MIR 250 User Manual
  1. Manuals
  2. Brands
  3. MIR Manuals
  4. Robotics
  5. 250
  6. User manual

MIR 250 User Manual

Hide thumbs Also See for 250:
Table of Contents

Advertisement

Quick Links

Download this manual
User Guide (en)
Date: 11/2020
Revision: v.1.3

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 250 and is the answer not in the manual?

Questions and answers

Related Manuals for MIR 250

Summary of Contents for MIR 250

  • Page 1 User Guide (en) Date: 11/2020 Revision: v.1.3...
  • 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

    Table of contents 1. About this document 1.1 Where to find more information 1.2 Version history 2. Product presentation 2.1 Main features of MiR250 2.2 Top modules 2.3 External parts 2.4 Internal parts 3. Warranty 4. Safety 4.1 Safety message types 4.2 General safety precautions 4.3 Intended use 4.4 Users...
  • Page 4 6.1 In the box 6.2 Unpacking MiR250 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 Moving the robot by hand 6.8 Checking the hardware status 6.9 Mounting the nameplate 6.10 Shutting down the robot 7.
  • Page 5 9.6 Localization 9.7 Motor controller and motors 9.8 Brakes 10. Safety system 10.1 System overview 10.2 Personnel detection 10.3 Overspeed avoidance 10.4 Stability 10.5 Emergency stop circuit 10.6 Safeguarded stop 10.7 Locomotion 10.8 Shared emergency stop 10.9 Reduced speed 10.10 Safety stop 10.11 Light indicators and speakers 11.
  • Page 6 11.9 Making a brake test 11.10 Creating user groups and users 11.11 Creating dashboards 11.12 Updating MiR250 software 11.13 Creating backups 11.14 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 80 cm doorway 12.7 Testing a mission...
  • Page 7 16. Disposal of robot 17. Payload distribution 17.1 Side view 17.2 Front view 17.3 Top view 18. Interface specifications 18.1 Left side interfaces 18.2 Right side interfaces 18.3 Connector list 19. Error handling 19.1 Software errors 19.2 Hardware errors MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 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

    1. About this document 1.2 Version history This table shows current and previous versions of this document. MiR250 Revision Release date Description 2020-06-26 First edition 2020-07-01 General improvements throughout the document. 2020-07-08 Update section: Operating hazard zones General improvements throughout the document.

  • Page 10: Product Presentation

    2. Product presentation 2. Product presentation MiR250 is an autonomous mobile robot that can transport loads up to 250 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. Users operate MiR250 via a web-based user interface, which is accessed through a browser on a PC, smartphone, or tablet.

  • Page 11: Main Features Of Mir250

    • Efficient transportation of heavy loads The robot is designed to automate transportation of loads up to 250 kg. • Sound and light signals The robot continuously signals with light and sounds, indicating where it will drive and its current status, for example, waiting for a mission, driving to a destination, or destination reached.

  • Page 12: Top Modules

    2.2 Top modules The following top modules are available for MiR250: • MiR Shelf Carrier 250 A top module that allows MiR250 to tow shelves. To learn more about the top modules, go to the MiR website.

  • Page 13: External Parts

    2. Product presentation 2.3 External parts This section presents the parts of MiR250 that are visible on the outside. Figure 2.1. MiR250 external parts. Table 2.1. Identification of the external parts in Figure 2.1 Pos. Description Pos. Description Corner bumper: four pcs, one Front cover: opens to front on each corner compartment—see...
  • Page 14 2. Product presentation Pos. Description Pos. Description Nanoscan3 safety laser Status light: on all four sides scanner: two pcs, in opposite of the robot—see Light corners—see Obstacle indicators and speakers on detection on page 74 page 101 Side cover: opens to side Control panel—see Control compartment—see...
  • Page 15 2. Product presentation Figure 2.2. Placement of the identification label. Figure 2.3. Example of a MiR250 identification label. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 16 2. Product presentation Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR250 identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots. The nameplate identifies the complete MiR application, for example, a robot with a top module.
  • Page 17 2. Product presentation The control panel buttons Figure 2.5. The MiR250 control panel. Table 2.1. Identification of items on the control panel in Figure 2.5 Pos. Description Pos. Description Manual stop button Resume button Power button Operating mode key Manual stop Pressing this button stops the robot.
  • Page 18 2. Product presentation • 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: • Blinking blue: The robot is waiting for a user action (clear the Emergency stop state, acknowledge the change of operating mode).
  • Page 19 2. Product presentation • 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. For more information on operating modes, see Operating modes on the next page.
  • Page 20 2. Product presentation Figure 2.6. The manual brake release switch is located below the control panel. The mechanical brakes require electrical power to be released, so if the robot is without power, the mechanical brakes cannot be released. If MiR250 shuts down due to low battery percentage, there is still enough power to release the brakes for approximately a week after.

  • Page 21: Internal Parts

    2. Product presentation For information about activating this mode, see Driving the robot in Manual mode on page 53. Autonomous mode In this mode, the robot executes the programmed missions. After switching the key to this mode, you can remove the key, and the robot will continue driving autonomously. In Autonomous mode, the joystick is disabled in the robot interface.
  • Page 22 2. Product presentation Figure 2.7. Internal parts of the front compartment. Table 2.1. Identification of internal parts in Figure 2.7 Pos. Description Pos. Description Loudspeaker Carrier board with motor controller controlling the left- side drivetrain Carrier board with motor Robot computer controller controlling the right- side drivetrain Charging pads under robot and...
  • Page 23 2. Product presentation To open the rear compartment, see Accessing the internal parts on page 38. NOTICE The unique nameplate of your robot is to be mounted on the rear compartment cover—see Mounting the nameplate on page 58. Make sure you do not swap the cover with covers from other robots. Rear compartment components The rear compartment components are listed in Table 2.3.
  • Page 24 2. Product presentation Side compartments The side compartments contain the bogies and drive wheels. To access a side compartment, see Accessing the internal parts on page 38. Side compartment components The left side compartment components are listed in Table 2.4 Figure 2.8. Internal parts of the left side compartment. Table 2.4.
  • Page 25 2. Product presentation Figure 2.9. Internal parts of the right side compartment. Table 2.5. Identification of internal parts in Figure 2.9 Pos. Description Pos. Description Router Safe Stop 1 (SS1) contactor Bogie and drivetrain consisting of motor, gearbox, encoder, brake, drive wheel, and assembly parts Top compartments The two top compartments contain electrical interfaces that can be connected to top...
  • Page 26 2. Product presentation Figure 2.10. The top compartments on the robot. Top compartment components The top compartments interfaces are listed in Table 2.6. For detailed information on electrical interfaces, see Interface specifications on page 199. Figure 2.11. Interfaces in the top compartments. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 27 2. Product presentation Table 2.6. Identification of interfaces in Figure 2.11 Pos. Description Pos. Description Emergency stop Auxiliary power connector Ethernet General purpose I/Os Auxiliary safety functions I/Os MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 28: 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 MiR250 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR250, accessories, or any other equipment due to programming errors or malfunctioning of MiR250.

  • Page 29: Safety

    4. Safety 4. Safety Read the information in this section before powering up and operating MiR250. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR250 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR250, accessories, or any other equipment due to programming errors or malfunctioning of MiR250.

  • Page 30: General Safety Precautions

    4. Safety 4.2 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 31 • Only use an original MiR charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns.
  • Page 32 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 33: Intended Use

    4. 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 192.

  • Page 34: Users

    • MiR Shelf Carrier 250 to transport MiR supported shelves. MiR250 can be used as a partly complete machine as defined in the EU machinery directive, with top modules that do not meet the above limitations. Those who design, manufacture, or commission a system that does not meet the limitations of use of MiR250 carry the obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.
  • Page 35 4. Safety There are three types of intended users for MiR250: commissioners, operators, and direct users. Commissioners Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and maintenance of MiR250 and have the following main tasks: • Commissioning of the product. This includes creating maps and restricting the user interface for other users and making brake tests with a full payload.

  • Page 36: Foreseeable Misuse

    4. Safety 4.5 Foreseeable misuse Any use of MiR250 deviating from the intended use is deemed as misuse. This includes, but is not limited to: • Using the robot to transport people • Using the robot on steep surface grades, such as ramps •...

  • Page 37: Residual Risks

    4. Safety 4.7 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: • 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.

  • Page 38: 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 39: 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 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 40: 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 41: 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 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 42: Top Compartments

    5. Accessing the internal parts Pull the cover off. 5.4 Top compartments To open a top compartment, unscrew the four screws with a T8 Torx screwdriver, and lift off the black plastic top cover. NOTICE With the antenna cables mounted, the plastic top covers can be lifted 50 mm. If you need to remove a cover completely, the antenna cable needs to be detached from the cover first.
  • Page 43 5. Accessing the internal parts Figure 5.1. The top compartments of MiR250. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 44: Getting Started

    NOTICE Read Safety on page 29 before powering up MiR250. In some images in this section, the robot is shown with a MiR Shelf Carrier 250 top module. 6.1 In the box This section describes the contents of the MiR250 box.

  • Page 45: Unpacking Mir250

    The USB flash drive in the document folder has the following content: • MiR250 User Guide • MiR250 Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference • Getting the robot online •...
  • Page 46 6. 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 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 47 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 48: Connecting The Battery

    6. Getting started 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 38. 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 49 6. 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 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 50: Powering Up The Robot

    6. Getting started 6.4 Powering up the robot To power up the robot, follow these steps: Press the Power button for three seconds 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 51 6. Getting started Press the Resume button to clear the Protective stop. The robot is now ready for operation. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 52: 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 53: 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 54 6. 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 55: Moving The Robot By Hand

    6. Getting started 6.7 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 56 6. Getting started Release the brakes by turning the Manual brake release switch located below the control panel clockwise. Figure 6.2. The Manual brake release switch is located below the control panel. To move the robot by hand, either push or pull it. Figure 6.3.

  • Page 57: Checking The Hardware Status

    6. Getting started Figure 6.4. When pulling the robot, use either the front pull handle or the rear pull handle. 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 plate.

  • Page 58: 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. 6.9 Mounting the nameplate Before using MiR250, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see...
  • Page 59 6. Getting started To mount the nameplate correctly, follow these steps: Locate the rear cover—see External parts on page 13. Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 60: Shutting Down The Robot

    6. Getting started 6.10 Shutting down the robot To shut down MiR250, follow these steps: 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, and the Power button blinks red.
  • Page 61 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 63.

  • Page 62: Battery And Charging

    7.1 Charging the robot This section describes how to charge MiR250 using a MiR cable charger. A MiR cable charger is not part of the MiR250 standard delivery. Contact your distributor for more information. The robot is delivered 40-60% charged.

  • Page 63: Disconnecting The Battery

    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. 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 64: Battery Storage

    7.3 Battery storage The battery should be stored in an area at room temperature with a non-condensing relative air humidity—see specifications on the MiR website. Temperatures and humidity below or above the specifications will shorten the service life of the battery.
  • Page 65 7. Battery and charging NOTICE If you store the battery for a longer period of time when it is almost depleted, you may not be able to get it running again. Contact your distributor if this occurs. To preserve the battery, disconnect the battery from the robot before storing the robot. Power save mode If the battery is not used for a period of time, it enters Power save mode.

  • Page 66: Battery Disposal

    7. Battery and charging The battery percentage displayed in the robot interface is based on when the robot will shut down due to low voltage. When the interface displays 0% battery percentage, the actual state of charge is around 5% Deep sleep When the battery is completely depleted, the battery enters Deep sleep mode.

  • Page 67: Security

    MiR250 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 68 8. 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 69: 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 70 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 71: 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 108.
  • Page 72 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 73: 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 74: 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 75 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 76 Vertically up to 1800 mm at a distance of 1200 mm in front of the robot. • Horizontally in an angle of 114° and 250 mm to the first view of ground. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 77 9. Navigation and control system The 3D cameras are only used for navigation. They are not part of the robot's safety system. The camera readouts are used as 3D point cloud data. They are not recording recognizable objects or people. Figure 9.8.
  • Page 78 9. Navigation and control system 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. • They do not detect transparent or reflective obstacles well. •...

  • Page 79: Localization

    9. Navigation and control system The proximity sensors have the following limitations:  • They do not have a long range and are mainly used to detect obstacles missed by the laser scanners and cameras. • When the robot is driving fast, obstacles detected by the proximity sensors are too close for the robot to stop for or avoid.
  • Page 80 9. Navigation and control system Failed localization Successful localization Figure 9.10. 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 81 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 82: 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 83 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 84: 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. MiR250 is equipped with a range of built-in safety-related functions as well as safety-related electrical interfaces designed for integration with a top module.
  • Page 85 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 86 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 87 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 MiR250: •...
  • Page 88 The reduced speed function can be connected to a top module, enabling it to make the robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the robot does not drive fast when the lift is raised.

  • Page 89: Personnel Detection

    10. Safety system Protective or Emergency stop is triggered. Also, the safety PLC sends information to the robot computer to be displayed in the robot interface (go to Monitoring > Hardware health) and to indicate the robot's status through the status lights and the speaker. Figure 10.3.
  • Page 90 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 91 10. Safety system WARNING The Protective field sets are configured to comply with the safety standards of MiR250. 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 92 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 93 10. Safety system Field set when driving backward The field set for driving backward is the same as the field set for driving forward. However, the robot is limited to a top speed of 1.0 m/s when driving backward and therefore only has five fields.

  • Page 94: Overspeed Avoidance

    10. Safety system Muted Protective fields When performing tasks that require the robot to move very close to surrounding objects, the robot mutes the Protective field sets. CAUTION When the robot has muted Protective fields, it may not stop in time to avoid collisions with obstacles or personnel in its path.

  • Page 95: Stability

    10. Safety system 10.4 Stability The stability function prevents the robot from driving if the motor encoders measure that the expected difference between how fast each wheel turns is outside the predefined safety limits. This indicates that the robot is not driving as intended, for example, if one of the wheels loses traction.

  • Page 96: Safeguarded Stop

    10. Safety system Emergency stop button Emergency stop button Emergency stop circuit released pushed faulty Figure 10.7. If the input pins deliver 24 V to the robot, it can operate. When you push a connected Emergency stop button, both pins deliver 0 V, and the robot enters Emergency stop. If the pins do not deliver the same input, the robot enters Protective stop until the circuits are fixed.

  • Page 97: Locomotion

    10. Safety system Signal to enable Signal to enter Protective Signal to enter Protective operation stop stop Figure 10.8. If both pins deliver 24 V to the robot, it can operate. If either or both of the pins deliver 0 V, the robot enters Protective stop.

  • Page 98: Shared Emergency Stop

    10. Safety system Signal when driving Signal when stopped Figure 10.9. When the robot is driving, the safety PLC sends a 0 V signal to the top module through the Auxiliary safety function interface. When the robot is stopped, the signal becomes 24 V. Pins 5 in interfaces A and B of the Auxiliary safety functions are used for the Locomotion function.

  • Page 99: Reduced Speed

    10. Safety system If the pins are unequally set for more than three seconds, the safety PLC registers this as an error in the system and needs to be reset before the robot can operate again. To do this, you must restart the robot. Shared emergency stop Shared emergency stop Not in Emergency stop...

  • Page 100: Safety Stop

    10. Safety system Default speed Reduced speed Reduced speed Figure 10.11. The robot drives at its default speed only when both inputs are 24 V. If either or both pins are 0 V, the robot drives at 0.3 m/s. Pins 4 in interfaces A and B of the Auxiliary safety functions are used for the Reduced speed function.

  • Page 101: 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 102 10. Safety system Table 10.1. Identification of indicator lights in Figure 10.12 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 103 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 104 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 10.13. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its Protective fields.

  • Page 105: Commissioning

    11. Commissioning 11. Commissioning This section describes how to commission MiR250. 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 106 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 64.

  • Page 107: Risk Assessment

    Make sure the environment MiR250 operates in is suitable for its IP rating—see specifications on the MiR website. Static landmarks and dynamic obstacles The robot uses static landmarks to navigate by.

  • Page 108: Creating And Configuring Maps

    11. Commissioning • 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. The instructions must at least include: • Intended use and foreseeable misuse. •...
  • Page 109 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 110 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 111 11. Commissioning Cleaning up a map The robot navigates best when using a clean map with as little noise as possible. Figure 11.3 is an example of what a map can look like after the mapping process but where it still needs further editing.
  • Page 112 11. Commissioning • Draw a new shape when editing floors to fill out the gray areas where there should be floor. When using this tool, you do not affect the walls on the map. • Draw a new line when editing walls to create solid and even walls. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 113 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 114 11. Commissioning Solution: Mark the area where the low hanging fixture is located as a Forbidden zone. 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.
  • Page 115 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 116 Solution: Make the glass visible to the safety laser scanners by gluing non-transparent window film on the glass in the scanner height, 150 to 250 mm, or mark the wall as a Forbidden zone. Edit the map afterwards in the robot interface and mark the glass as walls to help the robot localize.
  • Page 117 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 118: Markers

    Figure 11.8. 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 119 11. Commissioning robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm. Figure 11.9. The icon used for V-markers in the interface and an illustration of how robots can dock to the marker.
  • Page 120 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 11.11. The icon used for L-markers in the interface and an illustration of how robots can dock to the marker.

  • Page 121: 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 122: Creating Missions

    11. Commissioning 11.6 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 123 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 124 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 125: 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. 11.7 Creating a footprint The footprint specifies how much space the robot occupies, including any loads or top modules.
  • Page 126 11. Commissioning Default footprint Larger footprint Figure 11.16. 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 127 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 128 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 129: 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. 11.8 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 130 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 131: Making A Brake Test

    11. Commissioning Figure 11.17. 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 132: Creating User Groups And Users

    11. Commissioning 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. The goal of the brake test is to ensure that the robot will brake in time to avoid a collision with a human or object when driving with maximum payload, with different field sets for different speeds, and at the steepest supported decline.
  • Page 133 11. Commissioning Create user groups Setup > User groups, you can create specific user groups with specific access to different parts of the robot interface. Figure 11.18. You can create specific user groups. Under permissions, you can select the specific parts of the robot interface that the user group has access to.
  • Page 134 PIN codes for users with no access to settings and safety system. Figure 11.20. 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...

  • Page 135: Creating Dashboards

    Dashboards are an easy way for different user groups to control the robot, giving direct access to the individual groups' key functions. For more details on how to use and create dashboards, see MiR Robot Reference Guide on the MiR website.
  • Page 136 11. Commissioning Figure 11.21. The default dashboard includes the robot information, a joystick for manual control, and the active map. When creating new dashboards, you should consider the following: • Who will be using the dashboards? • Which functionalities will they need to use the most? •...

  • Page 137: Updating Mir250 Software

    11. Commissioning 11.12 Updating MiR250 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 138: System Settings

    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 139 11. Commissioning 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. For more information on the robot's path planners, see Global planner on page 71 Local planner on...
  • Page 140 11. Commissioning 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. This prevents the robot from colliding with obstacles from above.
  • Page 141 11. Commissioning Line-following disabled Line-following enabled Figure 11.24. 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 142 11. Commissioning Figure 11.25. 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 143 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 11.26. 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 144 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 145 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 146: Usage

    12. Usage 12. Usage The main way to use MiR250 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 147 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 148 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 149 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 150 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 151: 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 152 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 153: 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 154 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 155 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 156 12. Usage In the Prompt user action, drag a Move to action under the box and a Move to action under the box. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 157 12. Usage In the first Move to action, under Position, select p1. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 158: 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 159 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 153, and if the robot for some reason fails to complete the mission, the robot plays a sound.
  • Page 160 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 161 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 162 12. Usage Drag the Play sound action under the Catch box under Try/Catch. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 163 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 164: 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 165 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 166 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 167 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 168 12. Usage If the parameter Position type does not show up at first, select Validate close, and then open the action dialog box again. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 169 12. Usage In the Mute protective fields action, set the parameters as follows: • Sound: Select Default • Front: Create a variable titled Mute fields. • Rear: Create a variable titled Mute fields. • Sides: Create a variable titled Mute fields. MiR250 cannot mute specific Protective fields; you can either mute all or none of the fields.
  • Page 170 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 171 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 172: Creating The Mission 80 Cm Doorway

    12. Usage Select Save to save the mission. 12.6 Creating the mission 80 cm doorway This section describes how to create a mission that makes the robot drive through a doorway that is 80 cm wide in one direction. To do this, the robot does the following actions: Moves to a position in front of the 80 cm wide doorway (the narrowest possible for MiR250).
  • Page 173 12. Usage For better localization, draw the walls where the doorway is, and make the doorway approximately one meter wide in the map by deleting some of the walls on each side of the doorway. You may need to delete more of the wall if the robot will not go through the doorway.
  • Page 174 12. Usage • Enabled the muting of Protective fields. Go to System > Settings > Features, and set Mute protective fields to True. • Enabled the use of dynamic footprints. Go to System > Settings > Planner > Show advanced settings, and set Use dynamic footprint to True.
  • Page 175 12. Usage • Created a footprint named Narrow doorway that is 620 mm wide and 1300 mm long— Creating a footprint on page 125. The robot must be centered in the middle of the footprint. This mission only drives the robot through the doorway in one direction. If you want the robot to go both ways, you need to make a new set of positions facing the opposite direction and a new mission using these positions.
  • Page 176 12. Usage Name the mission 80 cm doorway. Select the group and site you want it to belong to. Select Create mission. Select the following actions: • In the Move menu, select Move • In the Move menu, select Adjust localization.
  • Page 177 12. Usage In the Move action, under Position, select In the Set footprint action, select Narrow doorway. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 178 12. Usage In the Mute protective fields action, set the parameters as follows: • Sound: Select Beep. • Volume: Enter the value 60. This is 48 dB approximately. • Front: Select Muted. • Rear: Select Muted. • Sides: Select Muted. In the Move action, under Position, select...

  • Page 179: Testing A Mission

    12. Usage In the Set footprint action, select the robot's default footprint. Select Save to save the mission. 12.7 Testing a mission After you create a mission, always run the mission to test that the robot executes it correctly. NOTICE Always test missions without load to minimize potential hazards.

  • Page 180: Applications

    You can install top modules on top of MiR250 for specific applications. For more information about top modules, see the MiR website. Top modules from MiR are delivered with Operating guides with instructions on how to mount them on and operate them with the robot.
  • Page 181 13. Applications Figure 13.1. Mounting holes on the top of MiR250. Certain top modules may require the installation of an extra Emergency stop button. Perform a risk assessment according to standard ISO 12100—see Risk assessment on page 107. The mounting holes are in the chassis, so the top cover does not need to be on the robot when you mount a top application.
  • Page 182 13. Applications CAUTION Certain top modules may lead to new hazards and increased risks that cannot be eliminated or reduced by the risk reduction measures applied by Mobile Industrial Robots. • Perform a risk assessment according to standard ISO 12100 when mounting a top module—see Risk assessment on page 107.
  • Page 183 13. Applications Figure 13.2. Dimensions for the top electrical interface covers. All dimensions are provided in mm. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 184: 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 185 14. Maintenance Table 14.1. Regular weekly checks and maintenance tasks Parts Maintenance tasks Robot top cover Clean the robot on the outside with a damp cloth. Do not use compressed air to clean the robot. Laser scanners Clean the optics covers of the scanners for optimum performance.

  • Page 186: Regular Checks And Replacements

    14. Maintenance 14.2 Regular checks and replacements Before starting replacement tasks that involve removal of the top or side covers: • Shut down the robot—see Shutting down the robot on page 60. • Disconnect the battery—see Disconnecting the battery on page 63. Table 14.2 contains the parts that you should check and how often you should do that.
  • Page 187 14. Maintenance Part Maintenance Interval Loudspeaker Check that all visual and auditory Check monthly, and replace as and signal warnings function. needed. lights Swivel wheels Check bearings and tighten, and Check weekly, and replace as (the four check the wheels for wear and needed.

  • Page 188: Battery Maintenance

    14. Maintenance Part Maintenance Interval Proximity Check for dust or dirt, and clean Check weekly. sensors with a swab. Manual brake Check if the Manual brake Check monthly, and replace as release switch release switch functions by needed. releasing the brakes and pushing the robot gently forward.

  • Page 189: Packing For Transportation

    15. Packing for transportation 15. Packing for transportation This section describes how to pack the robot for transportation. The robot is shown with a MiR Shelf Carrier 250. 15.1 Original packaging Use the original packaging materials when transporting the robot.

  • Page 190: Packing The Robot For Transportation

    15. Packing for transportation • The bottom of the box (the pallet) • The lid of the box (the ramp) • The walls of the box • Protective foam blocks: Side blocks and the top layer • Protective corner braces. The braces prevent the robot from being damaged by the transport straps 15.2 Packing the robot for transportation Before packing the robot for transportation:...

  • Page 191: Disposal Of Robot

    16. Disposal of robot 16. Disposal of robot MiR250 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. Importers in countries covered by the European WEEE Directive 2012/19/EU must make their own registration to the national WEEE register of their country.

  • Page 192: Payload Distribution

    If the friction coefficient is not in this range, the commissioner must take additional measures to ensure a safe operation. The specifications apply to total payloads of up to 250 kg. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 193: Side View

    17. Payload distribution 17.1 Side view At 1.2 m/s with no incline Figure 17.1. The center of mass (CoM) of payloads seen from the side. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 194 17. Payload distribution At 2.0 m/s with no incline Figure 17.2. The center of mass (CoM) of payloads seen from the side. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 195: Front View

    17. Payload distribution 17.2 Front view At 1.2 m/s with no incline Figure 17.3. The center of mass (CoM) of payloads seen from the front. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 196 17. Payload distribution At 2.0 m/s with no incline Figure 17.4. The center of mass (CoM) of payloads seen from the front. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 197: Top View

    17. Payload distribution 17.3 Top view At 1.2 m/s with no incline Figure 17.5. The center of mass (CoM) of payloads seen from the top. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 198 17. Payload distribution At 2.0 m/s with no incline Figure 17.6. The center of mass (CoM) of payloads seen from the top. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 199: Interface Specifications

    18. Interface specifications 18. Interface specifications This section describes the specifications of the top application interfaces. NOTICE Read Safety on page 29 before using the electrical interface. MiR250 has seven electrical interfaces divided into two groups: • Robot's left side: • Power •...
  • Page 200 18. Interface specifications Emergency stop Figure 18.1. The pins of the Emergency stop interface. Table 18.1. Description of pins in the Emergency stop interface in The pins of the Emergency stop interface. above. For more information on how to use the Emergency stop interface, see Emergency stop circuit on page 95 Signal Pin no.
  • Page 201 18. Interface specifications Signal Pin no. Type Description name E-stop 2 Input Safety input 2. Restart Input Safety input 3. RST_ Output 24 V output for powering the lamp on the LAMP_24_ Emergency stop box. Not connected to the robot. Not connected to the robot.
  • Page 202 18. Interface specifications CAUTION Connecting power and ground signals to the chassis while stacking the 24 V and 48 V power supplies can lead to severe damage to the robot and electrical shock. • Never connect power and ground signals to the chassis, and never stack the 24 V and 48 V power supplies.
  • Page 203 18. Interface specifications Signal Max. Description name current Power ground. 48V safe 10 A Inactive in case of a Protective or Emergency stop. power This output is controlled by the internal safety PLC through the STO contactor to ensure that power is always disconnected from this pin in case of a Protective or Emergency stop.
  • Page 204 Various protocols can be supported, for example Modbus. For more information on how to use Modbus, contact your distributor for the how-to guide How to use Modbus with MiR robots. Table 18.3. Description of the pins in Ethernet connection. Pin numbers (left) and wiring diagram (right).

  • Page 205: Right Side Interfaces

    18. Interface specifications 18.2 Right side interfaces This section describes the general purpose interfaces located in the right side compartment on top of MiR250. GPIO A and B The GPIO interfaces have the following pins: • Four inputs, for use with 24 V, but robust against 48 V. •...
  • Page 206 18. Interface specifications This enables the GPIO interface to work as input and output to top modules that can be used in missions. Outputs (OUT1, OUT2, OUT3, OUT4) can be toggled on and off by the robot in a I/O module mission action or manually in Setup > I/O modules.
  • Page 207 18. Interface specifications The number in the signal names of the electrical GPIO pins are shifted by one in the internal I/Os displayed in the robot interface. Meaning that output the robot interface controls signal OUT1—see Table 18.4. Figure 18.5. Example of I2 registered as active by the robot. Output pins must be connected to RTN pins, and input pins must be connected to 24 V pins.
  • Page 208 18. Interface specifications Table 18.4. Description of the pins in the input interface in Pin numbers: female connector viewed from the front (left) and wiring diagram (right). on page 201 Signal Pin no. Type Description name OUT1 Output Output 1. Maximum 1 A at 24 V Ground Protected return.
  • Page 209 18. Interface specifications Signal Pin no. Type Description name output. Input Input 4. Output 24 V output. 2 A maximum total over all 24 V output. To use the GPIO functionality, it is necessary to connect the fitting FMC 1.5/ 8-ST-3.5 (1952322) connector made by Phoenix Contact.
  • Page 210 18. Interface specifications Safety A: Table 18.6. Description of the pins in the Auxiliary safety function interface A in The pins of the Auxiliary safety functions interfaces. on the previous page Signal Pin no. Type Description name Test output Output 24 V test signal.

  • Page 211: Connector List

    18. Interface specifications Signal Type Description name constantly). Safeguarded Input When inactive, the robot enters Protective stop. If stop 2 this pin and the other Safeguarded stop pin are unequally set for a period greater than three seconds, the robot must be restarted. Shared Input When inactive, the robot goes into Emergency stop.
  • Page 212 18. Interface specifications Connector Description Manufacturer Part number Auxiliary emergency Cable connector, 8 + 2 Neutrix NC10MXX-14- stop way, XLR, male Auxiliary safety Single wire connector, Phoenix 1851287 functions - long female, Pitch 3,81mm, 7 Contact connector Auxiliary safety Single wire connector, Phoenix 1851274 functions - short...

  • 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 108. 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. MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 216 MiR250; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering. Direct user...
  • 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:

800253

Table of Contents

Save PDF