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 MiR1000 Shelf Lift 2.2 External parts 2.3 Internal parts 2.4 Manual brake release switch 2.5 How MiR Shelf Lift works 3. Warranty 4. Accessing the internal parts 4.1 Front compartment 4.2 Rear compartment 4.3 Side compartments...
Page 4 6. Getting started 6.1 In the box 6.2 Unpacking MiR1000 Shelf 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 MiR1000 Shelf Lift feature 6.10 Testing the top module 6.11 Shutting down the robot...
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 Shelf Lift 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 Shelf specifications...
Page 6 11.10 Creating a footprint 11.11 Using operating hazard zones 11.12 Making a brake test 11.13 Creating user groups and users 11.14 Creating dashboards 11.15 Updating software 11.16 Creating backups 11.17 System settings 12. Usage 12.1 Creating markers 12.2 Creating positions 12.3 Creating a marker type 12.4 Creating the mission Prompt user 12.5 Creating the mission Try/Catch...
Page 7 15.1 Original packaging 15.2 Packing the robot for transportation 15.3 Battery 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 19.3 Troubleshooting MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: 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 MiR1000 User Guide has been merged with the MiR Shelf Lift 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 MiR1000 software. 2020-06-11 New section: IT Security Added new information about payload MiR Shelf Lift Revision Release date Description 2019-10-20 First edition. 2020-06-18 Added new information about payload.
Page 11: Product Presentation
112. The total payload capacity is 1000 kg, which includes the weight of MiR Shelf Lift, the shelf, and its load. Specifications for MiR1000 Shelf Lift are available on the MiR website. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 12: Main Features Of Mir1000 Shelf Lift
• Efficient transportation of shelves The robot is designed to automate transportation of loaded shelves. The total payload of the robot may not exceed 1000 kg, including the weight of the MiR Shelf Lift top module and the shelf. •...
Page 13 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 14: External Parts
2. Product presentation 2.2 External parts This section presents the parts of MiR1000 Shelf Lift that are visible on the outside. Figure 2.1. MiR1000 Shelf Lift external parts. Table 2.1. Identification of the external parts in Figure 2.1 Pos. Description Pos.
Page 15 2. Product presentation Pos. Description Pos. Description parts on page 20 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 20 detection on page 77 Proximity sensors: eight pcs., Right side maintenance two in each corner behind...
Page 16 2. Product presentation Figure 2.2. Placement of the MiR1000 identification label. The identification label of MiR Shelf Lift is located on rear of the lift and can only be accessed when the lift is raised. Figure 2.3. Placement of the MiR Shelf Lift identification label.
Page 17 2. Product presentation Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR1000 Shelf Lift identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots.
Page 18 2. Product presentation The control panel buttons Figure 2.6. The MiR1000 Shelf 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 19 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 20: 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 21 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 22 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 23 Manual brake release switch on page Charging connection interface: Battery with connector: main for external MiR cable charger. power to the robot. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 24 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 25 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 209.
Page 26 To check the current position of the lift, two switches are also implemented that are pressed when the lift is lowered. To access the internal parts of MiR Shelf Lift, see Accessing the internal parts on page...
Page 27 2. Product presentation MiR Shelf Lift components The components of MiR Shelf Lift are listed in Table 2.5. Figure 2.12. Internal parts of MiR Shelf Lift Table 2.5. Identification of internal parts in Figure 2.12 Pos. Description Pos. Description Rear lift mechanisms...
Page 28: Manual Brake Release Switch
The robot cannot operate while the mechanical brakes are released manually. 2.5 How MiR Shelf Lift works When MiR1000 Shelf Lift docks to a shelf, the lift can be elevated to pick up the shelf and lowered to place the shelf at a shelf position.
Page 29 2. Product presentation To see the menu options for I/O modules in the robot interface, you must enable them first—see Enable the MiR1000 Shelf 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...
Page 30 2. Product presentation Wait for the lift to reset. It takes approximately 13 seconds and can be monitored in Monitoring > System log. Consider recreating these steps as a mission that you can run every time you turn on the lift. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 31: 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 MiR1000 Shelf Lift or its accessories are damaged, changed, or modified in any way.
Page 32: Accessing The Internal Parts
4. Accessing the internal parts 4. Accessing the internal parts Most internal parts of MiR1000 Shelf 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 33 4. Accessing the internal parts Turn the two levers 180°. Pull out the compartment drawer while holding underneath it and lifting slightly. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 34: 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 35: 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 209.
Page 36: Mir Shelf Lift
4. Accessing the internal parts 4.5 MiR Shelf Lift 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 37: Safety
5. Safety 5. Safety Read the information in this section before powering up and operating MiR1000 Shelf Lift. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1000 Shelf Lift or its accessories are damaged, changed, or modified in any way.
Page 38: 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 39 • Only use an original MiR charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns.
Page 40 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 41 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 223.
Page 42 5. Safety WARNING The robot risks damage and mechanical failure if it is used to transport pallets or anything other than safely commissioned shelves. Nearby equipment and personnel risk damage or injury if payloads fall from the robot. • Only use the robot to transport safely commissioned shelves—see Shelf specifications on page 112.
Page 43: Intended Use
For details about the environmental conditions in which MiR1000 Shelf Lift should operate, see specifications for MiR1000 Shelf Lift on the MiR website. MiR1000 Shelf Lift is intended to be commissioned according to the guidelines in Commissioning on page 109.
Page 44: Users
MiR1000 Shelf Lift is a completed MiR application that consists of a MiR1000 with a mounted MiR Shelf Lift. 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 MiR1000 Shelf Lift safely.
Page 45: Foreseeable Misuse
5. Safety Operators Operators have thorough knowledge of MiR1000 Shelf Lift and of the safety precautions presented in this user guide. Operators have the following main tasks: • Servicing and maintaining MiR1000 Shelf Lift. • Creating and changing missions and map features in the robot interface. Direct users Direct users are familiar with the safety precautions in this user guide and have the following main tasks:...
Page 46: Residual Risks
5. Safety • Using the robot in potentially explosive environments • Using the robot outdoors • Using the robot in hygiene zones 5.6 Residual risks Mobile Industrial Robots has identified the following potential hazards that commissioners must inform personnel about and take all precautions to avoid when working with MiR1000 Shelf Lift: •...
Page 47: Getting Started
Read Safety on page 37 before powering up MiR1000 Shelf Lift. In some images in this section, the robot is shown with a MiR EU Pallet Lift 1000 top module. 6.1 In the box This section describes the contents of the MiR1000 Shelf Lift box.
Page 48 The USB flash drive in the document folder has the following content: • MiR1000 Shelf Lift User Guide • MiR1000 Shelf Lift Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference •...
Page 49: Unpacking Mir1000 Shelf Lift
6. Getting started 6.2 Unpacking MiR1000 Shelf Lift This section describes how to unpack the robot. Keep the original packaging for future transportation of MiR1000 Shelf Lift. To unpack the robot, follow these steps: Place the box with the robot so that there is at least three meters of free space at the front or the back of the box.
Page 50 6. Getting started Remove the lid from the box. Take the folder with the printed documents and the USB flash drive out of the box. Remove the walls of the box and the protective foam blocks. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 51: Connecting The Battery
6. Getting started 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. 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...
Page 52: Powering Up The Robot
6. Getting started Once you have accessed the rear compartment, turn the Battery disconnect switch to the On position. The battery is now connected, and you can close the rear maintenance hatch. 6.4 Powering up the robot To power up the robot, follow these steps: Ensure that all six Emergency stop buttons are in the released state.
Page 53 6. Getting started Press the Power button for five seconds. The robot turns on the red signal lights and starts the software initialization process. When the initialization process ends, the robot goes into Protective stop. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 54: Connecting To The Robot Interface
6. Getting started Press the Resume button to clear the Protective stop. The robot is now ready for operation. 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.
Page 55 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 56: Driving The Robot In Manual Mode
6. Getting started 6.6 Driving the robot in Manual mode CAUTION When driving the robot in Manual mode, it is possible to mute the Protective fields and drive the robot into Forbidden zones and Unpreferred zones on the map. This means that the robot will only stop when it is very close to an obstacle and will not respond to zones on the map.
Page 57 6. Getting started 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 58: Checking The Hardware Status
6. Getting started 6.7 Checking the hardware status To check that all hardware components work as intended, follow these steps: Sign in to the robot interface—see Connecting to the robot interface on page Go to Monitoring > Hardware health. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 59: 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. 6.8 Mounting the nameplate Before using MiR1000 Shelf Lift, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see...
Page 60 6. Getting started 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 61: Enable The Mir1000 Shelf Lift Feature
6. Getting started 6.9 Enable the MiR1000 Shelf Lift feature To access the MiR1000 Shelf Lift settings and mission menus, the MiR1000 Shelf 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 and Shelf, select True. Under modules, select True. MiR1000 Shelf Lift communicates with the robot through I/O modules, so they must be activated for the shelf lift to work. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: 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 MiR1000 Shelf Lift is configured and connected correctly, follow these steps: Sign in to the robot interface, and go to Setup > I/O modules. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: 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 Shelf Lift is correctly installed. If MiR Shelf Lift did not operate correctly, verify that you have enabled the feature as described in Enable the MiR1000 Shelf Lift feature on page 61.
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 MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: 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 MiR1000 Shelf 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
MiR1000 Shelf 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 121.
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. MiR1000 Shelf 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 MiR1000 Shelf Lift: •...
Page 92 • MiR Shelf Lift safety functions MiR Shelf Lift 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 MiR1000 Shelf 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
Emergency stop buttons and connects to the safety PLC through the Auxiliary emergency stop interface—see Figure 10.7. The Auxiliary emergency stop interface connects to the Emergency stop circuit in MiR Shelf Lift—see Figure 10.8.
Page 100 10. Safety system Figure 10.8. The Emergency stop circuit in MiR Shelf Lift. Table 10.1. Identification of parts in Figure 10.7 and Figure 10.8. Pos. Description Pos. Description Front-right Emergency stop Auxiliary emergency stop button interface (connects to the circuit in the lift—see Figure 10.8)
Page 101: Mir Shelf Lift Safety Functions
10. Safety system 10.6 MiR Shelf Lift safety functions When MiR Shelf Lift is mounted to MiR1000, 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 Shelf Lift.
Page 102 10. Safety system Narrow symmetric shelf Wide symmetric shelf Figure 10.9. The illustrations shows the blind spots around the shelf legs in the Protective fields when the robot is carrying a symmetric shelf. The blind spots are larger when using symmetric shelves than those shown in Figure 10.10 with asymmetric shelves.
Page 103 112. This design minimizes the blind spots at the most critical areas. If you are using shelves that are not supported by MiR's design guidelines, the Protective field sets must be changed and the safety system recertified—see Adjusting the Protective field sets on page 117.
Page 104: 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 105: Light Indicators And Speakers
10. Safety system Once the robot has stopped, the mechanical brakes are engaged to keep the robot in place, similar to the parking brake in a car. 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.
Page 106 10. Safety system Table 10.1. Identification of indicator lights in Figure 10.11 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 107 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 108 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 10.12. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its Protective fields.
Page 109: Commissioning
It is the responsibility of the commissioner to: • Analyze the work environment. • Make a risk assessment of the full installation. • Procure shelves with specifications supported by MiR. • Create and configure the site. • Configure audio and light signals according to the environment. •...
Page 110 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 111: Risk Assessment
Make sure the environment MiR1000 Shelf Lift 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 112: Shelf Specifications
Training required for personnel. 11.3 Shelf specifications MiR does not provide any standard shelves for MiR1000 Shelf Lift. You must create and design your own shelf type or purchase suitable shelves that meet the design requirements. MiR supports four variations of shelves for MiR1000 Shelf Lift: •...
Page 113 11. Commissioning Figure 11.1. Side view (left) and front view (right) of shelf dimensions. The red hatched area is the scanner zone. Only the legs of the shelf may be located in this area. Table 11.1. Required shelf dimensions Pos. Description Pos.
Page 114 Protective stop each time it tries to drive with the shelf. If you choose to make a shelf with symmetric legs, MiR recommends that you place them as described in Figure 11.3.
Page 115 11. Commissioning Asymmetric shelves When building a shelf with asymmetric legs, it is important to implement transverse stabilizers in the shelf design to keep the structure from tipping. Figure 11.2. Top view of the robot. The red hatched area marks the scanner zone. For asymmetric shelves, only the four legs indicated with circles marked N for narrow shelves and W for wide shelves can be placed in the zone at the defined positions.
Page 116 144. • Only use MiR Shelf Lift in operating hazard zones when it is lifting shelves with symmetric legs. Figure 11.3. Top view of the robot. The red hatched area marks the scanner zone. For symmetric shelves, only the four legs indicated with circles marked N for narrow shelves and W for wide shelves can be placed in the zone at the defined positions.
Page 117: Adjusting The Protective Field Sets
From software version 2.8.0, the robot software includes standard SICK configurations for wide and narrow shelves with asymmetric legs on both MiR500 and MiR1000 robots. You can download the MiR standard safety configurations for wide and narrow asymmetric shelves in the robot interface under System > Robot...
Page 118 11. Commissioning MiR500/MiR1000 for MiR Shelf Lift to change the robot's safety laser scanners to comply with MiR1000 Shelf Lift. The guide describes how to adjust the Protective field sets manually and how to apply a standard configuration. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 119: Lift Modifications
11. Commissioning 11.5 Lift modifications Additional holes can be added to MiR Shelf Lift for custom applications. However, it is important not to damage any vital parts of the lift when doing so. NOTICE Modifying MiR Shelf Lift voids the warranty of the lift.
Page 120 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 11.5 indicate areas where you are not allowed to make modifications in the bottom frame.
Page 121: Creating And Configuring Maps
11. Commissioning 11.6 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 122 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 123 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 124 11. Commissioning Cleaning up a map The robot navigates best when using a clean map with as little noise as possible. Figure 11.8 is an example of what a map can look like after the mapping process but where it still needs further editing.
Page 125 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 126 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 127 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 128 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 129 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 130 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 132: Markers
Figure 11.13. 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 133 11. Commissioning robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm. Figure 11.14. The icon used for V-markers in the interface and an illustration of how robots can dock to the marker.
Page 134 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 11.16. The icon used for L-markers in the interface and an illustration of how robots can dock to the marker.
Page 135: 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 136: Creating Missions
169. 11.9 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...
Page 137 11. Commissioning into other missions. Most actions have adjustable parameters, for example, which position to go to. Most actions can also use variables, enabling the user to choose the value of a parameter each time the mission is used. This can be practical in cases where the robot performs the same series of actions in different areas of the site that require different parameter settings in the mission actions.
Page 138 11. Commissioning 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? • Which actions are involved in this task and in which order are the actions executed? •...
Page 139 179. 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 140: Creating A Footprint
When a MiR robot carries a shelf, it is important to set the footprint of the robot to the dimensions of the shelf.
Page 141 11. Commissioning Default footprint Larger footprint Figure 11.21. 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 142 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 143 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 144: 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. 11.11 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 145 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 146 11. Commissioning Figure 11.22. 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 147 11. Commissioning Multiple shelves When you have multiple shelves 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 shelves and the robot when it is at the entry position to any shelf.
Page 148 11. Commissioning Shelves against a wall or structure When setting up shelves against a wall or other fixed structures, there must be escape routes between the shelves. To fulfill the safety requirements, place the shelves so there is 0.5 m of space between every second shelf. This ensures there is always an escape route on at least one side of each shelf.
Page 149: Making A Brake Test
11. Commissioning Shelves close together When setting up shelves so they are placed as closely together as possible, there must be an escape route behind the shelves. To fulfill the safety requirements, there must be at least 0.5 m of free space behind the shelves and 0.5 m of free space on the side of one of the shelves leading out of the operating hazard zone.
Page 150: 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 151 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 11.25. 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 152 PIN codes for users with no access to settings and safety system. Figure 11.27. 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 153: 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 154 11. Commissioning Figure 11.28. 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 155: Updating Software
11. Commissioning 11.15 Updating 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 156: 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 157 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 74 Local planner on page...
Page 158 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 159 11. Commissioning Line-following disabled Line-following enabled Figure 11.31. 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 160 11. Commissioning Figure 11.32. 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 161 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 11.33. 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 162 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 163 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 164: Usage
12. Usage 12. Usage The main way to use MiR1000 Shelf 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 165 12. Usage Figure 12.1. The red lines represent the obstacles the laser scanners detect. The robot is localized correctly when the red lines align with the black lines that represent walls. Once the robot is localized, you can insert a marker on the map. In this example, we are using a VL-marker .
Page 166 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 167 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 168 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 169: 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 170 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 171: Creating A Marker Type
Marker types are used to define what type of shelf is located on a shelf position and how the robot docks to it, ensuring that the robot picks up the shelf correctly. If you are using a shelf that has dimensions supported by MiR—see Shelf specifications on page 112—you can use one of the default marker types for...
Page 172 12. Usage To create a new marker type, follow these steps: To create a new marker type, go to Setup > Marker types, and select Create marker type. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 173 12. Usage Fill in the parameters with the dimensions of your shelf. Each parameter is described below. • Name: Identifies the shelf type when using it in mission actions. The marker-type name must be unique. • Shelf type: Identifies the type of shelf that is going to be used. Bar shelf markers for MiR100 and MiR200 robots, and Leg shelf markers...
Page 174: Creating The Mission Prompt User
12. Usage • Bar distance in meters: Defines the distance between a set of legs perpendicular to the robot. This can also be interpreted as the width of the space under the shelf where the robot docks. • Orientation offset in degrees: Adjusts the angle of the robot’s orientation when docking to the shelf.
Page 175 12. Usage • Created two robot positions named p1 and p2 as described in Creating positions on page 169. • Defined a user group named Users. To create the mission, follow the steps below: Go to Setup > Missions. Select Create Mission.
Page 176 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 177 12. Usage In the Prompt user action, drag a Move to action under the box and a Move to action under the box. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 179: 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. 12.5 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 180 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 174, and if the robot for some reason fails to complete the mission, the robot plays a sound.
Page 181 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 182 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 184 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 185: Creating The Mission Variable Docking
12. Usage 12.6 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 186 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 187 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 188 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 189 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 190 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 191 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 192 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 193: Creating The Mission Pick Up And Place Shelf
12.7 Creating the mission Pick up and place shelf MiR provides template missions you use to make the robot pick up and place shelves. 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 194 12. Usage Go to Setup > Missions, and select Create mission. Name the mission Pick up and place shelf. Select the group and site you want it to belong to. Select Create mission. Select the following actions: • In the Move menu, select Move. •...
Page 195 12. Usage For the Move action, set the parameters as follows: • Position: Select Shelf position • Position type: Select Entry. This makes the robot move to the entry position of the shelf position. • Retries: Leave at the default value. •...
Page 196 12. Usage For the Pick up MiR500/1000 Shelf template mission, set the parameters as follows: • Marker position: Select Shelf position • Marker type: Select wide asymmetric mir500/1000 shelf. • Shelf footprint: Select wide MiR500-1000 shelf footprint. • Mute front, Mute rear, and Mute sides: Select if you want the laser scanners to be muted on the front, rear, or sides while undocking.
Page 197 12. Usage For the second move action, set the parameters as follows: • Position: Select Shelf • Position type: Select Entry. This makes the robot move to the entry position of the shelf position. • Retries: Leave at the default value. •...
Page 198 12. Usage For the Place MiR500/1000 Shelf template mission, set the parameters as follows: • Mute front and Mute rear: Select whether you want the Protective fields to be muted or active to the front or back of the robot. This can be necessary if the shelf is located near other obstacles.
Page 199: Creating The Mission Place Shelf At Vl-Marker
12. Usage 12.8 Creating the mission Place shelf at VL- marker If you need to place shelves with greater precision or have shelves placed close to obstacles or other shelves, you can do so by creating shelf positions in front of markers. We recommend using VL-markers to place shelves, but you can also use other types of markers if preferred.
Page 200 12. Usage • System > Settings > Docking, set Relative move target when docking to markers . This will make the robot go to a position 1.6 m in front of the marker before docking. The following steps describe how to create a mission that makes the robot dock to a marker and place a shelf: Go to the map editor of the active map.
Page 201 12. Usage Select the shelf position on the map. Then select Show entry position. Two entry positions are displayed. They indicate where the robot will go to first when docking to the position. The entry position furthest from the shelf position is for MiR500/MiR1000. Select Edit if you want to adjust the entry position.
Page 202 12. Usage Select the VL-marker on the map. Then select Show entry position. Select the VL-marker's entry position, and insert the same X and Y coordinates of the shelf position's entry position. Repeat the previous steps with all other markers where you want the robot to place shelves accurately.
Page 203 12. Usage Select the following actions: • In the Move menu, select Docking. • In the Shelf menu, select Place MiR500/1000 Shelf. 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 204 12. Usage For the Dock to action, make the parameter Marker position a variable that can be set each time you use the mission. The following steps describe how to create a variable: Under Marker position, select Variables Select Create variable in the upper-right corner.
Page 205 12. Usage Leave the other parameters at their default values. The Marker type is not used as long as you select a V, VL, or L-marker when using the mission. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 206 12. Usage For the Place MiR500/1000 Shelf template mission, set the parameters as follows: • Mute front: Select Muted. This ensures that the robot can drive close to the marker without triggering a Protective stop. • Mute rear: Select Unmuted. •...
Page 207: Testing A Mission
12. Usage If the robot lurches when docking, you can reduce the amount of corrections it is allowed to make when docking under System > Settings > Parameter for driving more straight during docking. Set the parameter to 0.03 or lower. 12.9 Testing a mission After you create a mission, always run the mission to test that the robot executes it correctly.
Page 208 12. Usage Select Continue to start the mission. Watch the robot execute the mission, and verify that it performs as expected. 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 209: 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 Shelf Lift. 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 210 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. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 211 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 212 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 Shelf Lift to the robot, make sure to twist the connectors to their right to lock them.
Page 213 Lift, you can mount the top module again by following the above instructions in the reverse order. When mounting MiR Shelf Lift, make sure to face the side with white Emergency stop cable to the right side of the robot.
Page 214 13. Unmounting the top module You can also contact your distributor for the mounting guide for your product. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 215: 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 216 Check if the signal lights on the four corners blink and show light correctly. MiR Shelf Lift top Clean the MiR Shelf Lift on the outside with a damp cloth. cover and sides Do not use compressed air to clean the robot.
Page 217: 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 218 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 219 If slack or unusual noises start to Actuators last for approximately actuators occur, replace the actuators with 60.000 fully loaded lift cycles. approved spare parts from MiR. MiR Shelf Lift To check that the Emergency stop Every three to four months Emergency...
Page 220: Battery Maintenance
14. Maintenance 14.3 Battery maintenance The battery is generally maintenance-free but should be cleaned if it gets very dirty. Before cleaning, the battery must be removed from any power source. Only use a dry and soft cloth to clean the housing of the battery, and do not use abrasives or solvents. For storage of the battery, see Battery storage on page For disposal of the battery, see...
Page 221: 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 222: 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 MiR1000 Shelf Lift on page 49 in the reverse order.
Page 223: Payload Distribution
16. Payload distribution 16. Payload distribution The specifications for the position of the payload's center of mass for MiR1000 Shelf Lift are not available. See the MiR1000 User Guide for an approximation of where the center of mass of the payload must be positioned for safe operation. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 224: Disposal Of Robot
17. Disposal of robot 17. Disposal of robot MiR1000 Shelf 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 225: Interface Specifications
This section describes how MiR Shelf Lift interfaces with MiR1000. NOTICE Read Safety on page 37 before using the electrical interface. MiR1000 uses four electrical interfaces to communicate with MiR Shelf Lift. They can be divided into two groups: • General purpose interfaces: •...
Page 226 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 227 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). MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 228 Four inputs, for use with 24 V, but robust against 48 V. • Four outputs, for use with 24 V. MiR1000 uses the GPIO interface to communicate to MiR Shelf Lift as described in How MiR Shelf Lift works on page Table 18.2 contains the description of the pins of the GPIO interface.
Page 229: Safety Interfaces
18.2 Safety interfaces This section describes how the general purpose interfaces located in the right side top compartment of MiR1000 are used by MiR Shelf Lift. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 230 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 231 18. Interface specifications Signal Type Description Lift funct ion number name the Emergency stop circuit. Must pin 1 via the receive 24 V to prevent the robot Emergency from entering Emergency stop. stop buttons Should connect to pin 1. on the lift. . E-stop 2 Input Input signal to the safety PLC for...
Page 232 18. Interface specifications Auxiliary safety functions Figure 18.5. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). 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.
Page 233 18. Interface specifications Signal Type Description Lift function number name Safeguarded Input When inactive, Connects to the 24 V output stop 1 the robot enters (pin 1) constantly, ensuring Protective stop. If that the robot does not pins are enter Protective stop. unequally set for a period greater than three...
Page 234 (pin 1), and this input is inactive. Instead of reducing the robot's speed, this makes the robot use the shelf specific Protective field sets—see MiR Shelf Lift safety functions on page 101. Reduced Input When inactive, When the lift is raised, the...
Page 235 18. Interface specifications Signal Type Description Lift function number name Safe RTN Ground Safe return. Safe return. Unassigned Unassigned. Unassigned. Unassigned Unassigned. Unassigned. MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.
Page 236: 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 237: Hardware Errors
Creating and configuring maps on page 121. 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 238: Troubleshooting
• 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. 19.3 Troubleshooting This section describes how to handle some of the common issues experienced with MiR1000 Shelf Lift.
Page 239 19. Error handling Shelf options are not available in the robot interface If you are not able to create shelf positions or new shelf types, and the shelf actions are not available in the mission editor, go to System > Settings > Features. Under Shelf, select True in the drop down menu.
Page 240 MiR1000 Shelf Lift; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering.
Page 241 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 242 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 243 Shelf A shelf can be picked up by a MiR robot with a shelf lift top module mounted to it. Static landmark Static landmarks are obstacles that cannot be moved, such as walls, columns, and fixed structures.

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MIR 1000 Shelf Lift User Manual

1 About this Document

2 Product Presentation

3 Warranty

4 Accessing the Internal Parts

5 Safety

6 Getting Started

7 Battery and Charging

8 Security

9 Navigation and Control System

10 Safety System

11 Commissioning

12 Usage

13 Unmounting the Top Module

14 Maintenance

15 Packing for Transportation

16 Payload Distribution

17 Disposal of Robot

18 Interface Specifications

19 Error Handling

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