary widgets. 11.13 Updating MiR500 Pallet Lift 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 148: Creating Backups

    Backups take up some of your robot's memory space. It is a good idea to remove any old backups you are certain you will not need in the future. For more information on how to create, roll back, and delete backups, see MiR Robot Reference Guide on the website.
  • Page 149 11. Commissioning Figure 11.27. Under System > Settings, there are several menus where you can edit your robot's settings. Remember to restart the robot if you have made any changes to the system settings. Planner In the Planner section, you set the basic parameters for driving the robot. This section refers to the local and global planner functions.
  • Page 150 11. Commissioning Figure 11.28. You set basic parameters for driving the robot in the Planner section. Robot height defines the height of the robot including top modules. Use this setting if your robot operates permanently with a top module that makes the combined robot application higher than the robot itself.
  • Page 151 11. Commissioning Maximum planning time defines the maximum time allowed for planning a path. By default, this parameter is disabled, meaning the robot will always try to finish planning a global path no matter how long it takes. If you want the robot to report an error after a set time period instead, enter the maximum amount of time in seconds that the robot can spend planning a path before it reports an error.
  • Page 152 11. Commissioning Line-following disabled Line-following enabled Figure 11.29. Example of where the robot might benefit from using a Line-following configuration. When there isn't enough space for the robot to go around an obstacle, it will often spend more time trying to maneuver around the obstacle and correct its trajectory afterward than it would have just waiting for the obstacle to move out of the way.
  • Page 153 11. Commissioning Figure 11.30. Change the parameters regarding docking to and from markers in the Docking section. Undock from markers, you can select if the robot should undock from a marker before it starts moving from a docked position. It is usually best to set this setting to True to prevent the robot from going into Protective stop when moving away from markers.
  • Page 154 11. Commissioning Safety system In the Safety system section, you can change which warning sound the robot should emit when it mutes its Protective fields and how loud the sound should play. Figure 11.31. In the Safety system section, you can change the robot's warning sound. Select Muted protective fields sound to change the warning sound that is played when the...
  • Page 155 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 156 I/O modules. This can be used for setting PLC registers and trigger missions. Enable this feature if the robot uses I/O modules, for example, when any MiR top module is mounted to the robot. Mute protective fields enables an action to mute the robot's Protective fields from missions.

  • Page 157: Usage

    12. Usage 12. Usage The main way to use MiR500 Pallet Lift is through missions that you create. In the following sections you will find practical examples of how missions can be tailored to different tasks. The examples include: • Setting markers and positions on the map. •...
  • Page 158 12. Usage Once the robot is localized, you can insert a marker on the map. In this example, we are using a VL-marker . To create a marker, follow these steps: Place your physical marker where you want the robot to dock. Manually drive the robot to the marker so the robot is facing the marker.
  • Page 159 12. Usage Go to Setup > Maps, and select Edit for the active map. Within the editor, select Markers in the Object-type drop-down menu, and then select Draw new marker in the editor tools. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 160 12. Usage In the Create marker dialog box, name the marker. Under Type, select your marker type. In this case, a VL-marker is used. Then select Detect marker. The X, Y, and orientation values will automatically be filled out with the current position of the robot.
  • Page 161 12. Usage • To change where the robot stops relative to the marker, you can adjust the offsets. These are valued in meters and are based on the centerpoint of the robot towards the marker. • The X-offset moves the robot closer to or further from the marker in meters. •...

  • Page 162: Creating Positions

    12. Usage Select to create the marker. The marker is now visible on the map. You can make the robot dock to the marker by selecting it on the map and selecting The marker can also be used in missions. 12.2 Creating positions The following steps describe how to create a position on a map.
  • Page 163 12. Usage In the Object-type drop-down menu, select Positions, and then select Draw a new position Select where on the map you want the position to be, and choose in which direction you want it to face. Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position.

  • Page 164: Creating The Mission Prompt User

    12. Usage Select to create the position. The position is now visible on the map. You can send the robot to the position by selecting it on the map and selecting to. The position can also be used in missions. 12.3 Creating the mission Prompt user Prompt user actions are used for prompting the user with a question on how the robot should proceed.
  • Page 165 12. Usage To create the mission, follow the steps below: Go to Setup > Missions. Select Create Mission. Name the mission Prompt user. Select the group and site you want it to belong to. Select Create mission. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 166 12. Usage Select the following actions: • In the Logic menu, select Prompt user. • In the Move menu, select Move. • In the Move menu, select Move. The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box.
  • Page 167 12. Usage In the Prompt user action, drag a Move to action under the box and a Move to action under the box. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 168 12. Usage In the first Move to action, under Position, select p1. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 169: Creating The Mission Try/Catch

    12. Usage In the second Move to action, under Position, select p2. The mission should look like this: Select Save to save the mission. 12.4 Creating the mission Try/Catch Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you can define what the robot should do if, at any point, it fails to execute its main mission.
  • Page 170 12. Usage providing an alternative course of action if the main mission fails. Try/Catch is a mission example where the robot runs the mission Prompt user created in Creating the mission Prompt user on page 164, and if the robot for some reason fails to complete the mission, the robot plays a sound.
  • Page 171 12. Usage Select the following actions: • In the Error handling menu, select Try/Catch. • Select the Prompt user mission you have made. The mission menu you have saved the mission under will figure as a menu in the mission editor. The menus contain both missions and actions.
  • Page 172 12. Usage The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box. When you have set the parameters, select Validate and close.
  • Page 173 12. Usage Drag the Play sound action under the Catch box under Try/Catch. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 174 12. Usage In the Play sound action, set the parameters as follows: • Sound: Select Beep. • Volume: Enter the value 80. This is approximately 64 dB. • Mode: Select Custom length so you can enter the duration of time the sound is played.

  • Page 175: Creating The Mission Variable Docking

    12. Usage 12.5 Creating the mission Variable docking All mission actions that require the user to specify the value of a parameter when they choose to use the mission have the option of defining a variable. If you use a variable in a mission when you add the mission to the mission queue or embed it inside another mission, you must select a value for the parameter where the variable is used.
  • Page 176 12. Usage To create the mission, follow these steps: Go to Setup > Missions. Select Create Mission. Name the mission Variable docking. Select the group and site you want it to belong to. Select Create mission. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 177 12. Usage Select the following actions: • In the Move menu, select Move. • In the Safety system menu, select Mute protective fields. • In the Move menu, select Docking. • In the Logic menu, select Wait. • In the Move menu, select Relative move.
  • Page 178 12. Usage In the Move action, make the parameter Position a variable that can be set each time you use the mission. The following steps describe how to create a variable: • Under Position, select Variables • Select Create variable in the upper-right corner.
  • Page 179 12. Usage • Under Position type, select Entry. This will make the robot move to the entry position of the marker. If the parameter Position type does not show up at first, select Validate close, and then open the action dialog box again. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 180 12. Usage In the Mute protective fields action, set the parameters as follows: • Sound: Select Default • Front: Create a variable titled Mute front. • Rear: Create a variable titled Mute rear. • Sides: Create a variable titled Mute sides. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 181 12. Usage Drag the Docking action into the Mute protective fields action, and under Marker position, create another variable titled Marker. If two variables share the same name, the value you select for that variable will be applied both places. 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.
  • Page 182 12. Usage Drag the Wait action into the Mute protective fields action, and under Time, create another variable titled Time. 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. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 183: Creating The Mission Pick Up And Place Pallet

    12.6 Creating the mission Pick up and place pallet MiR provides template missions you use to make the robot pick up and place pallets. The template missions use I/O modules to control and monitor the lift. You can use the templates missions as they are or modify them to your needs.
  • Page 184 12. Usage Go to Setup > Missions, and select Create mission. Name the mission Pick up and place pallet. Select the group and site you want it to belong to. Select Create mission. Select the following actions: • In the Pallet menu, select Pick pallet from rack.
  • Page 185 12. Usage For the Pick pallet from rack template mission, under PalletRackMarker, select Pallet rack The template mission makes the robot move to the Entry position of the chosen pallet rack and check if the pallet rack is occupied. If the robot detects a pallet on the rack, the robot docks to the pallet rack, picks up the pallet, and undocks from the rack.

  • Page 186: Testing A Mission

    12. Usage For the Place pallet on rack template mission, under PalletRackMarker, select Pallet rack The template mission makes the robot move to the Entry position of the chosen pallet rack and check if the pallet rack is occupied. If the robot does not detect a pallet on the rack, the robot docks to the pallet rack, places the pallet, and undocks from the rack.
  • Page 187 12. Usage We recommend running the mission 5-10 times to ensure that it runs smoothly. If something interrupts the mission, use a Try/Catch action in that step of the mission and decide what the robot has to do if a mission action fails.

  • Page 188: 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 Pallet Lift 500. This can be required when troubleshooting issues or replacing robot components. WARNING Opening or removing hatches 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 189 13. Unmounting the top module Remove the cover from the lifting device using suction cups. Unscrew the four bolts that fix the ends of each lifting device to the robot. Use a size 8 Hex key. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 190 13. Unmounting the top module Unscrew the four bolts in the frame and screw in four M12x50 lifting eye bolts instead. The eye bolts must be rated to lift 350 kg and have a standard 1.75 mm thread pitch incline. Mount a lifting device, such as a crane, to the eye bolts and raise the lift so it is elevated 10-20 cm from the robot.
  • Page 191 To disconnect the cables that connect to the robot's electrical interfaces, twist the connectors to the left to unlock them from their sockets. When you remount MiR Pallet Lift 500 to the robot, make sure to twist the connectors to their right to lock them.
  • Page 192 Lift 500, you can mount the top module again by following the above instructions in the reverse order. When mounting MiR Pallet Lift 500, make sure to face the end with six holes in the frame to the front of the robot.
  • Page 193 13. Unmounting the top module You can also contact your distributor for the mounting guide for your product. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 194: Maintenance

    14. Maintenance 14. Maintenance The following maintenance schedules give an overview of regular cleaning and parts replacement procedures. It is the responsibility of the operator to perform all maintenance tasks on the robot. The stated intervals are meant as guidelines and depend on the operating environment and frequency of usage of the robot.
  • Page 195 Check if the signal lights on the four corners blink and show light correctly. MiR Pallet Lift 500 Clean the MiR Pallet Lift 500 on the outside with a damp cloth. top cover and sides Do not use compressed air to clean the robot.

  • Page 196: Regular Checks And Replacements

    14. Maintenance 14.2 Regular checks and replacements Before starting replacement tasks that involve removal of the top cover or side hatches: • Shut down the robot—see Shutting down the robot on page • Disconnect the battery—see Disconnecting the battery on page Table 14.2 contains the parts that you should check and how often you should do that.
  • Page 197 14. Maintenance Part Maintenance Interval NOTICE The robot must be calibrated after replacement of the wheels. Safety laser Check for visual defects, for Replace as needed. scanners example cracks and scratches. Control panel Check that all buttons on the Every three to four months. control panel function.

  • Page 198: Battery Maintenance

    Actuators last for approximately 500 actuators occur, replace the actuators with 60.000 fully loaded lift cycles. approved spare parts from MiR. CAUTION If the robot has been impacted, it may be structurally damaged, causing a risk of malfunction and injury to personnel.

  • Page 199: Packing For Transportation

    15. Packing for transportation 15. Packing for transportation This section describes how to pack the robot for transportation. 15.1 Original packaging Use the original packaging materials when transporting the robot. Figure 15.1. The packing materials. The packaging materials are: • The bottom of the box (the pallet) •...

  • Page 200: Packing The Robot For Transportation

    15. Packing for transportation 15.2 Packing the robot for transportation Before packing the robot for transportation: • Shut down the robot—see Shutting down the robot on page • Disconnect the battery—see Disconnecting the battery on page To pack the robot, repeat the steps in Unpacking MiR500 Pallet Lift on page 49 in the reverse order.

  • Page 201: Payload Distribution

    16. Payload distribution 16. Payload distribution The specifications for the position of the payload's center of mass for MiR500 Pallet Lift are not available. See the MiR500 User Guide for an approximation of where the center of mass of the payload must be positioned for safe operation. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.

  • Page 202: Disposal Of Robot

    17. Disposal of robot 17. Disposal of robot MiR500 Pallet Lift robots must be disposed of in accordance with the applicable national laws, regulations, and standards. Fee for disposal and handling of electronic waste of Mobile Industrial Robots A/S robots sold on the Danish market is prepaid to DPA-system by Mobile Industrial Robots A/S.

  • Page 203: Interface Specifications

    This section describes how MiR Pallet Lift 500 interfaces with MiR500. NOTICE Read Safety on page 39 before using the electrical interface. MiR500 uses four electrical interfaces to communicate with MiR Pallet Lift 500. They can be divided into two groups: • General purpose interfaces: •...
  • Page 204 18. Interface specifications Power Figure 18.1. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). Table 18.1 contains the description of the pins of the Power interface. The maximum current across pins 1 and 3 combined is 20 A. You cannot draw 20 A from both of them at the same time.
  • Page 205 18. Interface specifications Signal Max. Description number name current Protective or Emergency stop. Ground. Supplies power to the lift controller and actuators. Ground. Unassigned Unassigned. GPIO Figure 18.2. Pin numbers: male connector viewed from the front (left) and wiring diagram (right). MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 206 • Four outputs, for use with 24 V. MiR500 uses the GPIO interface to communicate to MiR Pallet Lift 500 as described in MiR Pallet Lift 500 works on page Table 18.2 contains the description of the pins of the GPIO interface.

  • Page 207: Safety Interfaces

    18.2 Safety interfaces This section describes how the general purpose interfaces located in the right side top compartment of MiR500 are used by MiR Pallet Lift 500. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 208 18. Interface specifications Auxiliary emergency stop Figure 18.4. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). The Auxiliary emergency stop interface is designed to support Emergency stop and other safety functions—see Emergency stop buttons on page Table 18.3 contains the description of the pins of the Auxiliary emergency stop interface.
  • Page 209 18. Interface specifications Signal Lift funct Type Description number name E-stop 2 Input Input signal to the safety PLC for the Connects to Emergency stop circuit. Must pin 2 in a receive 24 V to prevent the robot closed loop. from entering Emergency stop.
  • Page 210 18. Interface specifications The Auxiliary safety functions interface is designed to support safety functions that can trigger a Protective stop—see Safety system on page Table 18.4 contains the description of the pins of the Auxiliary safety functions interface. Table 18.4. Description of the pins in the Auxiliary safety functions interface Signal Type...
  • Page 211 18. Interface specifications Signal Type Description Lift function number name Locomotion Output Active when the Unused. robot is standing still. Shared E- Output Inactive when the Unused. stop out 1 robot is in Emergency stop. Shared E- Output Inactive when the Unused.
  • Page 212 18. Interface specifications Signal Type Description Lift function number name input is inactive. This makes the robot unable to drive faster than 0.3 m/s when the lift is raised. Unassigned Unassigned. Unassigned. Unassigned Unassigned. Unassigned. Safe RTN Ground Safe return. Safe return.

  • Page 213: Error Handling

    19. Error handling 19. Error handling The robot enters an error state when it can't solve a problem on its own. Errors include: • Hardware faults • Failed localization • Failure to reach destination • Unexpected events in the system An error triggers a Protective stop.

  • Page 214: Hardware Errors

    Creating and configuring maps on page 112. To clear an error, select the red warning indicator in the interface, and select Reset. For more details on setting up missions and error handling, see MiR Robot Reference Guide on the MiR website. 19.2 Hardware errors If the error is a fault in the hardware, either you will not be able to clear it, or the error will return until the fault is fixed.
  • Page 215 For further troubleshooting, contact your distributor for specific MiR troubleshooting guides or assistance from MiR Technical Support. For a full list of MiR error codes, contact your distributor for the document Error codes and solutions. MiR500 Pallet Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2018-2020: Mobile Industrial Robots A/S.
  • Page 216 MiR500 Pallet Lift; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering.
  • Page 217 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 218 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 219 Payload The payload is the weight the robot carries. Total payload capacity is the maximum weight the robot can carry, including the weight of any top modules, shelves, carts, or other devices. Position A position is a set of X-Y coordinates on the map that you can send the robot to. Protective field sets The Protective fields sets are a part of the Personnel detection safety function.

This manual is also suitable for:

8005201000 pallet lift801020500 eu pallet lift800510

Table of Contents