MIR 100 Hook Quick Start Manual
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MIR 100 Hook Quick Start Manual

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Quick Start (en)
Date: 10/2020
Revision: v.1.1

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Summary of Contents for MIR 100 Hook

  • Page 1 Quick Start (en) Date: 10/2020 Revision: v.1.1...

  • Page 2: Table Of Contents

    Table of contents 1. 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 Residual risks 2.7 Warning label 3. Light indicators and speakers 3.1 Status lights 3.2 Speakers 4.
  • Page 3 5.8 Mounting the nameplate 5.9 Enable MiR100 Hook feature 5.10 Testing the top module 5.11 Shutting down the robot MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 4: Version History

    1. Version history 1. Version history This table shows current and previous versions of this manual and their interrelations with hardware releases. MiR100 Hook HW MiR Revision Release date Description Hook MiR100 2020-10-01 First version. 2020-10-30 Updates and improvements throughout the manual.

  • Page 5: Safety

    2. Safety 2. Safety Read the information in this section before powering up and operating MiR100 Hook. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR100 Hook 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 2. Safety WARNING The robot may drive down staircases or holes in the floor and cause serious injury to personnel and damage to the robot and to equipment. • Mark descending staircases and holes as Forbidden zones on maps. • Keep the maps up to date.
  • Page 8 2. Safety WARNING Lithium battery packs may get hot, explode, or ignite and cause serious injury if they are misused electrically or mechanically. Observe the following precautions when handling and using lithium-ion batteries: • Do not short-circuit, recharge, or connect with false polarity. •...
  • Page 9 2. Safety WARNING Load falling or the 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 the user guide of your robot for payload specifications.

  • Page 10: Intended Use

    2. Safety CAUTION Robot malfunctions can cause an electrical fire, causing damage and injury to equipment and personnel. • Personnel operating near the robot must be informed on how to use an ABC fire extinguisher to put out an electrical fire should the robot malfunction and catch on fire.

  • Page 11: Users

    2. Safety NOTICE A safe machine does not guarantee a safe system. Follow the commissioning guidelines in your robot's user guide to ensure a safe system. 2.4 Users MiR100 Hook is only intended to be used by personnel that have received training in their required tasks.

  • Page 12: Foreseeable Misuse

    2. Safety • Assigning missions to MiR100 Hook. • Fastening loads to MiR100 Hook securely. • Loading and unloading from a paused robot. All other persons in the vicinity of MiR100 Hook are considered indirect users and must know how to act when they are close to the robot. 2.5 Foreseeable misuse Any use of MiR100 Hook deviating from the intended use is deemed as misuse.

  • Page 13: Warning Label

    2. Safety • You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot or walk towards the robot or its intended path while it is in motion. • You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot or walk towards it while it is driving in reverse.

  • Page 14: Light Indicators And Speakers

    3. Light indicators and speakers 3. Light indicators and speakers The robot uses its status lights and speaker to let people in the environment know what the robot is currently doing or planning to do. 3.1 Status lights The LED light band running all the way around the robot indicates the robot’s current operational state.

  • Page 15: Speakers

    White wavering Prompt user / Waiting for user's response Cyan wavering (MiR Waiting for MiR Fleet resource Fleet robots only) When the robot's battery reaches a critically low level of power (0-1%), the ends of the status lights flash red.

  • Page 16: Security

    MiR100 Hook 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 17 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 18: Getting Started

    5. Getting started 5. Getting started This section describes how to get started with MiR100 Hook. NOTICE Read Safety on page 5 before powering up MiR100 Hook. 5.1 In the box This section describes the contents of the MiR100 Hook boxes. Figure 5.1.
  • Page 19 • One charging cable • One external charger, 24 V DC, 10 A • Four hex key bolts for mounting MiR Hook 100 • A MiR100 Hook document folder containing a USB flash drive and the following printed documents: •...

  • Page 20: Unpacking Mir100 Hook

    MiR Robot REST API Reference • Getting the robot online • The MiR Hook 100 top module 5.2 Unpacking MiR100 Hook This section describes how to unpack the robot. Keep the original packaging for future transportation of MiR100 Hook. Follow these steps to unpack the robot: Place the box with the robot so that there is three meters of free space at the front or the back of the box.
  • Page 21 Align the lid so that it is flush with the base of the box. Unpacking MiR Hook 100 top module Follow these steps to unpack MiR Hook 100: Remove the pallet lid. Remove the shield and cut the cord that holds the hook attached to the pallet.
  • Page 22 5. Getting started Loosen the two highlighted screws and remove the four weights. Remove the two screws in the front of the hook. MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 23: Connecting The Battery

    5. Getting started Remove the two screws on the back of the hook. Remove the hook from the pallet. 5.3 Connecting the battery Follow these steps to connect the battery to the robot: MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 24 5. Getting started Grab the two rounded corners and carefully lift off the cover. Connect one of the two battery cables to the plug on top of the battery box. The second cable is for an extra battery. MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 25 5. Getting started Switch on the three relays placed in the corner by the front laser scanner. Start with the outer relay that is closest to the robot frame and continue towards the center of the robot. The outer relay is the 32 A main power relay. Ensure that the Battery disconnect switch, placed in the rear right corner, is on (the two yellow indicators pointing to On).
  • Page 26 5. Getting started Put the cover back on and make sure to fit it correctly over the connector openings. MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 27: Powering Up The Robot

    5. Getting started 5.4 Powering up the robot Follow these steps to power up the robot: Press the Power button in the corner to turn on the robot. The status lights waver yellow, and the robot starts the software initialization process. When the initialization process ends, the robot goes into Protective stop.

  • Page 28: Connecting To The Robot Interface

    5. Getting started Press the reset button on the Emergency stop on the hook when it lights up. The status light now switches to yellow constant light, indicating that the robot is paused and ready to operate. 5.5 Connecting to the robot interface When the robot is turned on, it enables the connection to its WiFi access point.
  • Page 29 MiR_20XXXXXXX. The access point name is derived from the robot application's model serial number. 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 on the next page.

  • Page 30: Driving The Robot In Manual Mode

    5. Getting started 5.6 Driving the robot in Manual mode CAUTION When driving the robot in manual mode, it is possible to drive the robot into Forbidden zones and Unpreferred zones on the map. This can result in injury to personnel or damage to equipment if the robot is not driven carefully.
  • Page 31 5. Getting started MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.

  • Page 32: Checking The Hardware Status

    For more information, see Hardware health in MiR Robot Reference Guide on the MiR website. 5.8 Mounting the nameplate Before using MiR100 Hook, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application.
  • Page 33 5. Getting started NOTICE The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CE mark is invalid. The following steps describe how to mount the nameplate correctly: Locate the area below the side cover near the swivel wheel at the rear end of the robot. Clean the area marked in the image below with a degreasing agent.
  • Page 34 5. Getting started 5.9 Enable MiR100 Hook feature To access the MiR100 Hook settings and mission menus, the MiR100 Hook features must be enabled. Follow these steps to check that they are enabled: Sign in to the robot interface, and go to System >...
  • Page 35 5. Getting started Under Hook, select True. 5.10 Testing the top module To test that the top module of MiR100 Hook is configured and connected correctly, follow the steps in the following sections. MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 36 5. Getting started Manual test Under Hook > Manual control, select the following listed actions, and verify that the hook performs as described: • Open: opens the hook gripper. • Close: closes the hook gripper. • Deactivate brake: allows horizontal movement of the hook arm. Always deactivate the brake when driving a robot with a cart is coupled to it.
  • Page 37 5. Getting started In the robot interface, go to Hook > Manual control. Under Hook actions, select Home, and wait until the hook stops moving. Select Deactivate brake. Manually push the arm close to 0 degrees. Select Activate brake. Homing is now complete. MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 38 5. Getting started 5.11 Shutting down the robot Follow these steps to shut down MiR100 Hook: Ensure that the robot is not moving or executing an action. Press the Power button for three seconds. The robot starts the shutdown process. The status lights waver yellow. When the robot finishes the shutdown process, the status lights are off.
  • Page 39 5. Getting started MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 40 5. Getting started MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 41 5. Getting started MiR100 Hook Quick Start (en) 10/2020 - v.1.1 ©Copyright 2016-2020: Mobile Industrial Robots A/S.
  • Page 42 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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