Page 1 User Guide (en) Date: 05/2022 Revision: v.1.2...
Page 2 Copyright and disclaimer 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.
Page 3: Table Of Contents
Table of contents 1. About this document 1.1 Where to find more information 1.2 Version history 2. Product presentation 2.1 Main features of MiR1350 2.2 External parts 2.3 Internal parts 2.4 Manual brake release switch 3. Warranty 4. Safety 4.1 Safety message types 4.2 General safety precautions 4.3 Intended use 4.4 Users...
Page 4 6. Getting started 6.1 In the box 6.2 Unpacking MiR1350 6.3 Connecting the battery 6.4 Powering up the robot 6.5 Connecting to the robot interface 6.6 Connecting the robot to a WiFi network 6.7 Driving the robot in Manual mode 6.8 Checking the hardware status 6.9 Mounting the nameplate 6.10 Shutting down the robot...
Page 5 9.5 Obstacle detection 9.6 Localization 9.7 Motor controller and motors 9.8 Brakes 10. Safety-related functions and interfaces 10.1 System overview 10.2 Personnel detection 10.3 Overspeed avoidance 10.4 Emergency stop buttons 10.5 Emergency stop circuit 10.6 Safeguarded stop 10.7 Locomotion 10.8 System emergency stop 10.9 Reduced speed 10.10 Shelf mode 10.11 Safety functions performance overview...
Page 6 11.5 Positions 11.6 Creating missions 11.7 Creating a footprint 11.8 Using operating hazard zones 11.9 Making a brake test 11.10 Creating user groups and users 11.11 Creating dashboards 11.12 Updating software 11.13 Creating backups 11.14 System settings 12. Usage 12.1 Creating markers 12.2 Creating positions 12.3 Creating the mission Prompt user 12.4 Creating the mission Try/Catch...
Page 7 14.4 Lifting MiR1350 15. Packing for transportation 15.1 Original packaging 15.2 Packing the robot for transportation 15.3 Battery 16. Payload distribution 16.1 Side view 16.2 Front view 17. Interface specifications 17.1 Left compartment interfaces 17.2 Right compartment interfaces 17.3 Connector list 18.
Page 8: About This Document
MiR website, you can find the following resources under Documentation: • 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. •...
Page 9: Version History
MiR Fleet. • 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. • Cybersecurity guide provides important information and instructions to increase the cybersecurity of your MiR product.
Page 10 1. About this document Revision Description • Improved description of Power save, Deep sleep, and storing the battery. Affects section: Battery storage. • Added that localization is disabled while brakes are released manually. Affects section: Manual brake release, • Added lower boundary in camera FoV. Affects section: Obstacle detection.
Page 12: Product Presentation
2. Product presentation 2. Product presentation MiR1350 is an autonomous mobile robot that can transport loads up to 1350 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. Users operate MiR1350 via a web-based user interface, which is accessed through a browser on a PC, smartphone, or tablet—see...
Page 13: Main Features Of Mir1350
• Efficient transportation of heavy loads The robot is designed to automate transportation of loads up to 1350 kg. • Sound and light signals The robot continuously signals with light and sounds, indicating where it will drive and its current status, for example, waiting for a mission, driving to a destination, or destination reached.
Page 14 The following accessories are available for MiR1350: • MiR Pallet Rack Use a MiR Pallet Rack with MiR Pallet Lift 1350. The lift places and picks up US standard 40×48 in (1016×1219 mm) pallets from the rack autonomously. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 15 EU pallets from the rack autonomously. • MiR Fleet MiR Fleet offers centralized control of robots throughout all your facility. MiR Fleet is available as an installation file you can install on a server of your choice or as a computer server where MiR Fleet comes pre-installed. • MiR AI Camera An intelligent camera that detects and recognizes different moving objects, which can trigger certain actions in MiR Fleet.
Page 16: External Parts
2. Product presentation 2.2 External parts This section presents the parts of MiR1350 that are visible on the outside. Figure 2.1. MiR1350 external parts. Table 2.1. Identification of the external parts in Figure 2.1 Pos. Description Pos. Description Left top compartment— Right top Internal parts on compartment—see...
Page 17 2. Product presentation Pos. Description Pos. Description Antenna: two pcs, in Emergency stop button: opposite corners four pcs, two on each side—see Emergency stop circuit on page 121 Status light: on all four Left side maintenance sides of the robot—see hatch: opens to the left Obstacle detection on side compartment—see page 90...
Page 18 2. Product presentation Pos. Description Pos. Description Rear maintenance Signal light: eight pcs, hatch: opens to the rear two on each corner— compartment—see Light indicators Internal parts on and speakers on page 23 page 135 Control panel and antenna—see Control panel on the next page Identification label MiR1350 is delivered with an identification label mounted to the product.
Page 19 Figure 2.3. Example of a MiR1350 identification label. Nameplate Every MiR application is delivered with a nameplate that must be mounted on the robot. The nameplate of MiR1350 identifies the application model and serial number and includes the CE mark, technical specifications, and the address of Mobile Industrial Robots.
Page 20 2. Product presentation The control panel buttons Figure 2.5. The MiR1350 control panel. Table 2.2. Identification of items on the control panel in Figure 2.5 Pos. Description Pos. Description Manual stop button Resume button Power button Operating mode key Manual stop button Pressing this button stops the robot.
Page 21 2. Product presentation Resume button Pressing this button: • Clears the Emergency or Protective stop state. • Lets the robot continue operating after the Manual stop button was pressed or after the operating mode changes. • Lets the robot start operating after powering up. Color indication: •...
Page 22 2. Product presentation For more information on operating modes, see Operating modes below. Remove the Operating mode key during normal operation. The vibrations from the robot's driving may shake the key and plug, and can cause an unwanted Protective stop. Operating modes MiR1350 has two operating modes: Manual mode and Autonomous mode.
Page 23: Internal Parts
2. Product presentation 2.3 Internal parts Most internal parts of MiR1350 are accessed through maintenance hatches that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments To access the compartments correctly, see Accessing the internal parts on page 43.
Page 24 2. Product presentation Figure 2.6. Internal parts of the front compartment. Table 2.3. Identification of internal parts in Figure 2.6 Pos. Description Pos. Description Robot computer: processes Switch: enables data from the sensors and communication between the controls the robot's robot computer, safety PLC, navigation top interface, and power...
Page 25 2. Product presentation Pos. Description Pos. Description 3D cameras: detect obstacles in front of the robot—see Obstacle detection on page 90 Rear compartment The rear compartment holds the Manual brake release switch and an inner compartment with the motor controller carrier board and dynamic brake contactors.
Page 26 Connection interface for Manual brake release MiR Controller: connect a switch: releases the brakes MiR Controller to drive the so the robot can be pushed robot with a joystick manually. Shown in the Off position, where the robot engages and releases the brakes automatically—see...
Page 27 2. Product presentation NOTICE The unique nameplate of your robot is to be mounted on the right side compartment hatch—see Mounting the nameplate on page 72. Make sure you do not swap the hatch with hatches from other robots. Side compartment components The left and right side compartment components are listed in Table 2.5.
Page 28 2. Product presentation Pos. Description Pos. Description Fast-swap battery assembly Battery (only in left side (only in left side compartment) compartment) Top compartments The two top compartments contain electrical interfaces that can be connected to top modules. To open a top compartment, see Accessing the internal parts on page 43.
Page 29: Manual Brake Release Switch
2. Product presentation Top compartment components The top compartments interfaces are listed in Table 2.7. For detailed information on electrical interfaces, see Interface specifications on page 243. Figure 2.10. Interfaces in the top compartments. Table 2.7. Identification of interfaces in 2.3 Pos.
Page 30 2. Product presentation Figure 2.11. Turn the Manual brake release switch clockwise to release the brakes. The mechanical brakes require electrical power to be released, so if the robot is without power, the mechanical brakes cannot be released. You can see if the robot is powered by checking if the Power button on the control panel lights up.
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 extent of product coverage. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1350 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1350, accessories, or any other equipment due to programming errors or malfunctioning of MiR1350.
Page 32: Safety
4. Safety 4. Safety Read the information in this section before powering up and operating MiR1350. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1350 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1350, accessories, or any other equipment due to programming errors or malfunctioning of MiR1350.
Page 33: General Safety Precautions
4. Safety 4.2 General safety precautions This section contains general safety precautions. WARNING Harmful electromagnetic interference might be the result of having two radio modules transmitting at the same time. • Do not attach an access point or additional radio modules to the robot while it is connected to a wireless network.
Page 34 4. Safety WARNING The robot may drive over the feet of personnel, causing injury. • All personnel must be informed of the side Protective fields of the robot and be instructed to wear safety shoes near an operating robot—see Personnel detection on page 111.
Page 35 Using a charging device different from the one supplied by the manufacturer can cause a fire and thereby burn injuries to nearby personnel and damage to the robot and equipment. • Only use an original MiR charger. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 36 4. 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 37 4. Safety • Isolate the battery and keep clear if the following conditions are observed: • The battery exhibits abnormally high temperatures. • The battery emits abnormal odors. • The battery changes color. • The battery case is deformed or otherwise differs from the normal electrical or mechanical condition.
Page 38: Intended Use
For details about the environmental conditions in which MiR1350 should operate, see specifications for MiR1350 on the MiR website. MiR1350 is intended to be commissioned according to the guidelines in Commissioning on page 139.
Page 39: Users
• MiR EU Pallet Lift 1350 used with MiR EU Pallet Rack • MiR Shelf Lift to transport MiR supported shelves MiR1350 can be used as a partly complete machine as defined in the EU machinery directive with top modules that do not meet the above limitations. Those who design, manufacture, or commission a system that does not meet the limitations of use of MiR1350 carry the obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.
Page 40: Foreseeable Misuse
4. Safety • Determining the payload limit, weight distribution, safe fastening methods, safe loading and unloading of loads on MiR1350, and ergonomic loading and unloading methods if relevant. • Ensuring the safety of nearby personnel when the robot is accelerating, braking, and maneuvering.
Page 41: Warning Label
4. Safety • Driving the robot on cross slopes • Exceeding the maximum payload • Positioning or fastening loads incorrectly according to the specifications—see Payload distribution on page 239 • Using Emergency stop buttons for anything other than emergency stops • Using the robot in medical and life critical applications •...
Page 42: Residual Risks
4. Safety Figure 4.1. The warning label must be placed on the robot or top module. 4.7 Residual risks Mobile Industrial Robots has identified the following potential hazards that commissioners must inform personnel about and take all precautions to avoid when working with MiR1350: •...
Page 43: Accessing The Internal Parts
5. Accessing the internal parts 5. Accessing the internal parts Most internal parts of MiR1350 are accessed through maintenance hatches that open to different compartments. CAUTION Opening or removing hatches from the robot exposes parts connected to the power supply, risking damage to the robot from a short circuit and personnel getting burnt.
Page 44: Front Compartment
5. Accessing the internal parts 5.1 Front compartment To open the front compartment, turn the two screws 90° with a flat-head screwdriver, and pull out the compartment. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 45: Rear Compartment
5. Accessing the internal parts 5.2 Rear compartment To open the rear compartment, follow these steps: Push the two white buttons to unlock the hatch. Pull open the hatch. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 46 5. Accessing the internal parts You can now access the Manual brake release switch and MiR Controller interface. To access the motor controller carrier board and dynamic brake contactors, follow these steps: Disconnect the status light connector. Remove the hatch by twisting the two hinges.
Page 47 5. Accessing the internal parts Remove the seven screws on the rear panel. Loosen the top three screws while holding the bottom of the panel. Remove the panel by sliding it downwards and out to access the rear maintenance compartment. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 48: Side Compartments
5. Accessing the internal parts 5.3 Side compartments To open a side compartment, push the two white buttons to unlock the hatch, and pull it open. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 49: Top Compartments
5. Accessing the internal parts 5.4 Top compartments Figure 5.1. The top compartments on the robot. Table 5.1. Identification of top compartments in Figure 5.1 Pos. Description Pos. Description Left top compartment Right top compartment Rear compartment MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 50 5. Accessing the internal parts To open a top compartment, remove the four screws and lift off the top cover. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 51: Getting Started
2.12.0 or higher. NOTICE Read Safety on page 32 before powering up MiR1350. In some images in this section, the robot is shown with a MiR EU Pallet Lift 1350 top module. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 52: In The Box
The box contains: • The MiR1350 robot • Adapter cable to connect a cable charger directly to the battery—see the MiR 48V Battery Technical Guide for intended use and instructions • High visibility stickers MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 53: Unpacking Mir1350
The USB flash drive in the document folder has the following content: • MiR1350 User Guide • MiR1350 Quick Start • MiR Network and WiFi Guide • MiR Cybersecurity Guide • MiR Robot Reference Guide • Getting the robot online •...
Page 54 6. Getting started Remove the screws that attach the walls of the box to the box lid and the base of the box. Remove the lid from the box, and remove the wooden lath beneath the lid. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 55 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. Take the folder with the printed documents and the USB flash drive out of the box.
Page 56 6. Getting started Remove the pallet collars and the protective foam blocks. Cut the protective straps. For increased visibility, you can add the supplied high visibility stickers to the four corners of the robot. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 57: Connecting The Battery
6. Getting started Remove the wheel stop board from the pallet to let the robot drive on the ramp. 6.3 Connecting the battery To connect the battery to the robot, you need to open the left side compartment—see Accessing the internal parts on page 43.
Page 58: Powering Up The Robot
6. Getting started Once you have accessed the left side compartment, pull the Battery lock pin out, and pull the Battery lever to the top position. The battery is now connected, and you can close the side maintenance hatch. 6.4 Powering up the robot To power up the robot, follow these steps: Ensure that all four Emergency stop buttons are in the released state.
Page 59 6. Getting started Press the Power button for five seconds. The robot turns on the red signal lights and the yellow wavering status lights and starts the software initialization process. When the initialization process ends, the robot goes into Protective stop. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 60: Connecting To The Robot Interface
North America, EU, or a part of EAC, you can purchase a MiR Access Point from MiR. Outside these areas, you need to use your own MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 61 6. Getting started access point that is approved for use in your region. If you choose to use an access point, you must ensure that the robot is disconnected from the wireless network before attaching the access point to remain compliant—see Connecting the robot to a WiFi network on page 64.
Page 62 Ethernet port for a wireless connection. If you are using an access point, connect your device to the access point. The MiR Access Point WiFi has the following format: MiR_3042XXXXX. Use the password shipped with the access point to connect.
Page 63 6. Getting started You are now signed in to the robot interface and can set up your robot for operation. If you want to connect the robot to your local WiFi network, connect the robot to the network as described in Connecting the robot to a WiFi network on the next page.
Page 64: Connecting The Robot To A Wifi Network
6. Getting started Figure 6.2. You can see the software version your robot is running in the bottom left corner of the robot interface. 6.6 Connecting the robot to a WiFi network To communicate with the robot wirelessly without using an access point dongle, connect the robot to your local WiFi network.
Page 65 6. Getting started To connect the robot to a WiFi network, follow these steps: Connect to your robot as described in Connecting to the robot interface on page 60. NOTICE To comply with the robot's certification, you must use an Ethernet cable to avoid simultaneously active radio transmitters while setting up connection to the local WiFi network.
Page 66 6. Getting started Select the network you want the robot to be connected to, and fill out the displayed fields—see the guide How to connect a MiR robot to a WiFi network for more information about the WiFi settings. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 67 6. Getting started Select Add connection when you have finished. The robot is now connected to the network. When you are connected to the same network, you can access the robot's interface by entering the IP address displayed under the connection description into your internet browser. To disconnect the robot from a WiFi network, select Disconnect.
Page 68: Driving The Robot In Manual Mode
6. Getting started 6.7 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 not stop for physical objects and will not respond to zones on the map.
Page 69 6. Getting started To drive the robot in Manual mode, follow these steps: On the robot, turn the Operating mode key to Manual mode (turn it to the right). In the robot interface, select the joystick icon. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 70 6. Getting started Select Manual control. The Resume button on the robot starts blinking. On the robot, press the Resume button. The status lights turn blue, indicating that the robot is in Manual mode. The robot is shown with an EU pallet lift. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 71: Checking The Hardware Status
6. Getting started Drive the robot off the ramp using the joystick. Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping. 6.8 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 60.
Page 72: Mounting The Nameplate
Error handling on page 266. 6.9 Mounting the nameplate Before using MiR1350, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see Nameplate on page 19. NOTICE The nameplate must be mounted as described in the following steps.
Page 73 6. Getting started To mount the nameplate correctly, follow these steps: Locate the right side hatch—see External parts on page 16. Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 74: Shutting Down The Robot
6. Getting started 6.10 Shutting down the robot To shut down MiR1350, follow these steps: Ensure that the robot is not moving or executing an action. Press the Power button for three seconds. Wait for the robot to finish the shutdown process. The status lights waver yellow, and the Power button blinks red.
Page 75 6. Getting started When the robot finishes the shutdown process, the status and signal lights go off. When you shut down the robot for transportation, service, or repair, the battery must be disconnected—see Disconnecting the battery on page 80. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 76: 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. Table 7.1 identifies the main components of the battery fast-swap assembly and describes the three different positions the assembly can be set to.
Page 77: Charging The Robot
Do not parallel couple the battery with more batteries. Parallel coupled batteries will result in the batteries shutting down. 7.1 Charging the robot This section describes how to charge MiR1350 using a MiR cable charger. NOTICE The most efficient way to charge MiR robots is with MiR charging stations.
Page 78 7. Battery and charging The robot is delivered 40-60% charged. CAUTION Charging the robot with a charging station and a cable charger simultaneously can damage the battery. • Never charge with two chargers simultaneously. The left side compartment holds the robot's battery. To access the side compartments, see Accessing the internal parts on page 43.
Page 79 Use only an original MiR cable charger. Once the battery has finished charging, reconnect the battery, and close the maintenance hatch. For information about the charging time, see specifications on the MiR website. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 80: Disconnecting The Battery
7. Battery and charging 7.2 Disconnecting the battery Whenever the robot is to be transported, undergo maintenance, or stored for over 24 hours, you should always disconnect the battery. The left side compartment holds the robot's battery. To access the side compartments, see Accessing the internal parts on page 43.
Page 81 7. Battery and charging To swap out the battery, follow these steps: Pull out the Battery lock pin, and pull the Battery lever down to the bottom level. The battery is now disconnected and unlocked from the robot. Grab the handle and gently pull the battery out. Insert another battery.
Page 82: Battery Storage
If the battery percentage is very low and the battery cells may soon take damage, the battery enters Deep sleep mode. Depending on how long the battery has been in Deep sleep, you may be able to revive it using MiR Cable Charger Lite 48V 3A.
Page 83: Battery Disposal
To properly troubleshoot any battery issues and for the exact time periods and battery voltages that trigger the transitions between states, see MiR 48V Battery Technical Guide. These guides provide more detailed information about determining exactly which state the battery is in and how to safely and securely restore the battery without damaging the robot or battery.
Page 84: Cybersecurity
MiR recommends conducting a cybersecurity risk assessment before commissioning MiR1350. To ensure the cybersecurity of your MiR product, see MiR Cybersecurity Guide found on the USB drive shipped with MiR1350 and on the Support Portal. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 85: Navigation And Guidance System
9. Navigation and guidance system 9. Navigation and guidance system The navigation and guidance 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 guidance system. 9.1 System overview The purpose of the navigation and guidance system is to guide the robot from one position on a map to another position.
Page 86 9. Navigation and guidance system Each part of the process is described in greater detail in the following sections. 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 87: User Input
9. Navigation and guidance 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 143.
Page 88: Global Planner
9. Navigation and guidance system 9.3 Global planner The global planner is an algorithm in the robot computer that generates a path to the goal position. This path is known as the global path. Figure 9.3. The global path is shown with the blue dotted line that leads from the start to the goal position.
Page 89: Local Planner
9. Navigation and guidance system Figure 9.4. The dotted line from the start position of the robot to the goal position is the global path generated by the robot computer. 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.
Page 90: Obstacle Detection
9. Navigation and guidance system Whereas the global planner creates a single path from start to finish, the local planner continues to create new paths that adapt to the current position of the robot and the obstacles around it. The local planner only processes the area that is immediately surrounding the robot, using input from the robot sensors to avoid obstacles.
Page 91 9. Navigation and guidance system Table 9.1. Description of how the robot sees obstacles with its sensors What the laser What the 3D cameras What a human sees scanners see A chair placed in the In the robot interface, The 3D cameras detect corner of a room is the red lines on a map more details of the...
Page 92 9. Navigation and guidance 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 93 9. Navigation and guidance system If you are using the robot in an area with walls made of glass or reflective material, mark the walls as Forbidden zones on the map, not as walls—see Creating and configuring maps on page 143. Walls on the map that the robot cannot detect will confuse the robot's navigation system.
Page 94 9. Navigation and guidance system CAUTION The 3D cameras cannot be used as a means for safety related risk reduction, for example, detecting low hanging obstacles. They cannot be used as an alternative to the Personnel detection safety function—see Personnel detection on page 111.
Page 95 9. Navigation and guidance system Figure 9.8. The two 3D cameras can see objects up to 1800 mm above floor height at a distance of 1200 mm in front of the robot and have a horizontal field of view of 114°. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 96 9. Navigation and guidance system Figure 9.9. Objects below 30 mm from the ground are not detected by the camera. This value increases by 10 mm per meter from the robot. 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 97 9. Navigation and guidance system Figure 9.10. The proximity sensors in the corners of the robot detect objects below the safety laser scanners' plane of view. The main purpose of the proximity sensors is to detect low objects, such as pallets and forklift forks, placed close to the robot while it is standing still. When the robot begins to drive, it plans a path around the nearby detected obstacles.
Page 98 9. Navigation and guidance system • The proximity sensors are used for navigation, not safety. The robot does not enter Protective stop if the sensors detect an object. If the robot cannot navigate around an obstacle detected by the sensors, the robot reports an error that it cannot find a free path.
Page 99: Localization
9. Navigation and guidance system NOTICE Because proximity sensor data is not intended to be used while the robot is driving, there is a risk that the robot may still collide with low objects when reversing, turning, or pivoting. Collision with objects may damage the robot or other assets or lead to interruption of operation.
Page 100 9. Navigation and guidance system • The laser scanner data. This is used to determine the likely positions of the robot by comparing the data with nearby walls on the map. This data is used by a particle filter to determine the most likely position of the robot on the map.
Page 101 9. Navigation and guidance 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 102: Motor Controller And Motors
9. Navigation and guidance 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.
Page 103: Brakes
9. Navigation and guidance system 9.8 Brakes Once the approximated position of the robot determined from localization is the same as the goal position calculated by the global planner, the robot stops by using regenerative braking in the motors. Figure 9.12. The robot has reached the goal position and stops by engaging the dynamic brake function.
Page 104: Safety-Related Functions And Interfaces
10. Safety-related functions and interfaces 10. Safety-related functions and interfaces 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. MiR1350 is equipped with a range of built-in safety-related functions as well as safety-related electrical interfaces designed for integration with a top module.
Page 105 10. Safety-related functions and interfaces Types of stop There are four different stopped states: • Operational stop • Protective stop • Emergency stop • Manual stop The last three types of stop are monitored by the safety PLC. When the robot is in Protective stop or Emergency stop, the robot loses connection to CAN bus nodes 3, 4, and 20, and may report an error regarding missing data.
Page 106 10. Safety-related functions and interfaces • A safety laser scanner detects an object in its active Protective field Remove the object from the active Protective field—see Personnel detection page 111. The robot will resume its operating state after two seconds. • The robot finishes the startup process The Resume button will flash after startup.
Page 107 10. Safety-related functions and interfaces Figure 10.1. MiR1350 has four Emergency stop buttons and the option to connect additional Emergency stop buttons through the electrical interface. CAUTION Emergency stop buttons are not designed for frequent use. If a button has been used too many times, it may fail to stop the robot in an emergency situation, and nearby personnel may be injured by electrical hazards or collision with moving parts.
Page 108 10. Safety-related functions and interfaces 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 MiR1350: •...
Page 109 10. Safety-related functions and interfaces • Emergency stop buttons MiR1350 has four Emergency stop buttons. When one of the buttons is pressed, the robot goes into Emergency stop. Safety-related electrical interfaces The following interfaces are parts of the Auxiliary emergency stop and Auxiliary safety function interfaces that can be used to connect the safety PLC to a top module—see Internal parts on...
Page 110 The reduced speed function can be connected to a top module, enabling it to make the robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the robot does not drive fast when the lift is raised.
Page 111: Personnel Detection
10. Safety-related functions and interfaces 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 contactors so the 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...
Page 112 10. Safety-related functions and interfaces Stops when an obstacle is Drives when the area is clear 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 113 10. Safety-related functions and interfaces The Protective fields on the left and right sides of MiR1350 are 350 mm when the robot is driving, and the field on the side opposite of the driving direction is always 25 mm. The Protective fields on all sides of the robot are all 250 mm when the robot is at standstill (between 0–0.05 m/s).
Page 114 10. Safety-related functions and interfaces Field set when driving forward The following table shows speeds and the field ranges 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 115 10. Safety-related functions and interfaces Field set when driving backward The field set for driving backward is the same as the field set for driving forward. The colors and cases in Table 10.2 correspond to the field set shown in Figure 10.6.
Page 116 10. Safety-related functions and interfaces NOTICE Scanners measure distances to diffuse reflections, which means that a tolerance is added to the Protective field sets to secure a safe detection of persons crossing the Protective field sets. The tolerance distance is 65 mm. Muted Protective fields When it is required that the robot moves close to surrounding objects, the robot can be configured to mute the Protective fields.
Page 117 10. Safety-related functions and interfaces User-configured muting of the Protective fields There are two ways you can mute the Protective fields using the robot interface: • Adding the Mute protective fields action to a mission: Enable Mute protective fields under System > Settings > Features—...
Page 118 10. Safety-related functions and interfaces • When driving the robot in Manual mode: Put the robot into Manual mode—see Driving the robot in Manual mode on page 68. In the robot interface, select Muted Protective fields in the joystick control. In the dialog box, select to acknowledge the muting of the Protective fields.
Page 119: Overspeed Avoidance
To prevent the robot from entering Emergency stop, the robot must be fitted with a closed connection such as a dummy plug or top module. Dummy plugs are supplied by MiR. Additionally, the connection interface for the MiR controller in the rear compartment also has a dummy plug that must be connected to keep the circuit closed.
Page 120 Emergency stop circuit on the next page Rear-right Emergency stop Connection interface for button MiR controller with dummy plug Rear-left Emergency stop Front-left Emergency stop button button MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 121: Emergency Stop Circuit
10. Safety-related functions and interfaces Pos. Description Pos. Description Safety PLC 10.5 Emergency stop circuit The Emergency stop circuit goes through the four Emergency stop buttons in MiR1350—see Emergency stop buttons on page 119—and then through the Auxiliary emergency stop interface where you can connect external input to bring the robot into an Emergency stop.
Page 122 10. Safety-related functions and interfaces Emergency stop button released Emergency stop button pushed Emergency stop circuit faulty Figure 10.8. If the input pins deliver 24 V to the robot, it can operate. When you push a connected Emergency stop button, both pins deliver 0 V, and the robot enters Emergency stop. If the pins do not deliver the same input, the robot enters Protective stop until the circuits are fixed.
Page 123: Safeguarded Stop
10. Safety-related functions and interfaces In the Auxiliary emergency stop interface, pins 1 and 2 deliver 24 V from the safety PLC, and pins 3 and 4 connect to the Emergency stop circuit inputs of the safety PLC. 24 V must be delivered to pins 3 and 4 for the robot to operate. 10.6 Safeguarded stop The Safeguarded stop interface provides an input to the robot that can bring the robot into Protective stop.
Page 124 10. Safety-related functions and interfaces Signal to enable operation Signal to enter Protective stop Signal to enter Protective stop Figure 10.9. If both pins deliver 24 V to the robot, it can operate. If either or both of the pins deliver 0 V, the robot enters Protective stop.
Page 125: Locomotion
10. Safety-related functions and interfaces 10.7 Locomotion The Locomotion interface is used to signal to a top module that the robot is driving. This function uses two output pins, where both pins deliver 0 V when the robot is driving and 24 V when the robot is stopped. You can use this interface to make your top module behave differently depending on whether the robot is driving or not.
Page 126: System Emergency Stop
10. Safety-related functions and interfaces 10.8 System emergency stop The System emergency stop interface is used to control the Emergency stop state between the robot and a top module. The interface has two inputs for bringing the robot into Emergency stop and two outputs for signaling when the robot is in Emergency stop.
Page 127 10. Safety-related functions and interfaces Not in Emergency stop Inputs are 0 V Button on robot is pressed Inputs are unequal Figure 10.11. There are four cases described above. They illustrate respectively: 1. the robot is not in Emergency stop so the output is 24 V, 2. the robot is in Emergency stop because it receives 0 V MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 128: Reduced Speed
10. Safety-related functions and interfaces input from the System emergency stop interface, 3. the robot is in Emergency stop because an Emergency stop button has been pressed, 4. the robot is in Emergency stop because the inputs are unequal. In the Auxiliary safety function interface, pins 7 and 8 are used for the output and pins 9 and 10 are used for the input of the System emergency stop function.
Page 129: Shelf Mode
If you do not have a shelf lifting top module mounted on top of the robot, this interface should remain inactive at all times. The Shelf mode interface is a signal specifically used when MiR Shelf Lift is mounted to the robot. The signal activates when the robot is carrying a shelf,...
Page 130 Emergency Triggering event: Pressing any PFHd: stop Emergency stop button on the robot, 4.0 × 10 connected top module, or connected MiR Controller joystick—see Emergency stop buttons on page 119. Architecture: Reaction: Category 0 stop (IEC 60204) Category 3 and mechanical spring-applied brakes engage.
Page 131 10. Safety-related functions and interfaces Function PFHd, PL, and Description name architecture Field Triggering event: Changing the robot PFHd: switching speed to another case interval—see 2.0 × 10 Personnel detection on page 111. Reaction: Activate Protective field that is suitable for the speed of the robot. Architecture: Reset function: Continuous function.
Page 132 10. Safety-related functions and interfaces Function PFHd, PL, and Description name architecture Safeguard Triggering event: External device PFHd: stop delivering 0 V to the Safeguard stop input 3.7 × 10 pins—see Interface specifications on page 243. Reaction: Category 0 stop (IEC 60204) Architecture: and mechanical spring-applied brakes Category 3...
Page 133 10. Safety-related functions and interfaces Function PFHd, PL, and Description name architecture Mode Triggering event: Changing mode or PFHd: selection setting to Locked mode. 1.2 × 10 Reaction: Category 0 stop (IEC 60204) and mechanical spring-applied brakes engage. Architecture: Reset function: Press the Resume Category 1 button on the robot.
Page 134: Safety Stop
10. Safety-related functions and interfaces 10.12 Safety stop There are two pairs of contactors used to stop MiR1350: the STO (Safe Torque Off) contactors and the dynamic brake contactors. These are controlled by the safety PLC and are used when the robot goes into Protective or Emergency stop. The following processes occur to stop the robot safely: The safety PLC first turns off the STO contactors so power is cut from the motors.
Page 135: Light Indicators And Speakers
10. Safety-related functions and interfaces 10.13 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 The LED light bands on all four sides of the robot use colors and light motion patterns to signal the current status of the robot.
Page 136 Charging at charging station White wavering Prompt user / Waiting for user's response Cyan wavering Waiting for MiR Fleet resource or for another MiR (robots connected to robot to move MiR Fleet only) When the robot's battery reaches a critically low level of power (0- 1%), the ends of the status lights flash red.
Page 137 10. Safety-related functions and interfaces When the robot is charging in a charging station, the status lights on the side of the robot indicate the robot's battery percentage. Signal lights Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-backwards-braking and left-right turns.
Page 138 10. Safety-related functions and interfaces Figure 10.14. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its Protective fields. CAUTION Unaware personnel may not see the robot in certain situations and risk colliding with the robot. This may result in injury to personnel or damage to equipment.
Page 139: Commissioning
11. Commissioning 11. Commissioning This section describes how to commission MiR1350. Commissioning should be done without any load on the robot, except when doing brake tests where the robot should have a load equaling the heaviest load it will be driving with. Only persons assigned with the commissioning task should be present during commissioning.
Page 140 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 82.
Page 141: Risk Assessment
Make sure the environment MiR1350 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. If it cannot detect enough distinguishing landmarks, it cannot navigate the map efficiently—see...
Page 142 11. Commissioning The risk assessment must cover both MiR1350 itself and also take into account carts, potential load transfer stations, work cells, and the work environment. NOTICE Mobile Industrial Robots takes no responsibility for the creation and performance of the risk assessment, but we provide information and guidelines that may be used in this section.
Page 143: Creating And Configuring Maps
11. Commissioning 11.3 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. Figure 11.1.
Page 144 In general, we recommend that maps should not exceed an area of 300 x 300 meters. • You can connect maps using map transitions—see MiR Robot Reference Guide, or ask your distributor for the guide How to set up transitions between maps.
Page 145 Reference Guide, or ask your distributor for the guide How to set up transitions between maps. 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. Creating a map To create a new map, you drive the robot around its intended work environment while its sensors gather data to generate a map from.
Page 146 11. Commissioning To create a new map, see MiR Robot Reference Guide on the MiR website. When mapping, you should apply the following best practices: • Focus on mapping in a circular pattern around the perimeter of the working environment.
Page 148 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 149 For more information about what each zone does, see MiR Robot Reference Guide on the MiR website, or see the guide How to use zones on a map.
Page 150 11. Commissioning NOTICE The robot prioritizes the instructions it receives in the following order: Instructions from zones. Instructions from mission actions. Instructions from system settings (except instructions from the setting Maximum allowed speed, which are never overruled by neither zones nor mission actions). Examples of when and how to use zones The following sections describe examples of cases where certain zones can be used to improve the robot's operations.
Page 151 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 152 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.
Page 153 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 154 11. Commissioning Solution: Make the glass visible to the safety laser scanners by gluing non- transparent window film on the glass in the scanner height, 150 to 250 mm, or mark the wall as a Forbidden zone. Edit the map afterwards in the robot interface and mark the glass as walls to help the robot localize.
Page 155: Markers
11. Commissioning To use Limit-robots zones, your robots must be connected to MiR Fleet. 11.4 Markers Markers are defined as X-Y coordinates on a map that mark locations where you want the robot to travel to. Markers are points on the map that mark a physical entity, such as a charging station or a pallet rack, and enable the robot to position itself accurately relative to this entity.
Page 156 11. Commissioning Figure 11.8. A VL-marker with its Entry position from the robot interface. CAUTION When a robot docks to a marker (except L-markers), it mutes its Protective fields and disables Collision avoidance, enabling it to drive closer to the marker. If an object is placed or personnel walk in front of the robot while these functions are disabled, the robot will continue docking until it collides with the obstacle.
Page 157 11. Commissioning Undocking from markers A MiR robot can undock from markers automatically. When undocking, the robot reverses from the marker until it is outside of the undocking area—see Figure 11.9. The robot will keep muting its Protective fields while it undocks. Once the robot begins a new action that requires it to plan a new path, the Protective fields are activated again, and the robot continues normal operation.
Page 158 11. Commissioning Figure 11.9. The undocking area initiates an undocking sequence for any robots with their center in the zone before beginning an action (except Relative move actions). The red dot represents the center of the robot when it is docked to the marker, the blue dot represents how far back the robot intends to move to undock from the marker, and the blue area represents the undocking area.
Page 159 If you want a robot to undock from an L-marker, you must use a Relative move action. Types of markers There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 160 11. Commissioning 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. The V-marker is the simplest marker available for the robot. It consists of a V shape with an interior angle of 120°...
Page 161 11. Commissioning VL-marker is a larger marker that enables the robot to dock more accurately than V-markers. It consists of a V-marker with a 350 mm plate attached to the right of the V shape. Like V-markers, VL-markers are also designed for the robot to either dock to so its front or its rear is facing the marker.
Page 162 11. Commissioning L-marker makes it possible for the robot to dock in several different ways and orientations. Robots can both dock to the inside and outside of an L-marker, and the marker can be on any side of the robot. The marker is shaped liked an L with a defined angle of 90˚...
Page 163: Positions
11. Commissioning Figure 11.14. The icon used for Bar-markers in the interface and an illustration of how robots can dock to the marker. Determine during commissioning how much space is required between marker to make docking possible. For further information on markers, contact your distributor for the guide How to create and dock to V-markers, VL-markers, L-markers, and Bar-markers.
Page 164: Creating Missions
11.6 Creating missions MiR robots function through missions that you create. A mission is made up of actions, such as: move actions, logic actions, docking actions, and sounds, which can be put together to form a mission with as many actions as needed. Missions themselves can also be nested into other missions.
Page 165 11. Commissioning Figure 11.15. You can find the actions groups in the top bar of the mission editor window. For more information on parameters and variables, see the guide How to use variables in missions. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 166 Maximum allowed speed, which are never overruled by neither zones nor mission actions). 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: •...
Page 167 11. Commissioning Figure 11.16. You can use variables to make a mission where you can set a parameter in one of the actions each time you use the mission (either when you add the mission to the mission queue or nest it in another mission). In this example, you can set the variable Load transfer station to any marker created on the map.
Page 168 11. Commissioning • Are there small parts of different missions that are the same each time where it would be worthwhile to make a mission for the repeated task and nest this mission into the larger missions? For an example, see Figure 11.17. Figure 11.17.
Page 169: Creating A Footprint
11. Commissioning 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. When you have figured out which tasks you want the robot to perform and how many different missions you need to create, you should consider how you want to organize the missions in different mission groups.
Page 170 11. Commissioning Default footprint Larger footprint Figure 11.18. 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 171 For a more thorough guide to creating footprints, see the guide How to change the robot footprint. For more information about the footprint editor, see MiR Robot Reference Guide. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 172 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.
Page 173: Using Operating Hazard Zones
11. Commissioning If you want to edit the default footprint of the robot, for example if the mounted top module is larger than the robot, go to System > Settings > Planner, and select a new footprint under Robot footprint. 11.8 Using operating hazard zones Operating hazard zones are areas that must be visibly marked to comply with safety standards in EN 1525 and ISO 3691-4.
Page 174 For the robot's space requirements, see the space requirements guide for your robot on the Support portal or see the specifications for your robot on the MiR website. It is not allowed to have work stations in operating hazard zones.
Page 175: Making A Brake Test
11. Commissioning Figure 11.19. 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 176: Creating User Groups And Users
The decline of the surface the robot drives on Because of this, it is not possible to predetermine the exact braking distance of MiR robots. The distance has to be determined in the environment and under the driving conditions the robot will be operating in.
Page 177 What permissions should the different users have? • What functions or widgets should be available for the different users? For more details on users and dashboards, see MiR Robot Reference Guide on the MiR website. Create user groups Setup > User groups, you can create specific user groups with specific access to different parts of the robot interface.
Page 178 11. Commissioning Figure 11.21. You can select the specific parts of the robot interface that the user group has access to. Create users Setup > Users, you can create new users and select: • Which user group they belong in. •...
Page 179 11. Commissioning Figure 11.22. When you create a user, you must fill out the fields shown in this image. Table 11.2. Examples of which users MiR recommends should be able to edit which features Feature User group Controlling the robot manually...
Page 180: Creating Dashboards
For more details on how to use and create dashboards, see MiR Robot Reference Guide. A dashboard is made up of a number of widgets, each representing a feature in the system, for example a particular mission, the map the robot is operating on, or the current mission queue.
Page 181 11. Commissioning Figure 11.23. 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 182: Updating Software
11.12 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 183: Creating Backups
Backups take up some of your robot's memory space. It is a good idea to remove any old backups you are certain you will not need in the future. For more information on how to create, roll back, and delete backups, see MiR Robot Reference Guide. 11.14 System settings This section describes some of the commonly used system settings of MiR1350 that the commissioner must be aware of.
Page 184 11. Commissioning NOTICE The robot prioritizes the instructions it receives in the following order: Instructions from zones. Instructions from mission actions. Instructions from system settings (except instructions from the setting Maximum allowed speed, which are never overruled by neither zones nor mission actions). System >...
Page 185 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 88...
Page 186 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 187 11. Commissioning Optimizing the timeout and deviation of paths is useful in situations where you want to configure how strictly the robot should follow the path it has planned. Making the robot follow the exact path it has planned with little or no deviation is known as Line-following mode. This can be useful, for example, in narrow corridors where there isn't enough space for the robot to go around dynamic obstacles—see Figure 11.26.
Page 188 11. Commissioning Desired speed sets the desired speed of the robot. This setting can be useful in the same way as maximum allowed speed, but with this setting, the robot will drive faster than the set desired speed in a Speed zone that requires it. Docking In the Docking section, you can change the parameters regarding docking to and from markers.
Page 189 11. Commissioning 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 190 11. Commissioning Select Muted protective fields volume to set the volume in decibels for the warning sound that is played when the robot drives with muted Protective fields. CAUTION • Always have the robot play an audible warning sound when driving with muted Protective fields.
Page 191 11. Commissioning Figure 11.29. Disable and enable robot features in the Features section. Shelf enables the shelf feature. Enable this feature if the robot is used to pick up and place shelves. This modifies how some of the pins in the electrical interfaces are used.
Page 192 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. Modbus enables Modbus communications. When enabled, you can access the page System > Triggers...
Page 193: Usage
12. Usage 12. Usage The main way to use MiR1350 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 194 12. Usage Once the robot is localized, you can insert a marker on the map. In this example, we are using a VL-marker . To create a marker, follow these steps: Place your physical marker where you want the robot to dock. Manually drive the robot to the marker so the robot is facing the marker.
Page 195 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. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 196 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 197 12. Usage Detecting the marker with the rear scanner will automatically set the orientation offset to approximately 180° for a reverse docking. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 198 12. Usage • To change where the robot stops relative to the marker, you can adjust the offsets. • The X-offset moves the robot closer to or further from the marker in meters. • The Y-offset moves the robot further to the left or right of the marker in meters.
Page 199 12. Usage For more information about the marker offsets, see How to create and dock to V-markers, VL-markers, L-markers, and Bar- markers. Select Save 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 to.
Page 200: Creating Positions
12. Usage 12.2 Creating positions The following steps describe how to create a position on a map. In this example, we are creating a Robot position . In the robot interface, go to the map editor of the map where you want to create a position.
Page 201 12. Usage Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position. Select to create the position. The position is now visible on the map. You can send the robot to the position by selecting it on the map and selecting to.
Page 202: Creating The Mission Prompt User
12. Usage 12.3 Creating the mission Prompt user Prompt user actions are used for prompting the user with a question on how the robot should proceed. Prompt user is an example mission that uses a Prompt user action that lets you choose whether to send the robot to one position or another.
Page 203 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 204 12. Usage In the Prompt user action, drag a Move to action under the box and a Move to action under the box. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 206: Creating The Mission Try/Catch
12. Usage In the second Move to action, under Position, select p2. The mission should look like this: Select Save to save the mission. 12.4 Creating the mission Try/Catch Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you can define what the robot should do if, at any point, it fails to execute its main mission.
Page 207 12. Usage stopping in the middle of a mission by 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 202, and if the robot for some reason fails to complete the mission, the robot plays a sound.
Page 208 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 209 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 211 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 212: Creating The Mission Variable Docking
12. Usage Select Save to save the mission. 12.5 Creating the mission Variable docking All mission actions that require the user to specify the value of a parameter when they choose to use the mission have the option of defining a variable. If you use a variable in a mission, when you add the mission to the mission queue or nest it inside another mission, you must select a value for the parameter where the variable is used.
Page 213 12. Usage To create the mission Variable docking, it is assumed you have completed the following: • Enabled the muting of the Protective fields. Go to System > Settings > Features, and set Mute protective fields to True. • Created several markers that the robot can dock to—see Creating markers page 193.
Page 214 12. Usage Name the mission Variable docking. Select the group and site you want it to belong to. Select Create mission. Select the following actions: • In the Move menu, select Move. • In the Safety system menu, select Mute protective fields.
Page 215 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. Name the variable Marker.
Page 216 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 and close, and then open the action dialog box again.
Page 217 12. Usage In the Mute protective fields action, set the parameters as follows: • Sound: Select Default • Front: Create a variable titled Mute fields. • Rear: Create a variable titled Mute fields. • Sides: Create a variable titled Mute fields. MiR1350 cannot mute specific Protective fields; you must either mute all or none of the fields.
Page 218 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 Marker in two places, you ensure that the robot docks to the same marker that it moved to in the first action.
Page 219 12. Usage Drag the Wait action into the Mute protective fields action, and under Time, create another variable titled Time. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 220 12. Usage 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. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 221: Testing A Mission
12. Usage Select Save to save the mission. 12.6 Testing a mission After you create a mission, always run the mission to test that the robot executes it correctly. NOTICE Always test missions without load to minimize potential hazards. To run a mission, follow these steps: Go to Setup > Missions.
Page 222 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 223: Applications
13. Applications You can install top modules on top of MiR1350 for specific applications. For more information about top modules from MiR, see MiR Top Modules on the MiR website. For more information about top modules from third parties, see...
Page 224 13. Applications Figure 13.1. Mounting holes on the top of MiR1350. Certain top modules may require the installation of an extra Emergency stop button. Perform a risk assessment according to standard ISO 12100—see Risk assessment on page 141. CAUTION Certain top modules may lead to new hazards and increased risks that cannot be eliminated or reduced by the risk reduction measures applied by Mobile Industrial Robots.
Page 225 13. Applications CAUTION MiR1350 may tip over if weight and payload specifications are not met, risking damage to equipment or injury to nearby personnel. • Stay within the specifications for weight and the total payload’s center of gravity—see Payload distribution on page 239.
Page 226: 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 227: Regular Weekly Checks And Maintenance Tasks
14. Maintenance NOTICE Only use approved spare parts. Contact you distributor for the list of spare parts and the appropriate how-to guides. Mobile Industrial Robots disclaims any and all liability if unapproved spare parts are used. Mobile Industrial Robots cannot be held responsible for any damages caused to the robot, accessories, or any other equipment due to use of unapproved spare parts.
Page 228 14. Maintenance Table 14.1. Regular weekly checks and maintenance tasks Parts Maintenance tasks Robot top cover Clean the robot on the outside with a damp cloth. and maintenance Do not use compressed air to clean the robot. hatches Laser scanners Clean the optics covers of the scanners for optimum performance.
Page 229: Regular Checks And Replacements
14. Maintenance Parts Maintenance tasks Caster wheels Remove dirt with a damp cloth, and make sure nothing is (the four corner entangled in the wheels. wheels) Drive wheels (the Remove dirt with a damp cloth, and make sure nothing is two middle entangled in the wheels.
Page 230 14. Maintenance Table 14.2. Regular checks and replacements Part Maintenance Interval Robot top cover Check mounting. Ensure it Check monthly, and replace sits evenly on top of the as needed. robot with connections accessible. Safety PLC In the robot interface under Check monthly and after Monitoring >...
Page 231 14. Maintenance Part Maintenance Interval Loudspeaker Check that all visual and Check monthly, and adjust and signal auditory warnings function. or replace as needed. lights Caster wheels Check bearings and tighten, Check weekly, and replace if (the four corner and check the wheels for the diameter is less than wheels) wear and tear.
Page 232 14. Maintenance Part Maintenance Interval Drive wheels Lubricate the roller Lubricate the roller bearings (the two middle bearings. yearly. wheels) To lubricate the bearings, attach a grease pump to the grease fitting on one of the drive wheels, and apply 2 g of Rocol Foodlube Hi- Temp 2.
Page 233 How to calibrate a D435 3D To test the cameras, see the camera. guide How to test if the 3D cameras are working on MiR robots Proximity Check for dust or dirt, and Check weekly. sensors clean with a swab.
Page 234: Battery Maintenance
14. Maintenance Part Maintenance Interval Manual brake Check if the Manual brake Check monthly, and replace release switch release switch functions by as needed. releasing the brakes and pushing the robot gently forward. Remember to enable the brakes again when done. Safety marking Check if the safety markings Check every six months,...
Page 235: Lifting Mir1350
14. Maintenance 14.4 Lifting MiR1350 It may be necessary to lift the robot while servicing it. To lift the robot, use the four M12 mounting holes in the corners of the top cover of the robot—see Figure 14.1. Figure 14.1. Illustration of how to lift MiR1350. To lift the robot safely without damaging it, ensure that the following criteria are met: ...
Page 236 14. Maintenance • The angle between the top cover and sling must be greater than 60°—see Figure 14.1. • The bolts must be parallel with the diagonal between opposite corners. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 237: 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 238: 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 74. • Disconnect the battery—see Disconnecting the battery on page 80. To pack the robot, repeat the steps in Unpacking MiR1350 on page 53 in the reverse order.
Page 239: Payload Distribution
If the friction coefficient is not in this range, the commissioner must take additional measures to ensure a safe operation. The specifications apply to total payloads of up to 1350 kg. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 241: Side View
16. Payload distribution 16.1 Side view Figure 16.2. The center of mass (CoM) of payloads seen from the side at maximum speed. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 242: Front View
16. Payload distribution 16.2 Front view Figure 16.3. The center of mass (CoM) of payloads seen from the front at maximum speed. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 243: Interface Specifications
17. Interface specifications 17. Interface specifications This section describes the specifications of the top application interfaces. NOTICE Read Safety on page 32 before using the electrical interface. MiR1350 has six electrical interfaces divided into two groups: • Left top compartment • Power •...
Page 244 17. Interface specifications Power Figure 17.1. Pin numbers: female connector viewed from the front (left) and wiring diagram (right). Table 17.1 contains the description of the pins of the Power interface. The maximum current across pins 1 and 3 combined is 20 A when the robot is at standstill.
Page 245 17. Interface specifications CAUTION Connecting power and ground signals to the chassis while stacking the 24 V and 48 V power supplies can lead to severe damage to the robot. • Never connect power and ground signals to the chassis, and never stack the 24 V and 48 V power supplies.
Page 246 17. Interface specifications Table 17.1. Description of the pins in the Power interface Description Signal name: 48V PWR Max. current: 20 A Voltage range: 41.8 - 53.8 V. Standard function: Turns off during Protective and Emergency stops by default, but can be changed to continuously supply power when the robot is on.
Page 247 17. Interface specifications Description Signal name: 48V SafePWR Max. current: 20 A Voltage range: 41.8 - 53.8 V. Standard function: Turns off in case of a Protective or Emergency stop. This output is controlled by the internal safety PLC and the STO contactor, to ensure that power is always disconnected from this pin in case of a protective or emergency stop.
Page 248 17. Interface specifications By default, the feature is set to True meaning that: • Neither the TOP 48V pin nor the TOP-Safe 48V pin can draw power during an Emergency or Protective stop. • The power from both pins are softstarted by gradually raising the voltage from 0 to 48 V in 100 ms.
Page 249 17. Interface specifications If you disable the feature and connect a load that has a capacity above 100 µF or draws large currents in the first 100 ms to the TOP-Safe 48 V pin, and you don’t integrate your own softstarter to the device, the TOP FUSE will trip when the robot exits Emergency or Protective stop.
Page 250 The pallet lift and shelf features use a different kind of communication that is specific to the MiR top modules. Outputs (O0, O1, O2, O3) can be toggled on and off by the robot in a Set I/O module mission action or manually in...
Page 251 17. Interface specifications A top module can be connected to the output pins and monitor when they are active at 24 V. RTN is used as ground. Inputs (I0, I1, I2, I3) can be used by the top application to send inputs to the robot.
Page 252 17. Interface specifications Pin no. Description Name: O1 Maximum current: 1 A at 24 V Standard function: Output 1 Name: RTN Standard function: Protected return Name: O2 Maximum current: 1 A at 24 V Standard function: Output 2 Name: RTN Standard function: Protected return Name: O3 Maximum current: 1 A at 24 V Standard function: Output 3...
Page 253 17. Interface specifications Pin no. Description Name: I1 Maximum current: 1 A at 24 V Standard function: PNP input 1 Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output Name: I2 Maximum current: 1 A at 24 V Standard function: PNP input 2 Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output...
Page 254 Various protocols are supported, such as Modbus. For more information on how to use Modbus, ask your distributor for the guide How to use Modbus with MiR robots. Table 17.3 contains the description of the pins of the Ethernet interface. Table 17.3.
Page 255: Right Compartment Interfaces
17. Interface specifications 17.2 Right compartment interfaces This section describes the safety interfaces and antenna interface located in the right side top compartment of MiR1350. Auxiliary emergency stop Figure 17.7. Pin numbers: female connector viewed from the front (left) and wiring diagram (right).
Page 256 17. Interface specifications Table 17.4 contains the description of the pins of the Auxiliary emergency stop interface. Table 17.4. Description of the pins in the Auxiliary emergency stop interface Description Signal name: Test output Type: Output Standard function: 24 V output signal from the safety PLC for the Emergency stop circuit.
Page 257 17. Interface specifications Description Signal name: Reset Type: Input Standard function: When active, the robot resets. Signal name: Safe RTN Type: Ground Standard function: Safe return. Signal name: Reset lamp Type: Output Standard function: Active when robot needs to be reset. Unassigned. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 258 17. Interface specifications Auxiliary safety functions Figure 17.8. 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-related functions and interfaces page 104.
Page 259 17. Interface specifications Pin no. Description Signal name: Test output Type: Output Standard function: 24 V output. Signal name: Safeguarded stop 1 Type: Input Standard function: When inactive, the robot enters Protective stop. If pins 3 and 4 are unequally set for more than three seconds, the robot must be restarted.
Page 260 Signal name: Shelf mode Type: Input Standard function: When active, the robot checks for shelf legs if pin 11 is also active. Is only intended to be used with MiR Shelf Lift Unassigned. Unassigned. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 261 17. Interface specifications Pin no. Description Signal name: Safe RTN Type: Ground Standard function: Safe return. Unassigned. Unassigned. WiFi antenna The antenna interface is an RP-SMA connector that goes to the front compartment. It is not connected to the robot computer by default. Adding antennas is considered a modification to the robot, and it is the modifier's responsibility to ensure applicable compliance.
Page 262 17. Interface specifications Locate the loose RP-SMA antenna cable that is not yet connected. The cable will be nearby the robot computer. Disconnect one of the connected antenna cables from the robot computer and connect the other antenna cable in its place. Use an 8 mm wrench to loosen and tighten the connectors.
Page 263: Connector List
17. Interface specifications 17.3 Connector list Table 17.6 describes the connectors for the different interfaces that we recommend using. Table 17.6. Description of the connectors used for the interfaces Connector Phoenix Connector type Dimensions name Contact Power M23 6p See Figure 17.9. 06P1N8A8008S GPIO M17 17p...
Page 264 17. Interface specifications Figure 17.10. Connector dimensions for GPIO, Auxiliary emergency stop, and Auxiliary safety functions connectors. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 265: Disposal Of The Robot
18. Disposal of the robot According to the European directive 2012/19/EU, Article 2, paragraph 4) d) and 4) e) (WEEE directive), MiR’s robots are not in scope of the directive. The robot is therefore not classified as WEEE and can be disposed of in accordance with the applicable local regulations.
Page 266: 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 267: Hardware Errors
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 268 19. Error handling • Sign in to the robot interface and go to Monitoring > Hardware health. The interface displays which component is failing and often for what reason. This can help identify the source of the error. If an internal component is failing, turn off the robot, disconnect the battery, and have the commissioner or operator visually check the internal component for obvious faults.
Page 269 19. Error handling • For further troubleshooting, contact your distributor for the MiR troubleshooting guides and the document Error codes and solutions. MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S.
Page 270: Glossary
MiR1350; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering. Direct user...
Page 271 Identification label The identification label is the label that is mounted to the product in production. The label is used to identify the components in your MiR application. It identifies the product model, the hardware version, and the product serial number.
Page 272 MiR application A MiR application is either a single MiR product or a combination of MiR products that is able to execute certain tasks. 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 273 MiR robot interface The MiR robot interface is the web-based interface that enables you to control your MiR robot. It is accessed by connecting to the same network as the robot and entering the robot's IP address in a browser.
Page 274 Protective stop until the field is clear. REST API REST API is used by MiR Fleet and MiR robots to communicate status data and orders. Site A site is the overall container of any number of maps and all data relevant to the map, such as missions, features, robot groups, and transitions.

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