MIR MiR1350 User Manual
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MIR MiR1350 User Manual

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MiR1350 User Guide
Date: 12/2023
Version: 2.0 (en)
Robot hardware version: 1.0

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Summary of Contents for MIR MiR1350

  • Page 1 MiR1350 User Guide Date: 12/2023 Version: 2.0 (en) Robot hardware version: 1.0...

  • Page 2: Copyright And Disclaimer

    Copyright and disclaimer Copyright and disclaimer Mobile Industrial Robots A/S (MiR) makes no warranties, expressed or implied, in respect of this document or its contents. In addition, the contents of this document are subject to change without prior notice. Every precaution has been taken in the preparation of this document.

  • Page 3: Table Of Contents

    4. Getting started 4.1 In the box 4.2 Unpacking MiR1350 5. Usage 5.1 Powering up the robot 5.2 Shutting down the robot 5.3 Connecting to the robot interface MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 4 9.1 Weekly cleaning tasks for all users 9.2 Maintenance tasks for operators 9.3 Mechanical brake function test 10. Storage 10.1 Preparing the robot for storage 10.2 Storage time 11. Battery and charging MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 5 17.2 Packing the robot for transportation 17.3 Transporting the battery 18. Disposal 19. Payload distribution and stability 19.1 Side view 19.2 Front view 20. Declaration of Conformity example 21. Glossary MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 6: About This Document

    1. About this document 1. About this document This user guide explains how to set up and start operating your MiR1350 robot. This guide also contains information regarding the external and internal components of MiR1350 along with instructions for proper maintenance of the robot. You will also find information regarding safety and specifications needed to commission a safe MiR1350 robot application.
  • Page 7 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 8: 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 9 Affects section: How the top module works. Added description of effects if maintenance is neglected. Affects section: Maintenance. Correct illustration of pins for the Power interface. Affects section: Electrical interfaces. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 10 Hold to run description removed. Affects section: Safety-related functions and interfaces. Updated status light table. Affects section: Light indicators and speakers. Corrected description of the robot's safety stop function. Affects section: Safety stop. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 11 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. Date: 2021-10-07 Robot HW: 1.0 MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 12 Updated manual to ensure compliance with radio equipment directives. 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 First edition. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 13: Product Presentation

    2. Product presentation 2. Product presentation MiR1350 is an autonomous mobile robot that can transport loads up to 1 350 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. MiR1350 is classified as a driverless industrial truck.

  • Page 14: Specifications

    If used with custom modules, all obligations of a manufacturer apply to the individual who performs the modifications. All modifications must be in accordance with the machinery directive. MiR1350 is designed for and all risks are considered when used with one of the following types of top modules: MiR Pallet Lift 1350 used with MiR Pallet Rack...
  • Page 15 29 mm Maximum traversable step 10 mm Storage temperature (3 month -20–45°C storage) Operation temperature 5–40°C Floor surface condition Clean and dry Floor to wheel frictional coefficient 0.60–0.80 (recommended) MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 16: Required Space

    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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 17 2. Product presentation Figure 2.2 The required space when the robot takes a 90° turn Figure 2.3 The required space when the robot drives through a doorway MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 18 2. Product presentation Figure 2.4 The required space when two robots pass each other Figure 2.5 The required space when the robot pivots MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 19: Compatible Products

    MiR Support Portal. MiR Pallet Lift 1350 A lift platform can be mounted on MiR1350 enabling it to automate the internal transport of US standard 40×48 pallets. MiR EU Pallet Lift 1350 A pallet lift for EU pallets can be mounted on MiR1350 enabling it to automate the internal transport of EU pallets.

  • Page 20: External Parts

    Figure 2.6 MiR1350 external parts Table 2.1 Identification of the external parts in Figure 2.6 Pos. Description Pos. Description Nameplate Left top compartment—see "Top compartments" on page 25 MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 21 "Side compartments" on and speaker" on page 60 page 24 Corner shield: four pcs, one in Control panel—see "Control each corner panel" on page 49 Rear maintenance hatch—see "Rear compartment" on page 23 MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 22: Internal Parts

    2. Product presentation 2.6 Internal parts Most internal parts of MiR1350 are accessed through maintenance hatches that open to different compartments—see "Accessing the internal parts" on page 105. 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 23 Figure 2.8 Internal parts of the rear compartment Table 2.3 Identification of internal parts in Figure 2.8 Pos. Description Pos. Description Connector for the status light band Motor controller carrier board MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 24 Figure 2.9 Internal parts of the MiR1350 left and right side compartments Table 2.4 Identification of internal parts in Figure 2.9 Pos. Description Pos. Description Connector for the status Bogie light band MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 25 (only in left side compartment) compartment) Identification label Top compartments For more information on electrical interfaces, see "Electrical interfaces" on page 151. Figure 2.10 Interfaces in the top compartments MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 26: 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 on MiR Support Portal. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 27: Warranty

    2. Product presentation Figure 2.11 Overview of the internal components and how they are connected in MiR1350 2.8 Warranty Mobile Industrial Robots offers a standard warranty on all products. Contact your distributor to see the terms and extent of product coverage.
  • Page 28 2. Product presentation 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 29: Safety

    NOTICE 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 30: General Safety Precautions

    The robot may drive into a ladder, scaffold, or similar equipment that has a person standing on it. Personnel risk fall injuries, and equipment may be damaged. Do not place ladders, scaffolds, or similar equipment in the robot's work environment. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 31 Test and evaluate the robot’s performance after applying any changes to ensure the robot performs as intended. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 32: Warning Label

    3.3 Warning label MiR1350 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 33: Foreseeable Misuse

    3. Safety 3.4 Foreseeable misuse Any use of MiR1350 deviating from the intended use is deemed as misuse. This includes, but is not limited to: Using the robot to transport people Using the robot on inclines outside the robot's specifications...

  • Page 34: 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: 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 35: Getting Started

    4. Getting started 4. Getting started To get the robot started, see the guide MiR1350 Quick Start delivered with the robot, or follow these steps: Unpack MiR1350—see "Unpacking MiR1350" on the next page. Connect the battery—see "Connecting the battery" on page 132.

  • Page 36: Unpacking Mir1350

    This is necessary as the robot drives out of the box on a ramp. 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 37 Remove the lid from the box, and remove the wooden lath beneath the lid. Use a T20 bit. Take the package with the printed documents and accessories out of the box. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 38 4. Getting started Remove the pallet collars and the protective foam blocks. Cut the protective straps. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 39 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 40 4. Getting started Remove the wheel stop board from the pallet to let the robot drive on the ramp. Use a T20 bit. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 41: 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 42: Shutting Down The Robot

    Press the Resume button to clear the Protective stop. The robot is now ready for operation. If you are not able to power up the robot upon delivery, see MiR 48V Battery Technical Guide to troubleshoot the issue. You can find this guide on MiR Support Portal.
  • Page 43 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 44: 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, the EU, or a part of the 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.
  • Page 45 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 46: 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 47 5. Usage Go to System > Settings > Wi-Fi, and select Add connection. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 48 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 49: Control Panel

    To disconnect the robot from a Wi-Fi network, select Disconnect. 5.5 Control panel MiR1350 has a control panel in the rear-left corner of the robot. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 50 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. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 51: 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 52: Operating The Robot

    Manual mode is only intended for initial setup, maintenance situations, or deadlocks. To control the robot manually, you must connect to the robot interface—see "Connecting to the robot interface" on page 44. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 53 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). The robot enters Emergency stop. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 54 In the robot interface, select Manual control under the joystick icon . 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. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 55 To send the robot to a selected location, open the active map, either in a dashboard or the map editor, and select Send robot to target  followed by the location and orientation you want the robot to drive to. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 56: Types Of Stop

    Protective stop, internal safety contactors are switched so the robot's top module and all moving parts of the robot do not receive power. You can hear the safety contactors emit audible clicks when they are switched. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 57 Resume button begins flashing blue after you have released the Emergency stop button. If the robot is in Emergency stop, it will immediately resume an operating state after you press the flashing Resume button. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 58 5. Usage Figure 5.2 MiR1350 has four Emergency stop buttons: two on each side of the robot 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 59: Manual Brake Release Switch

    The Manual brake release switch is located in the rear compartment. You release the robot's mechanical brakes by turning the Manual brake release switch clockwise. Figure 5.4 Turn the Manual brake release switch clockwise to release the brakes MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 60: Light Indicators And Speaker

    The speaker plays sounds to alert personnel. You can trigger sounds using zones and mission actions, and you can enable the robot to play warning sounds whenever the Protective fields are muted. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 61 5. Usage Figure 5.5 Light indicators on MiR1350 Table 5.2 Identification of light indicators in Figure 5.5 Pos. Description Pos. Description Signal lights Status lights MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 62 When the robot's battery reaches a critically low level of power (0-1%), the ends of the status lights flash red. Signal lights Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards- backwards-braking and left-right turns. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 63 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 64 Settings > Features, you can choose which sound the robot makes and the volume of the sound. Figure 5.6 In the Features settings, you can modify the sounds the robot plays when the robot mutes its Protective fields MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 65: Error Handling

    Failure to reach destination Unexpected events in the system An error triggers a Protective stop. The robot is paused until a user acknowledges the error and clears it. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 66 For more information about commissioning your robot to fulfill these guidelines, and for setting up missions and error handling, see MiR Robot Interface Guide and MiR Commissioning Guide. You can find these guides on MiR Support Portal.
  • Page 67 For further troubleshooting, see the MiR troubleshooting guides and the document Error codes and solutions. You can find these guides on MiR Support Portal. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 68: Safety-Related Functions And Interfaces

    "Safety functions overview" on the next page. Several safety functions have been designed and implemented in MiR1350. Some safety functions are intended for integration with a connected top module. You must use the Auxiliary safety functions and Auxiliary emergency stop interfaces to use these functions.

  • Page 69: Safety Functions Overview

    PFHds. This includes the PFHd provided in the table. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 70 If you modify the SICK configuration file or apply another SICK configuration files, the PFHd and PL no longer apply. You must determine the new functional safety of the new configuration. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 71 The robot will stop within the active Protective field if the payload, CoM, mass inertia moment, and friction coefficient are within specifications. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 72 PFHds. This includes the PFHd provided in the table. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 73 Reaction: Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. Architecture: The robot enters Protective stop. Category 1 Reset function: Press the Resume button on the robot. Active: Always MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 74 PFHds. This includes the PFHd provided in the table. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 75: Safety Configuration Checksum

    Safety Designer software to see the checksums. To find the current checksums, follow these steps: Connect to your robot's network, as described in "Connecting to the robot interface" on page 44. Open SICK Safety Designer. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 76 Drag all three devices from the Device search window to the corresponding device in the Device overview window. When you are prompted to upload to the safety PLC, select No. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 77: Safety-Related Functions

    6.2, the safety configuration file has been modified from the original. 6.3 Safety-related functions The following functions are implemented in MiR1350 and are not dependent on a top module. Emergency stop The Emergency stop circuit goes through the four Emergency stop buttons in MiR1350 and then through the Auxiliary emergency stop interface where you can connect external input to bring the robot into an Emergency stop.
  • Page 78 Front-right Emergency stop button Auxiliary emergency stop interface Rear-right Emergency stop button Connection interface for MiR controller with dummy plug Rear-left Emergency stop button Front-left Emergency stop button Safety PLC MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 79 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.  MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 80 70 mm within the active Protective field. The Field switching function makes the robot switch between predefined Protective fields according to the speed. The speed is determined from the robot’s motor encoders. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 81 The robot stops when it detects an obstacle. 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 250 mm.
  • Page 82 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 0–1 242 mm 1.10 to 1.25 m/s 0–1 481 mm Forward at max. speed MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 83 Protective field behind of the robot in different cases. Each case is defined by a speed interval that the robot may operate at. The cases in Table 6.5 correspond to the fields shown in Figure 6.4. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 84 -0.90 to -1.10 m/s 0–1 242 mm -1.10 to -1.25 m/s 0–1 481 mm Backward at max. speed Figure 6.4 The Protective field contours when the robot drives backward MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 85 User-configured muting of the Protective fields There are two ways you can mute the Protective fields using the robot interface. You can add the Mute protective fields action to a mission: MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 86 Add the action Mute protective fields from the Safety system menu. Edit the action parameters so the Protective fields are muted. MiR1350 cannot mute specific Protective fields; you can either mute all or none of the fields. Otherwise, the robot reports an error.
  • Page 87 6. Safety-related functions and interfaces Add and drag all the actions you want the robot to execute with muted Protective fields inside the Mute Protective fields action. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 88 This ensures that the robot can drive closely to the marker without entering Protective stop. The only marker that does not mute the Protective fields is the L-marker. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 89: Safety-Related Interfaces For Top Modules

    The Hold-to-run function ensures that the robot does not drive when there is no signal from an external control device of the hold-to-run type. Use the Connection interface for MiR Controller in the robot's rear compartment to connect a control device—see "Rear compartment"...
  • Page 90 The interface is intended to be used to program the top module to go into a safe state when the robot is driving. For example, by engaging the brakes in any actuators that may result in injury to personnel. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 91 The System emergency stop function can be used if the top module has its own Emergency stop circuit. Use this function to make it so both MiR1350 and the top module are brought into Emergency stop when either system is triggered.
  • Page 92 Emergency stop buttons are pressed. The robot can be in Emergency stop but delivers 0 V from the System emergency stop outputs if the Emergency stop signal is received from the connected top module. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 93 Button on robot is pressed The robot is in Emergency stop because the The robot is in Emergency stop because an inputs are unequal. Emergency stop button has been pressed. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 94 If the pin delivers 0 V, the robot drives at when the input is 24 V. 0.3 m/s. Pin 11 in the Auxiliary safety function interface is used for the Reduced speed function. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 95 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, triggering the robot to change to the shelf- specific Protective fields and use the laser scanners to check that the four shelf legs are detected around the robot, ensuring that the robot has successfully picked up the shelf.

  • Page 96: User Training And Responsibilities

    7.1 User responsibilities There are three main user types that interact with MiR1350. 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 97: User Training

    Include all operating tasks. Appropriate training records must be kept, and retraining must be supplied when new equipment is introduced, existing equipment is modified, or operating conditions are changed. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 98 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 99 Disconnect and connect the battery. connection 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 100 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 101 Protective fields are muted, and how to behave to ensure safety. Interact confidently with the robot in scenarios where the safety functions ensure safety. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 102 "Weekly cleaning tasks for all users " on page 114. Training of operators Operators must be trained in all of the same content as direct users and in the additional content in the following tables. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 103 "Maintenance tasks for operators" on page 116. parts Internal parts Access the internal parts by removing hatches. Identify the robot's internal parts and know their purpose. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 104 Robots on MiR Fleet 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 105: Accessing The Internal Parts

    8. Accessing the internal parts 8. 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, which can result in a short circuit that will damage the robot and could injure personnel.

  • Page 106: 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 107 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 108 8. Accessing the internal parts To remove the cover, follow these steps: Disconnect the status light cable. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 109 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 110 Remove the seven screws on the rear cover. Use a T25 bit. Loosen the top three screws while holding the bottom of the cover. Use a T25 bit. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 111: 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 maintenance hatch. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 112: Removing The Corner Shield

    Remove the four screws from the corner shield. Use a T30 screwdriver. When reattaching the corner shields, tighten the screws to 11.6 Nm. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 113: Accessing The Top Compartments

    Pull it downward firmly to remove it from the bumper. 8.4 Accessing the top compartments To open a top compartment, remove the four screws, and lift off the top cover. Use a T20 bit. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 114: 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 133. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 115 Check if the safety markings around operating hazard zones are the floor intact and visible. Information Check if the safety stickers, identification label, and nameplate on stickers the robot are still intact and visible. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 116: 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 96. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 117 Test the mechanical brakes as The mechanical brake system brakes described in "Mechanical brake does not stop the robot or keep function test" on page 124. it in place at standstill. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 118 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 119 To test the cameras, see the guide 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 120 1 500 km if very little Overheating will cause the dust is accumulated in the heat robot's safety PLC to turn off, and sink. the robot will cease to move. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 121 185 mm. encoder data. Replace in pairs. The robot's IMU must be calibrated after replacement of the wheels—see the guide How to calibrate the IMU. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 122 Can eventually cause oil to leak wheels) and MiR1350. into the motor and report a Turn Speed Violation error. Can cause squeaky or grinding sounds from bearings. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 123 STO relays of Replace to ensure the reliability The robot begins reporting the Shelf Carrier of the robot's safety functions. contactor errors. top module MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 124: Mechanical Brake Function Test

    To test the mechanical and dynamic brakes, follow these steps: Power up the robot—see "Powering up the robot" on page 41. Verify that the manual brake release is not engaged—see "Manual brake release switch" on page 59. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 125 Contact MiR Technical Support—see How to create a technical support ticket. You can find this guide on MiR Support Portal. Engage the manual brake release. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 126 Turn off the robot, and disconnect the battery in the left-side compartment—see "Disconnecting the battery" on page 133. This is done to isolate the mechanical brakes, and to ensure that the dynamic brakes do not interfere. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 127 If you are able to produce any movement in the robot, one or both of the mechanical brakes are faulty. Contact MiR Technical Support—see How to create a technical support ticket. You can find this guide MiR Support Portal.

  • Page 128: Storage

    The storage time of the robot and battery depends on the battery's state of charge, the storage conditions, and the battery version. For more information about storage time, see MiR 48V Battery Technical Guide. You can find this guide on MiR Support Portal.
  • Page 129 To properly troubleshoot any battery issues and for information about the exact time periods and battery voltages that trigger the transitions between states, see MiR 48V Battery Technical Guide. You can find this guide on MiR Support Portal. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 130: Battery And Charging

    11. Battery and charging 11. Battery and charging The robot is powered by a lithium-ion 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 131 Do not use the battery for anything other than MiR1350. Table 11.1 identifies the main components of the battery fast-swap assembly and describes the three different positions the assembly can be set to. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 132: Connecting The Battery

    11.1 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 105. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 133: Disconnecting 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 134: Swapping Out The Lithium-Ion Battery

    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. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 135 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 136: 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 137: Commissioning Overview

    Only persons assigned with the commissioning task should be present during commissioning. MiR Commissioning Guide contains a site acceptance checklist with the core tasks that are part of commissioning the MiR robot.
  • Page 138 13. Commissioning overview Figure 13.1 Flow diagram of the commissioning process MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 139: Brake Test

    Protective fields, see MiR Commissioning Guide. WARNING The Protective fields are configured to comply with the safety standards of MiR1350. Modifications may prevent the robot from stopping in time to avoid collision with personnel and equipment. Any modifications of the SICK configuration requires a new CE certification of the robot and compliance to all safety standards listed in the specification of the application and in other way declared.
  • Page 140 When the robot is driving down a decline, it increases the braking grade distance. The steeper the maximum slope the robot drives down, the longer the Protective fields must be. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 141: Brake Test Method

    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 142 In the robot interface, go to Dashboards and create a new dashboard. In the top menu of your new dashboard, select Miscellaneous > Joystick to create a new joystick. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 143 14. Brake test Set Joystick speed to Custom, and set the first Custom driving speed to the desired speed in m/s. Select Save to apply. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 144 Pass criterion = acceptable distance d for the site (we recommend 215 mm as a starting point, or 65 mm if personnel wear safety shoes). MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 145 Likewise, the test is considered failed when the distance d is less than the pass criterion value. “P” for Pass or “F” for Fail should be recorded for each test in the test matrix. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 146 Pass criterion = acceptable distance p for the site (we recommend 215 mm as a starting point, or 65 mm if personnel wear safety shoes). MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 147 Repeat steps 2–3 a total of 5 times. Repeat steps 1–4 for pivoting the robot to the right toward a test object. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 148 Left Right Test 1 Result p (mm) Test 2 Result p (mm) Test 3 Result p (mm) Test 4 Result p (mm) Test 5 Result p (mm) MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 149: Mounting A Top Module

    47 Nm. The mounting screws must have a length between 27–45 mm from the top of the top cover. MiR1350 also has four M12 lifting holes used for fixation of transportation eye bolts. M12 lifting holes can also be used to mount top modules. If a top module is mounted using these holes, it is necessary to drill M12 lifting holes in the top module in order to lift the robot—see...
  • Page 150 Perform a risk assessment according to standard ISO 12100 when mounting a top module. 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—...

  • Page 151: Electrical Interfaces

    Auxiliary safety functions Auxiliary emergency stop Antenna 16.1 Left compartment interfaces This section describes the general purpose interfaces located in the left top compartment on top of MiR1350. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 152 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 153 Max. current: 20 A Voltage range: 41.8–53.8 V with reference to pins 2 and 4. Standard function: Turns off in case of a Protective or Emergency stop. This MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 154 Protective or Emergency stop. This is the fuse that cuts power to the TOP 48V pin and the TOP-Safe 48V. By default, the feature is enabled, meaning that: MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 155 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 156 Figure 16.3 Pin numbers: male connector viewed from the front (left) and wiring diagram (right) The GPIO has the following pins: Four inputs, for use with 24 V, but robust against 48 V. Four outputs, for use with 24 V. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 157 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 Setup > I/O modules.
  • Page 158 Maximum current: 1 A at 24 V Standard function: Output 0 Name: RTN Standard function: Protected return Name: O1 Maximum current: 1 A at 24 V Standard function: Output 1 MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 159 Standard function: Protected return Name: I0 Maximum current: 1 A at 24 V Standard function: PNP input 0 Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 160 Standard function: Protected output Name: I3 Maximum current: 1 A at 24 V Standard function: PNP input 3 Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 161 How to use Modbus with MiR robots. Table 16.3 Description of the pins in the Ethernet interface Pin no. Signal name Pin no. Signal name MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 162: Right Compartment Interfaces

    Signal name: Test output Type: Output Standard function: 24 V output signal from the safety PLC for the Emergency stop circuit. Should connect to pin 3. Signal name: Test output MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 163 Should connect to pin 2. 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 MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 164 Figure 16.8 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" on page 68. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 165 4 are unequally set for more than three seconds, the robot must be restarted. Signal name: Locomotion 1 Type: Output Standard function: Active when the robot is standing still. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 166 Type: Input Standard function: When inactive, the robot enters Emergency stop. Signal name: Reduced speed Type: Input Standard function: When inactive, the robot cannot drive faster than 0.3 m/s. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 167 By default, the Wi-Fi antenna interface connector is not enabled. It is connected to an antenna cable inside the robot that leads to the front compartment, but the cable is not connected to the robot computer. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 168 Locate the robot computer—see "Front compartment" on page 22. Locate the loose RP-SMA antenna cable that is not yet connected. The cable will be nearby the robot computer. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 169: Connector List

    Phoenix Contact Dimensions Power M23 6p CA-06P1N8A8008S Figure 16.9. GPIO M17 17p ST-17S1N8A8K03S Figure 16.10. Ethernet M12 4p SACC-MSD-4PCT-SH PN SCO Auxiliary M17 8p ST-08P1N8A8K03S Figure 16.10. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 170 Figure 16.10. functions Wi-Fi antenna RP-SMA Figure 16.9 Connector dimensions for Power connector Figure 16.10 Connector dimensions for GPIO, Auxiliary emergency stop, and Auxiliary safety functions connectors MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 171: Transportation

    Use four M12 eye-bolts with counter nuts and washers in each corner of the robot. Make sure the thread engagement is at least 30 mm when a top plate is mounted to the robot. Tighten the counter nuts to at least 25 Nm. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 172: Packing The Robot For Transportation

    "Shutting down the robot" on page 42. Disconnect the battery—see "Disconnecting the battery" on page 133. Use the original packaging materials when transporting the robot. Figure 17.2 The packing materials MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 173: Transporting The Battery

    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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 174 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. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 175: 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 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 176: Payload Distribution And Stability

    WARNING Load falling or robot overturning if the load on MiR1350 is not positioned or fastened correctly can cause damage to equipment and injury to personnel. Ensure that the load is positioned and fastened correctly.

  • Page 177: Side View

    19. Payload distribution and stability 19.1 Side view Figure 19.2 The center of mass (CoM) of payloads seen from the side at maximum speed MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 178: Front View

    19. Payload distribution and stability 19.2 Front view Figure 19.3 The center of mass (CoM) of payloads seen from the front at maximum speed MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 179: Declaration Of Conformity Example

    20. Declaration of Conformity example 20. Declaration of Conformity example MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

  • Page 180: Glossary

    Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and maintenance of MiR1350 and have the following main tasks: commissioning the product, including creating maps and restricting the user interface for other users; making the risk MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.
  • Page 181 21. Glossary assessment; determining the payload limit, weight distribution, and safe methods of fastening of loads to MiR1350; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering. Dashboard A dashboard is a visual display of the robot’s data and enables certain functions that can be adjusted to fit certain users.
  • Page 182 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 183 Marker type A marker type is a description of a shelf that MiR robots can dock to. You must have a marker type for each type and size of shelf you want your robot to be able to transport.
  • Page 184 Model robot The model robot contains all the site data you need to run the intended fleet operations. It is important that all missions are tested on the model robot before adding it to MiR Fleet. Noise With MiR robots, noise in maps refers to recorded data that originates from interfering elements.
  • Page 185 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.
  • Page 186 21. Glossary X-Y coordinates The robot's map is based on a Cartesian coordinate system. Every point on the map can be defined as an X-Y coordinate. MiR1350 User Guide (en) 12/2023 - v.2.0 ©Copyright 2021–2023: Mobile Industrial Robots A/S.

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