MIR MiR1350 User Manual

Pallet lift

Hide thumbs Also See for MiR1350:

User manual (186 pages)

Quick start manual (61 pages)

Quick start manual (54 pages)

Table Of Contents

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

page of 179

/ 179
Contents
Table of Contents
Bookmarks

Table of Contents

Quick Links

Download this manual

MiR1350 Pallet Lift User Guide

Date: 05/2023

Version: 1.4 (en)

Robot hardware version: 1.0

Top module hardware version: 1.0

Table of Contents

Need help?

Do you have a question about the MiR1350 and is the answer not in the manual?

Questions and answers

Summary of Contents for MIR MiR1350

Page 1 MiR1350 Pallet Lift User Guide Date: 05/2023 Version: 1.4 (en) Robot hardware version: 1.0 Top module hardware version: 1.0...
Page 2: Copyright And Disclaimer
Original instructions (English) Contact the manufacturer: Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ www.mobile-industrial-robots.com Phone: +45 20 377 577 Email: support@mir-robots.com CVR: 35251235 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 3: Table Of Contents
3.5 Residual risks 4. Getting started 4.1 In the box 4.2 Unpacking MiR1350 Pallet Lift 5. Usage 5.1 Powering up the robot 5.2 Shutting down the robot MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 4 8.3 Accessing the side compartment 8.4 Accessing the top compartments 8.5 Accessing the top module 9. Maintenance 9.1 Weekly cleaning tasks for all users 9.2 Maintenance tasks for operators MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 5 17.1 Lifting MiR1350 Pallet Lift 17.2 Packing the robot for transportation 17.3 Transporting the battery 18. Disposal 19. Payload distribution 19.1 Side view 19.2 Front view MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 7: About This Document
1. About this document 1. About this document This user guide explains how to set up and start operating your MiR1350 Pallet Lift robot. This guide also contains information regarding the external and internal components of MiR1350 Pallet Lift along with instructions for proper maintenance of the robot. You will also find information regarding safety and specifications needed to commission a safe MiR1350 Pallet Lift robot application.
Page 8 Best practice guides provide helpful information you can use when commissioning or operating your robot. REST API references for MiR robots, MiR Hooks, and MiR Fleet. HTTP requests can be used to control robots, hooks, and MiR Fleet. MiR network and Wi-Fi guide specifies the performance requirements of your network and how you must configure it for MiR robots and MiR Fleet to operate successfully.
Page 9: Version History
1. About this document Resources MiR Log Analytics and MiR Insights are tools you can use to analyze how well your robots or fleet are performing. MiR Log Analytics is a free tool that lets you analyze recorded performance from error logs, and MiR Insights requires a paid license, but runs continuously alongside MiR Fleet to give real-time data on several metrics.
Page 10 Correct illustration of pins for the Power interface. Affects section: Electrical interfaces. Added sections: Specifications and Space requirements. Changed structure and order of content. Date: 2023-01-31 Robot HW: 1.0 Top module HW: 1.0 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 11 Affects sections: Creating user groups and users, Creating dashboards, Updating the software, Creating missions, Positions, Markers, Creating and configuring maps. Added information about grease for drive wheels. Affects section: Maintenance. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 12 Corrected payload specifications. Affects sections: Product presentation and Shelf specifications. Added notice that cable chargers only charge the robot's battery to 80–90%. Affects section: Charging the robot. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 13 Affects sections: Safety, Connecting to the robot interface, and Connecting the robot to a Wi-Fi network. Date: 2021-08-12 Robot HW: 1.0 Top module HW: 1.0 First edition. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 14: Product Presentation
MiR1350 Pallet Lift is a MiR1350 robot with a MiR Pallet Lift 1350 top module mounted to it. It is designed to transport pallets indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted.
Page 15: Specifications
2. Product presentation MiR1350 Pallet Lift is designed for and all risks are considered when it is used to transport pallets that do not extend the physical footprint of the robot. MiR1350 Pallet Lift is a completed MiR application that consists of a MiR1350 with a mounted MiR Pallet Lift 1350.
Page 16 We recommend either avoiding these materials, covering them with opaque and matte material the robot can detect, or ensuring the robot does not operate in areas with these materials. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 17: Required Space
MiR Support Portal. Figure 2.1 The required space when the robot drives straight Figure 2.2 The required space when the robot takes a 90° turn MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 18 2. Product presentation Figure 2.3 The required space when the robot drives through a doorway Figure 2.4 The required space when two robots pass each other MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 19: Compatible Products
MiR1350 Pallet Lift can be used together with MiR Pallet Rack. MiR Pallet Rack is a delivery station for heavy loads and pallets with a total payload of up to 1250 kg. MiR1350 Pallet Lift drives autonomously into the MiR Pallet Rack and delivers or picks up loads safely.
Page 20: How Mir Pallet Lift 1350 Works
2.5 How MiR Pallet Lift 1350 works When MiR1350 Pallet Lift docks to a pallet rack, the lift can either be raised to pick up a pallet or lowered to place a pallet.
Page 21 Table 2.2 show the functionality of each input and output. The outputs are used to control the position of the MiR1350 Pallet Lift, and the inputs are used to signal the current position and status of the lift. To see the menu options for I/O modules in the robot interface, the I/O module feature must be enabled—see...
Page 22 2. Product presentation Resetting the lift after turning on the robot To avoid unexpected movement each time you turn the robot on, you must reset MiR Pallet Lift 1350 before operating it. At a minimum, you must also reset the lift after each time the lift has been raised and lowered 50 times.
Page 23: External Parts
The lift plate can have a curvature of ±10 mm due to structural tension in the sheet metal. Lift frame Antenna: two pcs, in opposite corners MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 24 Corner shield: four pcs, one in Control panel—see "Control each corner panel" on page 52 Rear maintenance hatch—see "Rear compartment" on page 26 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 25: Internal Parts
2. Product presentation 2.7 Internal parts Most internal parts of MiR1350 Pallet Lift are accessed through maintenance hatches that open to different compartments—see "Accessing the internal parts" on page 99. CAUTION Opening or removing hatches from the robot exposes parts connected to the power supply, which can result in a short circuit that will damage the robot and could injure personnel.
Page 26 Figure 2.9 Internal parts of the rear compartment Table 2.5 Identification of internal parts in Figure 2.9 Pos. Description Pos. Description Connector for the status light band Motor controller carrier board MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 27 Figure 2.10 Internal parts of the MiR1350 Pallet Lift left and right side compartments Table 2.6 Identification of internal parts in Figure 2.10 Pos. Description Pos. Description Connector for the status Bogie light band MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 28 (only in left side compartment) compartment) Identification label Top compartments For more information on electrical interfaces, see "Electrical interfaces" on page 144. Figure 2.11 Interfaces in the top compartments MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 29 To access the internal parts of MiR Pallet Lift 1350, see "Accessing the internal parts" on page 99. Figure 2.12 Internal parts of MiR Pallet Lift 1350 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 30: System Overview
The lines between components indicate a significant connection either for communication or power. For more detailed schematics, see the wiring diagram for MiR1350 Pallet Lift on Support Portal. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 31 2. Product presentation Figure 2.13 Overview of the internal components and how they are connected in MiR1350 Pallet Lift MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 32: Warranty
MiR1350 Pallet Lift, accessories, or any other equipment due to programming errors or malfunctioning of MiR1350 Pallet Lift. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 33: Safety
Indicates important information, including situations that can result in damage to equipment or property. Tells you where you can find more information about the topic. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 34: General Safety Precautions
Personnel risk fall injuries, and equipment may be damaged. Do not place ladders, scaffolds, or similar equipment in the robot's work environment. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 36: Warning Label
3.3 Warning label MiR1350 Pallet Lift is supplied with a warning label that specifies that it is strictly prohibited to ride on the robot. The label must be placed on the robot or top module so that it is clearly visible.
Page 37: Foreseeable Misuse
Figure 3.1 The warning label must be placed on the robot or top module 3.4 Foreseeable misuse Any use of MiR1350 Pallet Lift deviating from the intended use is deemed as misuse. This includes, but is not limited to: Using the robot to transport people...
Page 38: 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 Pallet Lift: You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot or walk towards the robot or its intended path while it is in motion.
Page 39: Getting Started
4. Getting started 4. Getting started To get the robot started, see the guide MiR1350 Pallet Lift Quick Start delivered with the robot, or follow these steps: Unpack MiR1350 Pallet Lift—see "Unpacking MiR1350 Pallet Lift" on the next page. Connect the battery—see "Connecting the battery"...
Page 40: Unpacking Mir1350 Pallet Lift
Remove the screws that attach the walls of the box to the box lid and the base of the box. Use a T20 bit. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 41 Remove the lid from the box, and remove the wooden lath beneath the lid. Use a T20 bit. Take the folder and package with the printed documents and accessories out of the box. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 42 4. Getting started Remove the pallet collars and the protective foam blocks. Cut the protective straps. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 43 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. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 44 4. Getting started Remove the wheel stop board from the pallet to let the robot drive on the ramp. Use a T20 bit. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 45: Usage
The robot turns on the red signal lights and the orange wavering status lights and starts the software initialization process. When the initialization process ends, the robot goes into Protective stop. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 46: Shutting Down The Robot
5.2 Shutting down the robot To shut down MiR1350 Pallet Lift, follow these steps: See a video of the process on the MiR TechComm videos channel on vimeo.com. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 47 Wait for the robot to finish the shutdown process. The status lights waver orange, and the Power button blinks red. When the robot finishes the shutdown process, the status and signal lights go off. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 48: Connecting To The Robot Interface
You can connect to the robot using an Ethernet cable or an access point. If you are located in 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 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...
Page 49 If you are using an access point, connect your device to the access point. The MiR Access Point Wi-Fi has the following format: MiR_3042XXXXX. Use the password shipped with the access point to connect. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 50: Connecting The Robot To A Wi-Fi Network
To comply with the robot's certification, you must use an Ethernet cable to avoid simultaneously active radio transmitters while setting up the connection to the local Wi-Fi network. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 51 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 Wi-Fi network for more information about the Wi-Fi settings. You can find this guide on MiR Support Portal.
Page 52: Control Panel
To disconnect the robot from a Wi-Fi network, select Disconnect. 5.5 Control panel MiR1350 Pallet Lift has a control panel in the rear-left corner of the robot. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 53 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. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 54: Preventing Unauthorized Use
Keep passwords to connect to the robot interface and the robot components strictly confidential. Assign each robot user with their own user in the interface and make sure they each have a unique username and password. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 55: Operating The Robot
To control the robot manually, you must connect to the robot interface—see "Connecting to the robot interface" on page 48. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 56 Be aware that you can make the robot collide with obstacles even if you do not mute the Protective fields. If you mute the Protective fields the robot will not stop at all for detected obstacles—see "Muted Protective fields" on page 86. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 57 On the robot, turn the Operating mode key to Manual mode (turn it to the right). In the robot interface, select Manual control under the joystick tab. The Resume button on the robot starts blinking. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 58 In this mode, the robot executes the programmed missions. After switching the key to this mode, you can remove the key, and the robot will continue driving autonomously. In Autonomous mode, the joystick is disabled in the robot interface. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 59: Types Of Stop
The robot is in Operational stop when it is stopped through the robot interface either through a mission action or by pausing the mission. The top module and all moving parts are still connected to a power supply. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 60 Emergency stop. To do this, you must release the Emergency stop button and then press the Resume button. The MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 61: Manual Brake Release Switch
Emergency stop, it will immediately resume an operating state after you press the flashing Resume button. Figure 5.2 MiR1350 Pallet Lift has six Emergency stop buttons: two on each side, one in the front, and one in the rear of the robot CAUTION Emergency stop buttons are not designed for frequent use.
Page 62: Light Indicators And Speaker
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. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 63 The LED light bands running all the way around the robot indicate the robot’s current operational state. Colors may also be used as part of missions, but as standard, status lights indicate the statuses described below. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 64 When the robot drives with muted Protective fields, for example, when docking to a charging station, all signal lights blink yellow. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 65 In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of the default sounds. Sounds can be used in missions and zones to alert or to attract people's attention. For more information about how to set up sounds, see MiR Commissioning Guide. You can find this guide on MiR Support Portal.
Page 66: Enable The Mir1350 Pallet Lift Feature
5.11 Enable the MiR1350 Pallet Lift feature To access the MiR1350 Pallet Lift settings and mission menus, the MiR1350 Pallet Lift features must be enabled. To check that they are enabled, follow these steps: Sign in to the robot interface, and go to System > Settings > Features.
Page 68: Testing The Top Module
I/O modules, so they must be activated for the lift to work. 5.12 Testing the top module To test that the top module of MiR1350 Pallet Lift is configured and connected correctly, follow these steps: Sign in to the robot interface, and go to Setup > I/O modules.
Page 69 Under Outputs, select 0, and wait for clicking sounds. This is the initialization of the calibration process. Under Outputs, select 3. Verify that the lift rises. Once the lift is raised, verify that 3 under Inputs is active. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 70 Once the lift is lowered, verify that 2 under Inputs is active. When the lift is raised, the robot can only drive with a maximum speed of 0.3 m/s. If MiR Pallet Lift 1350 did not operate correctly, verify that you have enabled the feature as described in "Enable the MiR1350 Pallet Lift feature"...
Page 71: Safety-Related Functions
Hardware health) and indicates if the robot is in Emergency or Protective stop with the status lights. Figure 6.1 Overview of components involved in each safety function and interface MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 72: Safety Functions Overview
The Category 3 robot enters Emergency stop. Reset function: Release all Emergency stop buttons, and press the Resume button on the robot. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 73 Reaction: Activate the Protective field that is suitable for the speed of the robot. Architecture: Reset function: Continuous function. No Category 3 action required. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 74 Reset function: Press the Resume button on the robot. The robot will stop within the active Protective field if the payload, CoM, mass inertia moment, and friction coefficient are within specifications. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 76: Safety Configuration Checksum
Component Checksum Safety PLC 0xE4487A7B Rear scanner function and network 0x906EA74E Rear scanner function 0x4981521F Front scanner function and network 0x2AF03EB5 Front scanner function 0x532DBCB4 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 77 To find the current checksums, follow these steps: Connect to your robot's network, as described in "Connecting to the robot interface" on page 48. Open SICK Safety Designer. Select Search for devices. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 78 You can now read the current checksum values for each device configuration. If the values differ from the ones in Table 6.2, the safety configuration file has been modified from the original. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 79: Emergency Stop Buttons
6. Safety-related functions 6.3 Emergency stop buttons There are six Emergency stop buttons on MiR1350 Pallet Lift. When one of the buttons is pressed, it breaks the Emergency stop circuit, triggering an Emergency stop. The Emergency stop circuit runs through all of the Emergency stop buttons and connects to the safety PLC through the Auxiliary emergency stop interface—see...
Page 80 Front-left Emergency stop button Safety PLC Front lift Emergency stop button Auxiliary emergency stop interface Rear lift Emergency stop button (connects to the circuit in the robot—see 6.3) MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 81: Overspeed Avoidance
The robot stops when it detects an obstacle. The Protective fields on the left and right sides of MiR1350 Pallet Lift are 350 mm when the robot is driving, and the field on the side opposite of the driving direction is always 250 mm.
Page 82 Scanners measure distances to diffuse reflections, which means that a tolerance is added to the Protective fields to secure a safe detection of persons crossing the Protective fields. The tolerance distance is 65 mm. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 83 0.40 to 0.60 m/s 0–634 mm 0.60 to 0.90 m/s 0–982 mm 0.90 to 1.10 m/s 0–1242 mm 1.10 to 1.25 m/s 0–1481 mm Forward at max. speed MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 84 The Protective fields for driving backward are the same as the fields for driving forward. The cases in Table 6.5 correspond to the fields shown in Figure 6.5. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 85 -0.90 to -1.10 m/s 0–1242 mm -1.10 to -1.25 m/s 0–1481 mm Backward at max. speed Figure 6.5 The Protective field contours when the robot drives backward MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 86 Flashes the yellow signal lights Emits audible warning sounds if configured to do so in the safety system settings—see "Light indicators and speaker" on page 62 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 87 Edit the action parameters so the Protective fields are muted. MiR1350 Pallet Lift cannot mute specific Protective fields; you can either mute all or none of the fields. Otherwise, the robot reports an error. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 88 It is the responsibility of the user driving the robot to ensure that it does not damage equipment or injure personnel. The robot will not stop automatically for detected obstacles. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 89: Hold-To-Run
6.7 MiR Pallet Lift 1350 safety functions When MiR Pallet Lift 1350 is mounted to MiR1350, the electrical interfaces in the top compartments are no longer accessible. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 90 The interfaces are used to communicate the position of the lift and any errors detected by the lift controller in MiR Pallet Lift 1350. This information is used for integrated safety functions that are specific to MiR Pallet Lift 1350.
Page 91: User Training And Responsibilities
7.1 User responsibilities There are three main user types that interact with MiR1350 Pallet Lift. All other persons in the vicinity of the robot application 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.
Page 92: User Training
Bronze level training at least. You can also apply for Specialist Classroom Training, which provides hands-on practice that builds on Bronze and Silver level training. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 93 Remove the battery. Handle the battery outside of the robot safely. Operating instructions Send the robot to positions on the map and queue missions. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 94 Escape routes and React correctly and quickly in an Emergency situation in case emergency procedure of any dangerous scenarios described in this manual or other unexpected scenarios. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 95 Protective fields are muted, and how to behave to ensure safety. Interact confidently with the robot in scenarios where the safety function ensure safety. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 96 Training of operators Operators must be trained in all of the same content as direct users and the additional content in the following tables. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 97 "Maintenance tasks for operators" on page 110. parts Internal parts Access the internal parts by removing hatches. Identify the robot's internal parts and know their purpose. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 98 Add and remove robots to and from MiR Fleet. Troubleshoot synchronization issues. Update the software version of robots. Missions on MiR Fleet Schedule missions. Review mission statuses. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 99: Accessing The Internal Parts
8. Accessing the internal parts 8. Accessing the internal parts Most internal parts of MiR1350 Pallet Lift 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, which can result in a short circuit that will damage the robot and could injure personnel.
Page 100: Accessing The Rear Maintenance Compartment
8.2 Accessing the rear maintenance compartment See a video of the process on the MiR TechComm videos channel on vimeo.com. Press the two buttons on the rear hatch. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 101 To access the motor controller carrier board and dynamic brake contactors, you must remove the rear compartment cover. See a video of the process on the MiR TechComm videos channel on vimeo.com. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 102 8. Accessing the internal parts To remove the cover, follow these steps: Disconnect the status light cable. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 103 8. Accessing the internal parts Turn the two hinges in the bottom corners to release the hatch, and remove the hatch from the robot. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 104 8. Accessing the internal parts Remove the seven screws on the rear cover. Loosen the top three screws while holding the bottom of the cover. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 105: Accessing The Side Compartment
8.3 Accessing the side compartment See a video of the process on the MiR TechComm videos channel on vimeo.com. Press the two buttons on the side hatch. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 106: Accessing The Top Compartments
Pull open the hatch. 8.4 Accessing the top compartments The top compartments are only accessible after the top module has been removed—see "Demounting the top module" on page 139. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 107: Accessing The Top Module
To access the top module, unscrew the twenty screws in the lift cover with a 4 mm Hex key, and carefully remove the cover using suction cups. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 108: Maintenance
9.1 Weekly cleaning tasks for all users Always disconnect the battery before performing maintenance tasks to prevent unexpected start- up—see "Disconnecting the battery" on page 123. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 109 Check for dust or dirt, and clean with a swab. Safety marking on Check if the safety markings around operating hazard zones are the floor intact and visible. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 110: Maintenance Tasks For Operators
4003353). See the manufacturer’s own documentation. 9.2 Maintenance tasks for operators The following maintenance tasks may only be executed by an operator or commissioner—see "User training and responsibilities" on page 91. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 111 MiR500, MiR600, errors. MiR1000, and MiR1350. If only the optics cover is damaged, you can replace the cover alone. See SICK's documentation for microScan3 for instructions. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 112 If you replace the hatch with the robot's nameplate, make sure to mount a new copy of the nameplate to the replacement hatch. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 113 How to test if the 3D cameras are working on MiR robots. To calibrate, see the guide How to calibrate a D435 3D camera. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 114 Emergency stop Check that all Emergency stop Pressing a button does not bring buttons work. the robot into Emergency stop. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 116 How to service the lift top Requires recalibration often. modules. Can hear grinding noises when the lift is moving. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 117 The robot does not react to release switch of the robot's safety functions. pressed buttons reliably or and control reports errors or false button panel states. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 118: Storage
Technical Guide. You can find this guide on MiR Support Portal. The storage times in this guide apply for new batteries. Over time, the storage time will shorten. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 119: Inactive Battery Modes
MiR 48V Battery Technical Guide. You can find this guide on MiR Support Portal. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 120: Battery And Charging
11. Battery and charging 11. 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. Instructions for charging depend on the charger type and are described in the guides included with each charger.
Page 121 Never smoke or allow an open spark or flame in the vicinity of the robot's battery. Do not use the battery for anything other than MiR1350 Pallet Lift. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 122 Battery lever: Used to change Battery lock pin: Pull the pin out to between top, center, and bottom enable you to move the Battery lever positions. between positions. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 123: Connecting The Battery
Turn off the robot, and disconnect the battery in the left side compartment. To disconnect the battery, pull out the Battery lock pin and pull the Battery lever downwards until the Battery lock pin is in the middle position. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 124: Swapping Out The Lithium-Ion Battery
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. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 125 Pull out the Battery lock pin, and pull the Battery lever up to the center position to lock the battery in place or to the top position to lock, and connect the battery to the robot. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 126: Operating Hazard Zones
For more information about zones, see MiR Robot Interface Guide. For examples of operating hazard zones, see MiR Commissioning Guide. You can find these guides on MiR Support Portal. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 127: Commissioning Overview
For more information about each commissioning step, see MiR Commissioning Guide. You can find this guide on MiR Support Portal. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 129: Brake Test
Do not modify the safety system without a competent third party to evaluate the safety of the design and performance of the robot after the modifications are applied. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 130 A lower friction between the wheels and floor increases the braking friction distance. The lower the frictional coefficient, the longer the Protective fields must be. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 131: Brake Test Method
Number of custom joysticks: Should be equal to the number of Protective field monitoring cases. If you are using the standard SICK configuration, you will need seven—see "Safety- related functions" on page 71 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 132 Custom joystick speed: Should be specified 0.05 m/s below the upper limit of the monitoring case speed interval. If the 0.05 m/s margin is not used, MiR cannot guarantee that the robot will not overshoot the speed interval threshold and activate the Protective fields for the next monitoring case.
Page 133 A linear brake test must be conducted to ensure that the length of the Protective fields of the robot are correctly configured for each monitoring case and the planned payload. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 134 Repeat steps 2–3 a total of five times for the selected joystick speed. Repeat steps 2–4 for each joystick speed. Figure 14.1 Linear brake test diagram MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 135 If you are using the default SICK configuration, the standstill Protective field corresponds to monitoring case 1 (0 to 0.1 m/s) for forward and reverse driving. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 136 (or directly to the right for pivoting the robot in a counterclockwise direction) toward the test object. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 137 “P” for Pass or “F” for Fail should be recorded for each test in the test matrix. Table 14.3 Pivot brake test example matrix Left Right Test 1 Result p (mm) Test 2 Result p (mm) Test 3 Result MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 139: Demounting The Top Module
15. Demounting the top module 15. Demounting the top module If you need to access the robot from the top, you must demount MiR Pallet Lift 1350. This can be required when troubleshooting issues or replacing robot components. CAUTION Opening or removing hatches from the robot exposes parts connected to the power supply, which can result in a short circuit that will damage the robot and could injure personnel.
Page 140 Remove the four corner covers from the lift. Unscrew the four screws that fix the ends of the lift to the robot using an 8 mm Hex key. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 141 Mount a lifting device, such as a crane, to the eye bolts, and raise the lift so it is elevated 10–20 cm above the robot. Make sure you do not strain any of the cables between the robot and lift while raising it. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 142 When you remount MiR Pallet Lift 1350 to the robot, make sure to turn the connectors to their right to lock them. Each connector only fits with one socket.
Page 143 After completing the maintenance that required you to remove MiR Pallet Lift 1350, you can mount the top module again by following the guide How to mount a MiR Pallet Lift or a MiR Shelf Lift to MiR600 and MiR1350. You can find this guide on MiR Support Portal.
Page 144: Electrical Interfaces
Read "Safety" on page 33 before using the electrical interface. When MiR Pallet Lift 1350 is mounted to MiR1350, the electrical interfaces are no longer accessible. MiR1350 uses four electrical interfaces to communicate with MiR Pallet Lift 1350: Left top compartment...
Page 145 Connecting 48 V power supplies to 24 V pins or vice versa can lead to severe damage to the robot. Never connect 48 V power supplies to 24 V pins or vice versa. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 146 3 instead. Lift function: Unassigned. Intended use: Intended for high-power loads like motors or actuators. Signal name: GND Standard function: Ground. Lift function: Ground. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 147 Standard function: Always on when robot is on. Intended for low-power use, like powering an external PLC. Lift function: Supplies power to the lift controller and actuators. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 148 If the inrush current is too high, the fuse will trip and start again with the inbuilt softstarter. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 149 There is a risk that the fuse will break when it is tripped. For this reason, we recommend that you ensure your top module does not trip the fuse as described above, even though in most cases it will reconnect. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 150 Figure 16.3 Pin numbers: male connector viewed from the front (left) and wiring diagram (right) MiR1350 uses the GPIO interface to communicate to MiR Pallet Lift 1350 as described in "How MiR Pallet Lift 1350 works" on page 20. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 151 Standard function: Protected return Lift function: Unused Name: O2 Maximum current: 1 A at 24 V Standard function: Output 2 Lift function: When active, the lift lowers MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 152 Standard function: PNP input 0 Lift function: Active when the lift reports an error Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output Lift function: Unused MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 153 Lift function: Active when the lift is lowered or moving, but not raised Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output Lift function: Unused MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 154: Right Compartment Interfaces
16.2 Right compartment interfaces This section describes the general purpose interfaces that are used to interface to the top module on the right side of the robot. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 155 Standard function: 24 V output signal from the safety PLC for the Emergency stop circuit. Should connect to pin 3. Lift function: Connects to pin 3 via the Emergency stop buttons on the lift. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 156 Lift function: Connects to pin 2 via the Emergency stop buttons on the lift. Signal name: Reset Type: Input Standard function: When active, the robot resets. Lift function: Unused MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 157 Type: Ground Standard function: Safe return. Lift function: Unused Signal name: Reset lamp Type: Output Standard function: Active when robot needs to be reset. Lift function: Unused Unassigned. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 158 Signal name: Test output Type: Output Standard function: 24 V output. Lift function: Connects to pins 3 and 9 in a closed loop and pin 11 through the lift switches. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 159 Lift function: Connects to the 24 V output (pin 2) constantly, ensuring that the robot does not enter Protective stop. Signal name: Locomotion 1 Type: Output Standard function: Active when the robot is standing still. Lift function: Unused MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 160 Standard function: When inactive, the robot enters Emergency stop. Lift function: Connects to the 24 V output (pin 1) constantly, ensuring that the robot does not enter Emergency stop. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 161 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. Lift function: Unused. Unassigned. Unassigned. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 162: Connector List
CA-06P1N8A8008S Figure 16.6. GPIO M17 17p ST-17S1N8A8K03S Figure 16.7. Auxiliary M17 8p ST-08P1N8A8K03S Figure 16.7. emergency stop Auxiliary safety M17 17p ST-17P1N8A8K03S Figure 16.7. functions MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 163 16. Electrical interfaces Figure 16.6 Connector dimensions for Power connector Figure 16.7 Connector dimensions for GPIO, Auxiliary emergency stop, and Auxiliary safety functions connectors MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 164: Transportation
To access the mounting holes, you must first remove MiR Pallet Lift 1350—see "Demounting the top module" on page 139. Figure 17.1 Illustration of how to lift MiR1350 after removing MiR Pallet Lift 1350 MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 165: Packing The Robot For Transportation
"Shutting down the robot" on page 46. Disconnect the battery—see "Disconnecting the battery" on page 123. Use the original packaging materials when transporting the robot. Figure 17.2 The packing materials MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 167 Do not expose the battery to direct sunlight. Do not expose the battery to temperatures above 35° C. Do not expose the battery to air humidity above 85%. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 168 Never smoke or allow an open spark or flame in the vicinity of the robot's battery. Do not use the battery for anything other than MiR1350 Pallet Lift. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 169: Disposal
A recycling label indicates that the battery needs to be recycled and not disposed as municipal waste—see Figure 18.1. Contact your distributor to get specific information about their take back service. Figure 18.1 Battery disposal symbols MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 170: Payload Distribution
The specifications apply to total payloads of up to 1 350 kg. The CoM specifications are for loads placed on the base robot. You must include MiR Pallet Lift 1350 top module in your CoM calculations. Figure 19.1 Overview of the permitted center of mass (CoM) of payloads...
Page 171: Side View
19. Payload distribution 19.1 Side view Figure 19.2 The center of mass (CoM) of payloads seen from the side at maximum speed MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 172: Front View
19. Payload distribution 19.2 Front view Figure 19.3 The center of mass (CoM) of payloads seen from the front at maximum speed MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 174 MiR1350 Pallet Lift; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering.
Page 175 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. MiR1350 Pallet Lift User Guide (en) 05/2023 - v.1.4 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
Page 176 This can for example be V, VL, L, or Bar-markers. 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.
Page 177 21. Glossary MiR Fleet License The product license you received with MiR1350 Pallet Lift. This license is used to activate your MiR Fleet. A license can only be used to activate one MiR Fleet. MiR robot interface The MiR robot interface is the web-based interface that enables you to control your MiR robot.
Page 178 Operators have thorough knowledge of MiR1350 Pallet Lift and of the safety precautions presented in the User guide of MiR1350 Pallet Lift. Operators have the following main tasks: servicing, maintaining, and creating and changing missions and map positions in the robot interface.
Page 179 Static landmarks are obstacles that cannot be moved, such as walls, columns, and fixed structures. These must be included on the map and are used by the robot to localize itself. Synchronize MiR Fleet and all connected robots constantly communicate any site changes to keep all of the site data synchronized. WISE modules WISE modules are wireless IoT devices that enable MiR robots to communicate I/O data to other devices.

MIR MiR1350 User Manual

Quick Links

Need help?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for MIR MiR1350

Summary of Contents for MIR MiR1350

Table of Contents