MIR 250 Quick Start Manual
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MIR 250 Quick Start Manual

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Quick Start (en)
Date: 07/2020
Revision: v.1.1

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Summary of Contents for MIR 250

  • Page 1 Quick Start (en) Date: 07/2020 Revision: v.1.1...

  • Page 2: Table Of Contents

    4.1 The Operating mode key 4.2 The control panel buttons 5. Accessing the internal parts 5.1 Front compartment 5.2 Rear compartment 5.3 Side compartments 5.4 MiR Shelf Carrier 250 MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 3 6. IT security 6.1 Managing users and passwords 6.2 Software security patches 7. Getting started 7.1 In the box 7.2 Unpacking MiR250 Shelf Carrier 7.3 Connecting the battery and powering up 7.4 Connecting to the robot interface 7.5 Driving the robot in Manual mode 7.6 Checking the hardware status 7.7 Mounting the nameplate 7.8 Enable MiR250 Shelf Carrier feature...

  • Page 4: About This Document

    REST API references for MiR robots, MiR hooks, and MiR Fleet. • The MiR network and WiFi guide specifies the performance requirements of your network and how you must configure it for MiR robots and MiR Fleet to operate successfully. 1.2 Version history This table shows current and previous versions of this document.
  • Page 5 1. About this document Revision Release date Description 2020-06-11 First edition 2020-07-01 Minor corrections throughout manual. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 6: Safety

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

  • Page 7: General Safety Precautions

    2. Safety 2.2 General safety precautions This section contains general safety precautions. WARNING If MiR250 Shelf Carrier 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 8 2. Safety WARNING Contact with live electrical parts can cause electric shock. • Do not touch any internal components of MiR250 Shelf Carrier while it is powered. WARNING Personnel standing in the blind spot of MiR250 Shelf Carrier when it is pivoting with a shelf risk being struck and injured.
  • Page 9 2. Safety WARNING Personnel that are within an operating hazard zone intended for placing and picking up shelves risk colliding with the robot and thereby injury if the robot is operating within the zone. • Ensure that all nearby personnel are instructed to stay clear of operating hazard zones when MiR250 Shelf Carrier is in the zone.
  • Page 10 2. Safety WARNING If the robot does not attach to the shelf correctly due to pins being offset from their correct positions, the shelf can detach at any time. Uncertain control of the shelf may result in the shelf or its load colliding with personnel or equipment resulting in injury or damage.
  • Page 11 2. Safety WARNING Lithium battery packs may get hot, explode, or ignite and cause serious injury if they are misused electrically or mechanically. Observe the following precautions when handling and using lithium-ion batteries: • Do not short-circuit, recharge, or connect with false polarity. •...

  • Page 12: Intended Use

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

  • Page 13: Users

    2. Safety 2.4 Users MiR250 Shelf Carrier is only intended to be used by personnel that have received training in their required tasks. There are three types of intended users for MiR250 Shelf Carrier: commissioners, operators, and direct users. Commissioners Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and maintenance of MiR250 Shelf Carrier and have the following main tasks: •...

  • Page 14: Foreseeable Misuse

    2. Safety All other persons in the vicinity of MiR250 Shelf Carrier are considered indirect users and must know how to act when they are close to the robot. For example, they must be aware that visibly marked operating hazard zones must be respected. 2.5 Foreseeable misuse Any use of MiR250 Shelf Carrier deviating from the intended use is deemed as misuse.

  • Page 15: Warning Label

    2. Safety • You risk being crushed, run over, drawn in, or trapped if the robot places a load outside a designated drop-off area due to faulty localization. • You risk losing control of MiR250 Shelf Carrier if it is accessed by unauthorized users. Consider increasing the IT security of your product.

  • Page 16: Light Indicators And Speakers

    3. Light indicators and speakers 3. Light indicators and speakers The robot uses two types of light indicators to let people in the environment know what the robot is currently doing or planning to do. • Status lights An LED light band on all four sides of the robot uses colors and light motion patterns to signal the current status of the robot.

  • Page 17: Status Lights

    3. Light indicators and speakers 3.1 Status lights The LED light band running all the way around the robot indicates the robot’s current operational state. Colors may also be used as part of missions, but as standard, the robot is delivered with the following setup.

  • Page 18: Speakers

    3. Light indicators and speakers The signal lights work similarly to lights used on cars; white at the front, red at the back, and indicating a left or right turn by blinking. When the robot drives with muted personnel detection means, for example when docking to a marker, all signal lights blink yellow.

  • Page 19: Control Panel

    4. Control panel 4. Control panel MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot. 4.1 The Operating mode key The Operating mode key lets you switch between operating modes. • Left position: Autonomous mode Puts the robot in Autonomous mode.

  • Page 20: The Control Panel Buttons

    4. Control panel • Right position: Manual mode Puts the robot in Manual mode. 4.2 The control panel buttons The following table identifies the three buttons on the control panel. Pos. Description Pos. Description Manual stop Resume Power MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 21 4. Control panel Manual stop Pressing this button stops the robot. After pressing this button, you must press the Resume button to let the robot continue operating. Color indication: • Red: It is possible to engage the Manual stop. Resume Pressing this button: •...
  • Page 22 4. Control panel The mechanical brakes require electrical power to be released, so if the robot is without power, the mechanical brakes cannot be released. When driving in Autonomous mode, the robot engages and releases the mechanical brakes automatically. The robot cannot operate while the mechanical brakes are released. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 23: Accessing The Internal Parts

    5. Accessing the internal parts 5. Accessing the internal parts Most internal parts of MiR250 Shelf Carrier are accessed through covers that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments CAUTION Removing covers 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 24: Rear Compartment

    5. Accessing the internal parts Pull the front cover off of the robot. 5.2 Rear compartment Follow these steps to open the rear compartment: Push the two white buttons at the same time. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 25 5. Accessing the internal parts Loosen the cover by wiggling both sides. Pull off the cover. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 26: Side Compartments

    5.4 MiR Shelf Carrier 250 To access the internal parts of MiR Shelf Carrier 250, remove the top plate of the shelf carrier by unscrewing all 14 screws from the top plate. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 27 5. Accessing the internal parts MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 28: Security

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

  • Page 30: Getting Started

    7. Getting started 7. Getting started This section describes how to get started with MiR250 Shelf Carrier. NOTICE Read Safety on page 6 before powering up MiR250 Shelf Carrier. 7.1 In the box This section describes the contents of the MiR250 Shelf Carrier box. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 31: Unpacking Mir250 Shelf Carrier

    The unique nameplate for your application • The USB flash drive in the document folder has the following content: • MiR250 Shelf Carrier Quick Start • MiR Network and WiFi guide • MiR Robot Reference guide • MiR Robot REST API Reference •...
  • Page 32 7. Getting started Cut the protective straps surrounding the box. Remove the lid from the box. Take the folder with the printed documents and the USB flash drive out of the box. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 33 7. Getting started Remove the walls of the box and the protective foam blocks. Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush with the base of the box. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 34: Connecting The Battery And Powering Up

    7. Getting started 7.3 Connecting the battery and powering up You must connect the battery before powering up the robot. Connecting the battery To connect the battery to the robot, you need to open the rear compartment—see Accessing the internal parts on page 23.
  • Page 35 7. Getting started Reattach the rear cover by inserting it into the two attachment sockets. When attaching the cover to the robot, press the two white buttons, and don't tilt the cover. Click the cover in place. Powering up Follow these steps to power up the robot: MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 36 7. Getting started 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. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 37: Connecting To The Robot Interface

    NOTICE The username and password for the robot’s WiFi access point and for accessing the web interface are in the MiR username and passwords document. The document is in the box with the robot. Follow these steps to connect to the robot interface: Using your pc, tablet, or phone, connect to the WiFi access point of the robot.
  • Page 38 7. Getting started In a browser, go to the address mir.com and sign in. Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in Manual mode on the next page. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 39: Driving The Robot In Manual Mode

    7. Getting started 7.5 Driving the robot in Manual mode CAUTION When driving the robot in manual mode, it is possible to mute the personnel detection means and drive the robot into Forbidden zones and Unpreferred zones in the map. This means that the robot will only stop when very close to an obstacle and will not respond to zones on the map.
  • Page 40 7. Getting started In the robot interface, select the joystick icon. The joystick control appears. On the robot, press the Resume button. The status lights turn blue, indicating that the robot is in Manual mode. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 41: Checking The Hardware Status

    7. Getting started Drive the robot off the ramp using the joystick. 7.6 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 37.

  • Page 42: Mounting The Nameplate

    Check that all elements on the page have the OK status and that they have green dots on the left. For more information, see Hardware health in MiR Robot Interface 2.0 Reference Guide on the MiR website. 7.7 Mounting the nameplate Before using MiR250 Shelf Carrier, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application.

  • Page 43: Enable Mir250 Shelf Carrier Feature

    7. Getting started Locate the rear cover. Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. 7.8 Enable MiR250 Shelf Carrier feature To access the MiR250 Shelf Carrier settings and mission menus, the MiR250 Shelf Carrier features must be enabled. Follow these steps to check that they are enabled: MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.
  • Page 44 7. Getting started Sign in to the robot interface, and go to System > Settings > Features. Under Shelf, select True. MiR250 Shelf Carrier Quick Start (en) 07/2020 - v.1.1 ©Copyright 2020: Mobile Industrial Robots A/S.

  • Page 45: Testing The Top Application

    7. Getting started Under modules, select True. The MiR Shelf Carrier 250 top module communicates with the robot through I/O modules, so they must be activated for the shelf carrier to work. 7.9 Testing the top application To test that the top application of MiR250 Shelf Carrier is configured and connected...
  • Page 46 7. Getting started Under MiR internal I/Os, complete the following sequence, and verify that the robot executes the expected action: Under Outputs, select 3. Verify that the carrier pins rise up. Once the pins are raised, verify that under Inputs is green.

  • Page 47: Shutting Down The Robot

    If the pins were raised and lowered as expected and the correct input feedback was received, the MiR Shelf Carrier 250 is correctly installed. If the shelf carrier did not operate correctly, verify that you have enabled the feature as...
  • Page 48 7. Getting started The robot starts the shutdown process. The status lights waver yellow, and the Power button blinks red. 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.
  • Page 49 All rights reserved. No parts of this manual may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice.

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