Page 1 User Guide (en) Date: 01/2023 Revision: v.1.3...
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
Table of contents Table of contents Copyright and disclaimer Table of contents 1. About this document 1.1 Where to find more information 1.2 Version history 2. Product presentation 2.1 Main features of MiR1350 2.2 External parts 2.3 Internal parts 2.4 Manual brake release switch 3.
Page 4 Table of contents 6.2 Unpacking MiR1350 6.3 Connecting the battery 6.4 Powering up the robot 6.5 Connecting to the robot interface 6.6 Connecting the robot to a WiFi network 6.7 Driving the robot in Manual mode 6.8 Checking the robot 6.9 Mounting the nameplate 6.10 Shutting down the robot 7.
Page 5 Table of contents 11.2 Personnel detection 11.3 Overspeed avoidance 11.4 Emergency stop buttons 11.5 Emergency stop circuit 11.6 Safeguarded stop 11.7 Locomotion 11.8 System emergency stop 11.9 Reduced speed 11.10 Shelf mode 11.11 Safety functions performance overview 11.12 Safety stop 11.13 Light indicators and speakers 12.
Page 6 Table of contents 13.5 Creating the mission Variable docking 13.6 Testing a mission 13. Mounting a top module 14. Maintenance 14.1 Regular weekly checks and maintenance tasks 14.2 Regular checks and replacements 14.3 Battery maintenance 14.4 Lifting MiR1350 15. Transportation 15.1 Original packaging 15.2 Packing the robot for transportation 15.3 Battery...
Page 7: About This Document
Documentation: • Quick starts describe how you start operating MiR robots quickly. It comes in print in the box with the robots. Quick starts are available in multiple languages. • User guides provide all the information you need to operate and maintain MiR robots and how to set up and use top modules and accessories, such as charging stations, hooks, shelf lifts, and pallet lifts.
Page 8: Version History
MiR products. • Troubleshooting guides can help you determine the cause of an issue you are experiencing with your MiR product and how to resolve it. 1.2 Version history This table shows current and previous versions of this document.
Page 9 1. About this document Revision Description • Updated status light table. Affects section: Light indicators and speakers. • Corrected description of the robot's safety stop function. Affects section: Safety stop. • Improved commissioning sections, and added checklists to several sections. Affects sections: Creating user groups and users, Creating dashboards, Updating the software, Creating missions, Positions, Markers, Creating and configuring maps.
Page 10 1. About this document Revision Description Date: 2021-10-07 Robot HW: 1.0 • Applied general corrections. Affects sections: Payload distribution, Footprints, and Nameplate. • Updated manual to ensure compliance with radio equipment directives. Affects sections: Safety, Connecting to the robot interface, and Connecting the robot to a WiFi network. Date: 2021-08-12 Robot HW: 1.0 First edition.
Page 11: Product Presentation
The map can be created or imported the first time the robot is used. While operating, the robot avoids obstacles that are not mapped, like people and furniture. Specifications for MiR1350 are available on the MiR website. 2.1 Main features of MiR1350 The main features of MiR1350 are: •...
Page 12 • Efficient transportation of heavy loads The robot is designed to automate transportation of loads up to 1350 kg. • Sound and light signals The robot continuously signals with light and sounds, indicating where it will drive and its current status, for example, waiting for a mission, driving to a destination, or destination reached.
Page 13 Accessories The following accessories are available for MiR1350: • MiR Pallet Rack Use a MiR Pallet Rack with MiR Pallet Lift 1350. The lift places and picks up US standard 40×48 in (1016×1219 mm) pallets from the rack autonomously. • MiR EU Pallet Rack Use a MiR EU Pallet Rack with MiR EU Pallet Lift 1350. The lift places and picks up EU pallets from the rack autonomously.
Page 14: External Parts
2. Product presentation 2.2 External parts This section presents the parts of MiR1350 that are visible on the outside. Figure 2.1 MiR1350 external parts. Table 2.1 Identification of the external parts in Figure 2.1 Pos. Description Pos. Description Left top compartment— Right top compartment—...
Page 15 2. Product presentation Pos. Description Pos. Description Status light: on all four Left side maintenance sides of the robot—see hatch: opens to the left "Light indicators and side compartment—see speakers" on page 124 "Side compartments" on page 24 Front safety laser Front maintenance scanner—see "Safety hatch: opens to the front...
Page 16 2. Product presentation Identification label MiR1350 is delivered with an identification label mounted to the product. The identification label identifies the product, the product serial number, and the hardware version of the product. The identification label of MiR1350 is located in the left compartment next to the battery. Figure 2.2 Placement of the identification label.
Page 17 2. Product presentation Nameplate Every MiR application is delivered with a nameplate that must be mounted on the robot. The nameplate of MiR1350 identifies the application model and serial number and includes the CE mark, technical specifications, and the address of Mobile Industrial Robots. The nameplate identifies the complete MiR application, for example, a robot with a top module.
Page 18 2. Product presentation The control panel buttons Figure 2.5 The MiR1350 control panel. Table 2.2 Identification of items on the control panel in Figure 2.5 Pos. Description Pos. Description Manual stop button Resume button Power button Operating mode key Manual stop button Pressing this button stops the robot.
Page 19 2. Product presentation Resume button Pressing this button: • Clears the Emergency or Protective stop state. • Lets the robot continue operating after the Manual stop button was pressed or after the operating mode changes. • Lets the robot start operating after powering up. Color indication: •...
Page 20 2. Product presentation Remove the Operating mode key during normal operation. The vibrations from the robot's driving may shake the key and plug, and can cause an unwanted Protective stop. Figure 2.6 Remove the Operating mode key during normal operation. Operating modes MiR1350 has two operating modes: Manual mode and Autonomous mode.
Page 21: Internal Parts
2. Product presentation 2.3 Internal parts Most internal parts of MiR1350 are accessed through maintenance hatches that open to different compartments: • Front compartment • Rear compartment • Side compartments • Top compartments To access the compartments correctly, see " Accessing the internal parts" on page 40.
Page 22 2. Product presentation Figure 2.7 Internal parts of the front compartment. Table 2.3 Identification of internal parts in Figure 2.7 Pos. Description Pos. Description Robot computer: processes Switch: enables data from the sensors and communication between the controls the robot's robot computer, safety PLC, navigation electrical interfaces, and...
Page 23 2. Product presentation Pos. Description Pos. Description 3D cameras: detect obstacles in front of the robot—see "Obstacle detection " on page 85 Rear compartment The rear compartment components are listed in Table 2.4. Figure 2.8 Internal parts of the rear compartment. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 24 Connection interface for MiR Manual brake release Controller: connect a MiR switch: releases the brakes Controller to drive the robot with so the robot can be a joystick pushed manually.
Page 25 2. Product presentation Figure 2.9 Internal parts of the MiR1350 left and right side compartments. Table 2.5 Identification of internal parts in Figure 2.9 Pos. Description Pos. Description Connector for the status Bogie light band Drive wheel Battery lock pin (only in left side compartment) Fast-swap battery assembly Battery (only in left side...
Page 26 2. Product presentation Figure 2.10 The top compartments on the robot. Table 2.6 Identification of top compartments in Figure 2.10 Pos. Description Pos. Description Left top compartment Right top compartment Rear compartment The top compartments interfaces are listed in Table 2.7.
Page 27: Manual Brake Release Switch
2. Product presentation Figure 2.11 Interfaces in the top compartments. Table 2.7 Identification of interfaces in Pos. Description Pos. Description Ethernet GPIO: General purpose I/O Power Auxiliary safety functions WiFi antenna Auxiliary emergency stop with dummy plug 2.4 Manual brake release switch The Manual brake release switch ensures that the robot can be moved safely and easily.
Page 28 2. Product presentation Figure 2.12 Turn the Manual brake release switch clockwise to release the brakes. The mechanical brakes require electrical power to be released. To release the brakes, the robot must be connected to an active and charged battery when you turn the switch. When the robot is driving, the robot engages and releases the mechanical brakes automatically.
Page 29: Warranty
3. Warranty 3. Warranty Mobile Industrial Robots offers a standard warranty on all products. Contact your distributor to see the terms and extent of product coverage. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1350 or its accessories are damaged, changed, or modified in any way.
Page 30: Safety
4. Safety 4. Safety Read the information in this section before powering up and operating MiR1350. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1350 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1350, accessories, or any other equipment due to programming errors or malfunctioning of MiR1350.
Page 31: General Safety Precautions
4. Safety 4.2 General safety precautions This section contains general safety precautions. CAUTION Harmful electromagnetic interference might be the result of having two radio modules transmitting at the same time. The robot is certified to have only one radio module active at any given time. •...
Page 32 Using a charging device different from the one supplied by the manufacturer can cause a fire and thereby burn injuries to nearby personnel and damage to the robot and equipment. • Only use an original MiR charger. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 33 4. Safety WARNING Lithium battery packs may get hot, explode, or ignite and cause serious injury if they are misused electrically or mechanically. Observe the following precautions when handling and using lithium-ion batteries: • Do not short-circuit, recharge, or connect with false polarity. •...
Page 34: Intended Use
MiR1350 is intended to be commissioned and used in indoor industrial environments where access for the public is restricted. For details about the environmental conditions in which MiR1350 should operate, see specifications for MiR1350 on the MiR website. MiR1350 is intended to be commissioned according to the guidelines in "Commissioning"...
Page 35: Users
MiR EU Pallet Lift 1350 used with MiR EU Pallet Rack • MiR Shelf Lift to transport MiR supported shelves MiR1350 can be used as a partly complete machine as defined in the EU machinery directive with top modules that do not meet the above limitations. Those who design, manufacture, or commission a system that does not meet the limitations of use of MiR1350 carry the obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.
Page 36 4. Safety • Commissioning of the product. This includes creating maps and restricting the user interface for other users and making brake tests with a full payload. • Conducting the risk assessment. • Determining the payload limit, weight distribution, safe fastening methods, safe loading and unloading of loads on MiR1350, and ergonomic loading and unloading methods if relevant.
Page 37: Foreseeable Misuse
4. Safety 4.5 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 38: Warning Label
4. Safety 4.6 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. Figure 4.1 The warning label must be placed on the robot or top module.
Page 39 4. Safety WARNING Other significant hazards may be present in a specific robot installation. Failure to identify hazards may result in injury to personnel or damage to equipment. • Identify all hazards specific to your robot installation during commissioning. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 40: Accessing The Internal Parts
See a video of the process on the MiR TechComm videos channel on vimeo.com. Turn the two screws on the front compartment hatch 90˚. Use a flat-head screwdriver. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 41: Accessing The Rear Maintenance Compartment
5.2 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) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 42 5. Accessing the internal parts Pull open the hatch. You can now access the Manual brake release switch and MiR Controller interface. To access the motor controller carrier board and dynamic brake contactors, you must remove the rear compartment cover.
Page 43 5. 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) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 44 5. 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 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 45: Accessing The Side Compartment
5.3 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 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 46: Accessing The Top Compartments
5. Accessing the internal parts Pull open the hatch. 5.4 Accessing the top compartments Figure 5.1 The top compartments on the robot. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 47 5. Accessing the internal parts Table 5.1 Identification of top compartments in Figure 5.1 Pos. Description Pos. Description Left top compartment Right top compartment Rear compartment To open a top compartment, remove the four screws, and lift off the top cover. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 48: Getting Started
Read "Safety" on page 30 before powering up MiR1350. In some images in this section, the robot is shown with a MiR EU Pallet Lift 1350 top module. 6.1 In the box This section describes the contents of the MiR1350 box. Figure 6.1 The box containing the robot and accessories.
Page 49: Unpacking Mir1350
The USB flash drive in the document folder has the following content: • MiR1350 User Guide • MiR1350 Quick Start • MiR Network and WiFi Guide • MiR Cybersecurity Guide • MiR Robot Interface Guide • Getting the robot online •...
Page 50 6. Getting started Remove the screws that attach the walls of the box to the box lid and the base of the box. Remove the lid from the box, and remove the wooden lath beneath the lid. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 51 6. Getting started Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush with the base of the box. Take the folder with the printed documents and the USB flash drive out of the box. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 52 6. Getting started Remove the pallet collars and the protective foam blocks. Cut the protective straps. For increased visibility, you can add the supplied high visibility stickers to the four corners of the robot. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 53: Connecting The Battery
6. Getting started Remove the wheel stop board from the pallet to let the robot drive on the ramp. 6.3 Connecting the battery To connect the battery to the robot, you need to open the left side compartment—see " Accessing the internal parts"...
Page 54: Powering Up The Robot
6. Getting started 6.4 Powering up the robot To power up the robot, follow these steps: Ensure that all four Emergency stop buttons are in the released state. Turn an Emergency stop button counter-clockwise to release it. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 55 6. Getting started Press the Power button for five seconds. 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) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 56: 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 57 Ethernet port for a wireless connection. If you are using an access point, connect your device to the access point. The MiR Access Point WiFi has the following format: MiR_3042XXXXX. Use the password shipped with the access point to connect.
Page 58: Connecting The Robot To A Wifi Network
6. Getting started In a browser, go to the address 192.168.12.20 and sign in. You are now signed in to the robot interface and can set up your robot for operation. If you want to connect the robot to your local WiFi network, connect the robot to the network as described in "Connecting the robot to a WiFi network"...
Page 60 6. Getting started Select the network you want the robot to be connected to, and fill out the displayed fields—see the guide How to connect a MiR robot to a WiFi network for more information about the WiFi settings. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 61: Driving The Robot In Manual Mode
6. Getting started Select Add connection when you have finished. The robot is now connected to the network. When you are connected to the same network, you can access the robot's interface by entering the IP address displayed under the connection description into your internet browser.
Page 62 6. Getting started To drive the robot in Manual mode, follow these steps: On the robot, turn the Operating mode key to Manual mode (turn it to the right). In the robot interface, select the joystick icon. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 63 6. Getting started Select Manual control. The Resume button on the robot starts blinking. On the robot, press the Resume button. The status lights turn blue, indicating that the robot is in Manual mode. Drive the robot off the ramp using the joystick. NOTICE Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping.
Page 64: Checking The Robot
6. Getting started 6.8 Checking the robot To ensure the robot is ready for use, check the following: • Check the robot for any visual defects, such as dents, scratches, or cracked parts. • Individually test each of the Emergency stop buttons on the robot. Make sure the robot enters Emergency stop when a button is pressed, and can be brought out of Emergency stop by releasing the button and pressing the Reset button—see "Types of stop"...
Page 65 6. Getting started • Check that your robot is running the latest recommended software. This also applies to newly supplied robots, as there may have been important software updates during the storage time and shipment of the robot. You can see the software version your robot is running in the bottom left corner of the robot interface.
Page 66: Mounting The Nameplate
"Error handling" on page 245. 6.9 Mounting the nameplate Before using MiR1350, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see "Nameplate" on page 17. NOTICE The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CE mark is invalid.
Page 67 6. Getting started To mount the nameplate correctly, follow these steps: Locate the right side hatch—see "External parts" on page 14. Clean the area marked in the image below with a degreasing agent. Mount the nameplate on the cleaned area. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 68: Shutting Down The Robot
6. Getting started 6.10 Shutting down the robot To shut down MiR1350, follow these steps: Ensure that the robot is not moving or executing an action. Press the Power button for three seconds. Wait for the robot to finish the shutdown process. The status lights waver orange, and the Power button blinks red.
Page 69 6. Getting started When the robot finishes the shutdown process, the status and signal lights go off. When you shut down the robot for transportation, service, or repair, the battery must be disconnected—see "Disconnecting the battery" on page 76. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 70: Storage
7.2 Storage time 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. Keep in mind that the storage times in this guide apply for new batteries. Over time, the storage time will shorten.
Page 71: Inactive Battery Modes
MiR Cable Charger Lite 48V 3A. 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. This guide provides more detailed information about determining exactly which state the battery is in and how to safely and securely restore the battery without damaging the robot or battery.
Page 72: Battery And Charging
8. Battery and charging 8. Battery and charging The robot is powered by a lithium battery that can be charged with a MiR cable charger or a MiR Charge 48V charging station. Table 8.1 identifies the main components of the battery fast-swap assembly and describes the three different positions the assembly can be set to.
Page 73: Charging The Robot
A MiR cable charger is not part of the MiR1350 standard delivery. To charge MiR1350 with a standard MiR cable charger, you will also need an adapter for the cable to fit to the battery connector. The adapter is supplied by MiR.
Page 74 8. Battery and charging To charge MiR1350 using the cable charger, follow these steps: Plug the cable charger into an AC power supply. Always make sure to connect the cable charger to a power supply before connecting it to the battery. Over time, the battery cells may get damaged if you connect the charger to the battery before the power supply.
Page 75 The charger should begin humming once it starts charging the battery. Once the battery has finished charging, reconnect the battery, and close the maintenance hatch. For information about the charging time, see specifications on the MiR website. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 76: Disconnecting The Battery
See a video of the process on the MiR TechComm videos channel on vimeo.com. 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.
Page 77 8. Battery and charging To swap out the battery, follow these steps: Pull out the Battery lock pin, and pull the Battery lever down to the bottom level. The battery is now disconnected and unlocked from the robot. Grab the handle and gently pull the battery out. Insert another battery.
Page 78: Battery Disposal
8. Battery and charging 8.4 Battery disposal Legal obligations apply to used batteries. Used batteries must be recycled. Disposing used batteries in the household waste is prohibited. A recycling label indicates that the battery needs to be recycled and not disposed as municipal waste—see Figure 8.2 Contact your distributor to get specific information about their take back service.
Page 79: Cybersecurity
We recommend conducting a cybersecurity risk assessment before commissioning MiR1350. To ensure the cybersecurity of your MiR product, see MiR Cybersecurity Guide found on the USB drive shipped with MiR1350 and on the Support Portal.
Page 80: Navigation And Guidance System
10. Navigation and guidance system 10. Navigation and guidance system The navigation and guidance system is responsible for driving the robot to a goal position while avoiding obstacles. This section describes the processes and components involved in the robot's navigation and guidance system. 10.1 System overview The purpose of the navigation and guidance system is to guide the robot from one position on a map to another position.
Page 81: User Input
10. Navigation and guidance system Figure 10.1 Flow chart of the navigation and control system. The user provides the necessary input for the robot to generate a path to the goal position. The robot executes the steps in the navigation loop until it reaches the goal position and stops by engaging the brakes.
Page 82: Global Planner
10. Navigation and guidance system • The current position of the robot on the map. This usually only needs to be provided when a new map is activated. Figure 10.2 On the map, the current position of the robot is identified by the robot icon , and the goal destination in this example is the robot position .
Page 83 10. Navigation and guidance system Figure 10.3 The global path is shown with the blue dotted line that leads from the start to the goal position. The global path is created only at the start of a move action or if the robot has failed to reach the goal position and needs to create a new path.
Page 84: Local Planner
10. Navigation and guidance system 10.4 Local planner The local planner is used continuously while the robot is driving to guide it around obstacles while still following the global path. Figure 10.5 The global path is indicated with the dotted blue line and is visible on the map. The local path is indicated with the blue arrow, showing the robot driving around a dynamic obstacle.
Page 85: Obstacle Detection
10. Navigation and guidance system Once the local path is determined, the robot computer derives the desired rotational velocity of each drive wheel to make the robot follow the local path and sends the desired velocities for each motor to the motor controllers—see "Motor controller and motors"...
Page 86 10. Navigation and guidance system Safety laser scanners Two safety laser scanners scan the robot's surroundings. They are located in the corners, diagonally opposite each other. Each safety laser scanner has a 270° field of view, overlapping and thus providing a full 360° visual protection around the robot—see Figure 10.7.
Page 87 10. Navigation and guidance system Figure 10.7 The two safety laser scanners together provide a full 360° view around the robot. The laser scanners have the following limitations: • They can only detect objects that intersect a plane at 200 mm height from the floor. •...
Page 88 10. Navigation and guidance system 3D cameras Two 3D cameras positioned on the front of the robot detect objects in front of the robot. The 3D cameras detect objects: • Vertically up to 1800 mm at a distance of 1200 mm in front of the robot. •...
Page 89 10. Navigation and guidance system Figure 10.8 The two 3D cameras can see objects up to 1800 mm above floor height at a distance of 1200 mm in front of the robot and have a horizontal field of view of 114°. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 90 10. Navigation and guidance system Figure 10.9 Objects below 30 mm from the ground are not detected by the camera. This value increases by 10 mm per meter from the robot. The 3D cameras have the following limitations: • They can only detect objects in front of the robot, unlike the full 360° view of the laser scanners.
Page 91 How to calibrate the proximity sensors. You can find this guide on the MiR Support Portal. The following points describe the main features of the proximity sensors once they are enabled: •...
Page 92 10. Navigation and guidance system CAUTION Proximity sensors cannot be used as a means for safety related risk reduction, for example, detecting feet. They cannot be used as an alternative to the Personnel detection safety function—see "Personnel detection" on page 102. The robot may collide with and cause injury to personnel if you rely on the proximity sensors alone to detect personnel.
Page 93: Localization
10. Navigation and guidance system • When the robot is driving, obstacles detected by the proximity sensors are too close for the robot to stop or avoid. The robot relies on the laser scanners and 3D cameras to detect obstacles while it is driving. •...
Page 94 10. Navigation and guidance system Failed localization Successful localization In a failed localization, the robot cannot When the robot can localize itself, it determine a position where the red lines determines a cluster of likely positions, (laser scanner data) align with the black indicated in the images above as blue dots.
Page 95: Motor Controller And Motors
10. Navigation and guidance system • The robot must be able to detect the static landmarks that are marked on the map to be able to approximate its current position. Make sure there are not too many dynamic obstacles around the robot so that it cannot detect any static landmarks. Cannot detect any static landmarks Can detect enough static landmarks •...
Page 96 10. Navigation and guidance system Figure 10.11 The robot has reached the goal position and stops by engaging the dynamic brake function. Once the robot has stopped, the mechanical brakes are enabled. These brakes are used to keep the robot in place once it has stopped. You can compare the mechanical brakes with the parking brake or hand brake in a car.
Page 97: Safety-Related Functions And Interfaces
11. Safety-related functions and interfaces 11. Safety-related functions and interfaces The robot's safety system is designed to mitigate significant hazards which could lead to injury, for example, stopping the robot if a person is in its path. MiR1350 is equipped with a range of built-in safety-related functions as well as safety-related electrical interfaces designed for integration with a top module.
Page 98 Hardware health to find specific information on what caused the issue. For further guidance, see the troubleshooting guides to help troubleshooting the issue. You can find these guides on the MiR Support Portal. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 99 11. Safety-related functions and interfaces Emergency stop The robot enters Emergency stop when an Emergency stop button has been pressed physically. When you press the Emergency stop button, internal safety contactors are switched so the robot's top application and all moving parts of the robot do not receive power. You can hear the safety contactors emit audible clicks when they are switched.
Page 100 11. Safety-related functions and interfaces Manual stop The robot enters Manual stop when the red Stop button in the control panel is pressed. Manual stop brings the robot into the same state as a Protective stop where it can only be brought to an operational state by pressing the Resume button.
Page 101 The reduced speed function can be connected to a top module, enabling it to make the robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the robot does not drive fast when the lift is raised.
Page 102: Personnel Detection
11. Safety-related functions and interfaces The diagram in Figure 11.2 shows the inputs to these functions and interfaces and how they are all connected and monitored by the safety PLC. The safety PLC is able to switch the safety contactors to cut off power to the robot motors and the top module whenever a Protective or Emergency stop is triggered.
Page 103 11. Safety-related functions and interfaces Clear ahead Obstacle detected The robot drives when the area is clear. The robot stops when it detects and obstacle. The safety laser scanners are programmed with two sets of Protective fields. One field set is used when the robot is driving forward, and the other when it is driving backward.
Page 104 11. Safety-related functions and interfaces Field set when driving forward The following table shows speeds and the field ranges when driving forward. The table describes the length of the Protective field in front of the robot in different cases. Each case is defined by a speed interval that the robot may operate at.
Page 105 11. Safety-related functions and interfaces Figure 11.3 The illustration shows the field set contours when the robot drives forward. The range of the active field changes with the robot's speed. Field set when driving backward The field set for driving backward is the same as the field set for driving forward. The colors and cases in Table 11.2 correspond to the field set shown in...
Page 106 11. Safety-related functions and interfaces Table 11.2 Range of the robot's Protective fields within its backward speed interval cases. Case Speed Protective field Comments range 0.0 to -0.10 m/s 0-250 mm When pivoting -0.10 to -0.30 m/s 0-381 mm -0.30 to -0.40 m/s 0-453 mm -0.40 to -0.60 m/s 0-634 mm...
Page 107 11. Safety-related functions and interfaces NOTICE Scanners measure distances to diffuse reflections, which means that a tolerance is added to the Protective field sets to secure a safe detection of persons crossing the Protective field sets. The tolerance distance is 65 mm. Muted Protective fields When it is required that the robot moves close to surrounding objects, the robot can be configured to mute the Protective fields.
Page 108 11. Safety-related functions and interfaces Under Setup > Missions, create or edit a mission—see "Creating missions" on page 153. Add the action Mute protective fields from the Safety system menu. Edit the action parameters so the Protective field sets are muted. MiR1350 cannot mute specific Protective fields; you can either mute all or none of the fields.
Page 109: Overspeed Avoidance
Emergency stop, the robot must be fitted with a closed connection such as a dummy plug or top module. Dummy plugs are supplied by MiR. Additionally, the connection interface for the MiR controller in the rear compartment also has a dummy plug that must be connected to keep the circuit closed.
Page 110 —see "Emergency stop circuit" on the next page 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) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 111: Emergency Stop Circuit
11. Safety-related functions and interfaces 11.5 Emergency stop circuit The Emergency stop circuit goes through the four Emergency stop buttons in MiR1350—see "Emergency stop buttons" on page 109—and then through the Auxiliary emergency stop interface where you can connect external input to bring the robot into an Emergency stop. The interface uses two output pins to provide a 24 V signal and two input pins to bring the robot into Emergency stop.
Page 112 11. Safety-related functions and interfaces Emergency stop button released Emergency stop button pushed If the input pins deliver 24 V to the robot, it When you push a connected Emergency can operate. stop button, both pins deliver 0 V, and the robot enters Emergency stop.
Page 113: Safeguarded Stop
11. Safety-related functions and interfaces Emergency stop circuit faulty If the pins do not deliver the same input, the robot enters Protective stop until the circuits are fixed. In the Auxiliary emergency stop interface, pins 1 and 2 deliver 24 V from the safety PLC, and pins 3 and 4 connect to the Emergency stop circuit inputs of the safety PLC.
Page 114 11. Safety-related functions and interfaces Signal to enable operation Signal to enter Protective stop If both pins deliver 24 V to the robot, it can If both of the pins deliver 0 V, the robot operate. enters Protective stop. Signal to enter Protective stop If the pins do not send the same signal, the robot enters Protective stop.
Page 115: Locomotion
11. Safety-related functions and interfaces 11.7 Locomotion The Locomotion interface is used to signal to a top module that the robot is driving. This function uses two output pins, where both pins deliver 0 V when the robot is driving and 24 V when the robot is stopped.
Page 116 11. Safety-related functions and interfaces The outputs are used to signal to the top module that the robot is in Emergency stop. When the robot is in an operational state, the outputs deliver 24 V. As soon as the robot enters Emergency stop, they deliver 0 V.
Page 117 11. Safety-related functions and interfaces Not in Emergency stop Inputs are 0 V The robot is not in Emergency stop so the The robot is in Emergency stop because it output is 24 V. receives 0 V input from the System emergency stop interface Button on robot is pressed Inputs are unequal...
Page 118: Reduced Speed
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 field sets 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 119: Safety Functions Performance Overview
Emergency stop Triggering event: Pressing any Emergency PFHd: stop button on the robot, connected top 4.0 × 10 module, or connected MiR Controller joystick—see "Emergency stop buttons" on page 109. Architecture: Reaction: Category 0 stop (IEC 60204) and Category 3 mechanical spring-applied brakes engage.
Page 120 11. Safety-related functions and interfaces Function name Description PFHd, PL, and architecture Overspeed Triggering event: The speed of the robot PFHd: exceeding 2.10 m/s or the difference in speed 5.2 × 10 between the drive wheels exceeding 0.37 m/s—see "Overspeed avoidance" on page 109.
Page 121 11. Safety-related functions and interfaces Function name Description PFHd, PL, and architecture Personnel Triggering event: Safety laser scanners PFHd: detection detecting an object in the active Protective 1.2 × 10 field—see "Personnel detection" on page 102. Reaction: Category 0 stop (IEC 60204) and mechanical spring-applied brakes engage.
Page 122 11. Safety-related functions and interfaces Function name Description PFHd, PL, and architecture Safeguard stop Triggering event: External device delivering PFHd: 0 V to the Safeguard stop input pins—see 3.7 × 10 "Electrical interfaces" on page 223. Reaction: Category 0 stop (IEC 60204) and mechanical spring-applied brakes engage.
Page 123: Safety Stop
11. Safety-related functions and interfaces Function name Description PFHd, PL, and architecture System Triggering event: External device delivering PFHd: emergency stop 0 V to the System emergency stop input pins. 3.7 × 10 These are Auxiliary safety functions pins 9 and 10—see "Electrical interfaces"...
Page 124: Light Indicators And Speakers
11. Safety-related functions and interfaces if one of the braking systems fail. • The safety PLC monitors the state of all of the contactors and will report an error if any contactors do not switch states as expected. 11.13 Light indicators and speakers The robot uses its speaker and two types of light indicators to let people in the environment know what the robot is currently doing or planning to do.
Page 125 Wavering cyan Charging at Waiting for charging station MiR Fleet resource or for another MiR robot to move 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.
Page 126 11. Safety-related functions and interfaces The signal lights work similarly to lights used on cars; white at the front, red at the back, and indicating a left or right turn by blinking. When the robot drives with muted Protective fields, for example, when docking to a charging station, all signal lights blink yellow.
Page 127 11. Safety-related functions and interfaces CAUTION Unaware personnel may not see the robot in certain situations and risk colliding with the robot. This may result in injury to personnel or damage to equipment. • Make sure to adjust the volume of the robot's warning sounds so they are audible in the robot's work environment.
Page 128: Commissioning
12. Commissioning 12. Commissioning This section describes how to commission MiR1350. Commissioning should be done without any load on the robot, except when doing brake tests where the robot should have a load equaling the heaviest load it will be driving with. Only persons assigned with the commissioning task should be present during commissioning.
Page 129 Temperature and humidity Temperatures outside of the approved temperature range can affect the performance and durability of the robot—see specifications on the MiR website. This is especially relevant for the robot's battery—see "Storage" on page 70.
Page 130: Risk Assessment
Evacuation plan In MiR Fleet, it is possible to set up evacuation of robots from one or more zones in case of an emergency situation. Evacuation zones should be created and Evacuation positions should be added to the map—see How to set up evacuation zones and fire alarms in MiRFleet for more information.
Page 131: Creating User Groups And Users
12. Commissioning It is recommended that the commissioner follows the method in ISO 12100 to conduct the risk assessment. In EN 1525 clause 4 and ISO 3691-4 annex B there are lists of possible significant hazards and hazardous situations that the commissioner should consider. A risk assessment of the application must be used to determine the adequate information for users.
Page 132 • What functions or widgets should be available for the different users? For more details on users and dashboards, see MiR Robot Interface Guide on the Support Portal. Before creating users or user groups, you should map out the permissions for each user group...
Page 133: Creating And Configuring Maps
12. Commissioning Integrator Commissioner Operator Direct user Missions Settings Dashboards Sounds Checklist • You have mapped out the necessary permissions for each user group. • You have created the user groups in the user interface. • You have ensured that there is a suitable user group for each user. •...
Page 134 12. Commissioning Figure 12.1 Example of a map without any added zones, positions, or markers. The robot must have a map for every area that it operates in. It is important to create robust and reliable maps for the robot to perform effectively and safely. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 135 • You can connect maps using map transitions—see MiR Robot Interface Guide or the guide How to set up transitions between maps. You can find these guides on the MiR Support Portal. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 136 If the robot must operate on different floors connected with ramps or elevators, you must have a map for each floor. • If you are using an elevator, see the guide How to set up elevators in MiR Fleet. You can find this guide on the MiR Support Portal. •...
Page 137 • End the mapping in the same place you started it. For more information on creating a map, see the course Record your map in MiR Academy. Cleaning up a map The robot navigates best when using a clean map with as little noise as possible.
Page 138 When using this tool, you do not affect the walls on the map. With MiR robots, noise in maps refers to recorded data that originates from interfering elements. This can be physical obstacles that make the robot record walls where there are none, or more subtle interferences that can make recorded walls appear pixelated.
Page 139 Checklist • You have created a map or several maps that cover the entire area you want the MiR robot to operate in. • You have removed all noise and dynamic obstacles from the map(s) and added floor everywhere the robot can travel to.
Page 140 12. Commissioning All zones are ignored when you drive the robot in Manual mode or when you use a Relative move action (except when using Relative move actions in Limit-robots zones). NOTICE The robot prioritizes the instructions it receives in the following order: •...
Page 141 12. Commissioning Highly dynamic areas A highly dynamic area is an area where objects are moved frequently. This could be a production area where pallets and boxes are often moved back and forth. Issue: The robot will stop if a person steps out in front of it. In a transient work flow area, the robot will stop and reassess its paths many times a day, thereby wasting valuable time.
Page 142 12. Commissioning Doorways Going through narrow doorways can cause problems for the robot's global planner since the robot must drive closer to wall edges than it usually would. It can also be hazardous for the people working near the robot, as they might not see the robot coming. Issue: The robot does not plan its global path through narrow doorways, since this will bring the robot too close to a known obstacle.
Page 143 12. Commissioning Shelves Shelves are often placed in a certain height above the floor on four (or more) posts and will often appear as dots on a map for the robot. This may cause the robot to believe that there is enough space (if the posts are far enough apart) below the shelves to pass through.
Page 144: Markers
If there isn't enough space for robots to pass each other, you can use a Limit-robots zone to specify that only one robot may drive down the corridor at a time. To use Limit-robots zones, your robots must be connected to MiR Fleet. 12.5 Markers Markers are defined as X-Y coordinates on a map that mark locations where you want the robot to travel to.
Page 145 12. Commissioning You should always use markers when it is important that the robot is positioned accurately relative to an object in the work environment, such as load transfer stations and work stations. Docking to markers When robots position themselves at a set point relative to the marker, the robot must do a docking sequence.
Page 146 12. Commissioning CAUTION When a robot docks to a marker (except L-markers), it mutes its Protective fields and disables Collision check, enabling it to drive closer to the marker. If an object is placed, or personnel walk in front of the robot, while these functions are disabled, the robot will continue docking until it collides with the obstacle.
Page 147 Figure 12.10 Illustration of how the robot Slow docks when the mission uses a Move action followed by Dock action to the same marker. Undocking from markers A MiR robot can undock from markers automatically. When undocking, the robot reverses from the marker until it is outside of the undocking area—see Figure 12.11.
Page 148 12. Commissioning Figure 12.11 The undocking area initiates an undocking sequence for any robots with their center in the zone before beginning an action (except Relative move actions). The red dot represents the center of the robot when it is docked to the marker, the blue dot represents how far back the robot intends to move to undock from the marker, and the blue area represents the undocking area.
Page 149 12. Commissioning The undocking sequence will always occur if a robot begins an action where it plans a new route while inside the undocking area, even if the robot was not previously docked to the marker. This means the sequence is also initiated on robots that have entered the area via a Relative move action or Manual control.
Page 150 Types of markers There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers. A V-marker is a small, V-shaped marker that is designed for the robot to either dock to so its front or its rear is facing the marker.
Page 151 12. Commissioning Figure 12.14 The icon used for VL-markers in the interface and an illustration of how robots can dock to the marker. An L-marker makes it possible for the robot to dock in several different ways and orientations. Robots can both dock to the inside and outside of an L-marker, and the marker can be on any side of the robot.
Page 152 Figure 12.16 The icon used for Bar-markers in the interface and an illustration of how robots can dock to the marker. For further information on markers, see the guide How to create and dock to V- markers, VL-markers, L-markers, and Bar-markers. You can find this guide on the MiR Support Portal. To create a marker, see "Creating markers" on page 177.
Page 153: Positions
There are different types of positions depending on whether the robot is part of a fleet or drives with top modules, but the standard position that is available in all MiR applications is the Robot position. This position has no special features, it simply marks a location where you want to be able to send the robot to.
Page 154 12. Commissioning missions. Most actions have adjustable parameters, for example, which position to go to. Most actions can also use variables, enabling the user to choose the value of a parameter each time the mission is used. This can be practical in cases where the robot performs the same series of actions in different areas of the site that require different parameter settings in the mission actions.
Page 155 Instructions from system settings (except instructions from the setting Maximum allowed speed, which are never overruled by neither zones nor mission actions). To create efficient missions, you should first familiarize yourself with the available actions in MiR Robot Interface—see MiR Robot Interface Guide—and then consider: •...
Page 156 12. Commissioning Figure 12.17 You can use variables to make a mission where you can set a parameter in one of the actions each time you use the mission (either when you add the mission to the mission queue or nest it in another mission).
Page 157 For more information on building robust missions, see the course Build a robust mission in MiR Academy. When you have figured out which tasks you want the robot to perform and how many different missions you need to create, you should consider how you want to organize the missions in different mission groups.
Page 158: Creating A Footprint
For more information on creating missions, see MiR Robot Interface Guide and the course Build your first mission in MiR Academy. Checklist • You have made missions for all of the tasks you want you MiR robot to execute. • You have tested each mission to ensure the robot performs as expected. •...
Page 159 12. Commissioning Larger footprint Default footprint If the robot's top module or load exceeds The default footprint can be used when you the robot's physical dimensions, increase do not have a top module or load that the footprint size accordingly to ensure that exceeds the robot's physical dimensions.
Page 160 For a more thorough guide to creating footprints, see the guide How to change the robot footprint. For more information about the footprint editor, see MiR Robot Interface Guide. You can find these guides on the MiR Support Portal. Setting the active footprint If you want to change the footprint in a mission, use the Set footprint action found under the Move action group.
Page 162 12. Commissioning If you want to change what the robot's default footprint is, for example if the mounted top module is larger than the robot, go to System > Settings > Planner, and select a new footprint under Robot footprint. Checklist • You have created footprints that reflect all of the top module and loads the robot will carry. •...
Page 163: Using Operating Hazard Zones
For the robot's space requirements, see the space requirement best practice guide for your robot or see the specifications for your robot on the MiR website. It is not allowed to have work stations in operating hazard zones.
Page 164: Making A Brake Test
12. Commissioning Figure 12.19 The striped black and yellow line identifies the required operating hazard zone around the marker. The robot is placed on the Entry position to the marker. You must mark the floor area one meter around the docking marker and the robot when it is at the Entry position.
Page 165: Creating Dashboards
The decline of the surface the robot drives on Because of this, it is not possible to predetermine the exact braking distance of MiR robots. The distance has to be determined in the environment and under the driving conditions the robot will be operating in.
Page 166 12. Commissioning Figure 12.20 The default dashboard includes the robot information, a joystick for manual control, and the active map. When creating new dashboards, you should consider the following: • Who will be using the dashboards? • Which functionalities will they need to use the most? •...
Page 167: Updating Software
Each software release is issued with a release note explaining the content of the update and its target audience. To update the robot software, see the guide How to update a MiR robot's software. You can find this guide on the MiR Support Portal.
Page 168: System Settings
12.14 System settings This section describes some of the commonly used system settings of MiR1350 that the commissioner must be aware of. Only the basic system settings are explained in this section—see MiR Robot Interface Guide for more information. NOTICE The robot prioritizes the instructions it receives in the following order: •...
Page 169 12. Commissioning Figure 12.21 Under System > Settings, there are several menus where you can edit your robot's settings. Remember to restart the robot if you have made any changes to the system settings. Planner In the Planner section, you set the basic parameters for driving the robot. This section refers to the local and global planner functions.
Page 170 12. Commissioning Figure 12.22 You set basic parameters for driving the robot in the Planner section. Robot height defines the height of the robot including top modules. Use this setting if your robot operates permanently with a top module that makes the combined robot application higher than the robot itself.
Page 171 12. Commissioning matter how long it takes. If you want the robot to report an error after a set time period instead, enter the maximum amount of time in seconds that the robot can spend planning a path before it reports an error. Path timeout defines the maximum time the robot's path can be blocked before the robot generates a new global path. By default, this value is 0, meaning the robot will not wait if its current global path is blocked by an obstacle it cannot navigate around using the local planner.
Page 172 12. Commissioning Figure 12.23 Example of where the robot might benefit from using a Line-following configuration. When there isn't enough space for the robot to go around an obstacle, it will often spend more time trying to maneuver around the obstacle and correct its trajectory afterward than it would have just waiting for the obstacle to move out of the way.
Page 173 12. Commissioning Figure 12.24 Change the parameters regarding docking to and from markers in the Docking section. In Undock from markers, you can select if the robot should undock from a marker before it starts moving from a docked position. It is usually best to set this setting to True to prevent the robot from going into Protective stop when moving away from markers.
Page 174 12. Commissioning Safety system In the Safety system section, you can change which warning sound the robot should emit when it mutes its Protective fields and how loud the sound should play. Figure 12.25 In the Safety system section, you can change the robot's warning sound. Modify Muted protective fields sound to change the warning sound that is played when the robot drives with muted Protective fields.
Page 175 12. Commissioning CAUTION Unaware personnel may not see the robot in certain situations and risk colliding with the robot. This may result in injury to personnel or damage to equipment. • Make sure to adjust the volume of the robot's warning sounds so they are audible in the robot's work environment.
Page 176 Enable this feature if the robot drives with an application from Universal Robots. Fleet makes the robot visible for MiR Fleet. Enable this feature if the robot is part of a fleet. Modbus enables Modbus communications. When enabled, you can access the page System > Triggers to set up the Modbus triggers.
Page 177: Usage
13. Usage 13. Usage The main way to use MiR1350 is through missions that you create. In the following sections you will find practical examples of how missions can be tailored to different tasks. The examples include: • Setting markers and positions on the map. •...
Page 178 13. Usage Once the robot is localized, you can insert a marker on the map. In this example, we are using a VL-marker . To create a marker, follow these steps: Place your physical marker where you want the robot to dock. Manually drive the robot to the marker so the robot is facing the marker.
Page 179 13. Usage Go to Setup > Maps, and select Edit for the active map. Within the editor, select Markers in the Object-type drop-down menu, and then select Draw new marker in the editor tools. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 180 13. Usage In the Create marker dialog box, name the marker. Under Type, select your marker type. In this case, a VL-marker is used. Then select Detect marker. The X, Y, and orientation values will automatically be filled out with the current position of the robot.
Page 181 13. Usage • To change where the robot stops relative to the marker, you can adjust the offsets. • The X-offset moves the robot closer to or further from the marker in meters. • The Y-offset moves the robot further to the left or right of the marker in meters. •...
Page 182: Creating Positions
13. Usage Select Save to create the marker. The marker is now visible on the map. You can make the robot dock to the marker by selecting it on the map and selecting Go to. The marker can also be used in missions. 13.2 Creating positions The following steps describe how to create a position on a map.
Page 183 13. Usage In the robot interface, go to the map editor of the map where you want to create a position. This is done by going to Setup > Maps and selecting Edit next to the map you would like to work on. In the Object-type drop-down menu, select Positions, and then select Draw a new position .
Page 184 13. Usage Name the position. Under Type, select which type of position you want to make. In this example we are making a Robot position. Select OK to create the position. The position is now visible on the map. You can send the robot to the position by selecting it on the map and selecting Go to. The position can also be used in missions.
Page 185: Creating The Mission Prompt User
13. Usage 13.3 Creating the mission Prompt user Prompt user actions are used for prompting the user with a question on how the robot should proceed. Prompt user is an example mission that uses a Prompt user action that lets you choose whether to send the robot to one position or another.
Page 186 13. Usage Select the following actions: • In the Logic menu, select Prompt user. • In the Move menu, select Move. • In the Move menu, select Move. The following steps describe which parameters each action should be set to. To modify the parameters, select the gearwheel at the right end of the action line to open the action dialog box.
Page 187 13. Usage In the Prompt user action, set the parameters as follows: • Question: Enter the question Go to position one?. • User group: Select Users. • Timeout: Set the timeout to 10 minutes. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 188 13. Usage In the Prompt user action, drag a Move to action under the Yes box and a Move to action under the No box. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 190: Creating The Mission Try/Catch
13. Usage In the second Move to action, under Position, select p2. The mission should look like this: Select Save to save the mission. 13.4 Creating the mission Try/Catch Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you can define what the robot should do if, at any point, it fails to execute its main mission.
Page 191 13. Usage Try/Catch is a mission example where the robot runs the mission Prompt user created in "Creating the mission Prompt user " on page 185, and if the robot for some reason fails to complete the mission, the robot plays a sound. To create the mission Try/Catch, it is assumed you have completed the following: •...
Page 192 13. Usage Select the following actions: • In the Error handling menu, select Try/Catch. • Select the Prompt user mission you have made. The mission group you have saved the mission under will figure as a menu in the mission editor. The menus contain both missions and actions. Missions have this icon and actions have this icon .
Page 193 13. Usage Drag the Prompt user mission into the Try box under Try/Catch. Drag the Play sound action under the Catch box under Try/Catch. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 194 13. Usage In the Play sound action, set the parameters as follows: • Sound: Select Beep. • Volume: Enter the value 80. This is approximately 64 dB. • Mode: Select Custom length so you can enter the duration of time the sound is played.
Page 195: Creating The Mission Variable Docking
13. Usage 13.5 Creating the mission Variable docking All mission actions that require the user to specify the value of a parameter when they choose to use the mission have the option of defining a variable. If you use a variable in a mission, when you add the mission to the mission queue or nest it inside another mission, you must select a value for the parameter where the variable is used.
Page 196 13. Usage To create the mission, follow these steps: Go to Setup > Missions. Select Create Mission. Name the mission Variable docking. Select the group and site you want it to belong to. Select Create mission. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 197 13. Usage Select the following actions: • In the Move menu, select Move. • In the Safety system menu, select Mute protective fields. • In the Move menu, select Docking. • In the Logic menu, select Wait. • In the Move menu, select Relative move. The following steps describe which parameters each action should be set to.
Page 198 13. Usage In the Move action, make the parameter Position a variable that can be set each time you use the mission. The following steps describe how to create a variable: Under Position, select Variables Select Create variable in the upper-right corner. Name the variable Marker.
Page 199 13. Usage Under Position type, select Entry. This will make the robot move to the entry position of the marker. If the parameter Position type does not show up at first, select Validate and close, and then open the action dialog box again. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 200 13. Usage In the Mute protective fields action, set the parameters as follows: • Sound: Select Default • Front: Create a variable titled Mute fields. • Rear: Create a variable titled Mute fields. • Sides: Create a variable titled Mute fields. MiR1350 cannot mute specific Protective fields; you must either mute all or none of the fields.
Page 201 13. Usage Drag the Docking action into the Mute protective fields action, and under Marker position, create another variable titled Marker. If two variables share the same name, the value you select for that variable will be applied both places. In this case, by using the variable Marker in two places, you ensure that the robot docks to the same marker that it moved to in the first action.
Page 202 13. Usage Drag the Wait action into the Mute protective fields action, and under Time, create another variable titled Time. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 203 13. Usage Drag the Relative move action into the Mute protective fields action, and under X, enter -2. This will make the robot move two meters back to undock from the marker. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 204: Testing A Mission
13. Usage Select Save to save the mission. 13.6 Testing a mission After you create a mission, always run the mission to test that the robot executes it correctly. NOTICE Always test missions without load to minimize potential hazards. To run a mission, follow these steps: Go to Setup > Missions.
Page 205 13. Usage Select Continue to start the mission. Watch the robot execute the mission, and verify that it performs as expected. We recommend running the mission 5-10 times to ensure that it runs smoothly. If something interrupts the mission, use a Try/Catch action in that step of the mission and decide what the robot has to do if a mission action fails.
Page 206: Mounting A Top Module
13. Mounting a top module 13. Mounting a top module MiR1350 has four M10 holes for mounting top modules as shown in Figure 13.2. The tightening torque is 47 Nm. The mounting screws must have a length between 27–45 mm from the top of the top cover.
Page 207 13. Mounting a top module CAUTION Certain top modules may lead to new hazards and increased risks that cannot be eliminated or reduced by the risk reduction means applied by Mobile Industrial Robots. • Perform a risk assessment according to standard ISO 12100 when mounting a top module—see "Risk assessment"...
Page 208: Maintenance
14. Maintenance 14. Maintenance The following maintenance schedules give an overview of regular cleaning and parts replacement procedures. It is recommended to make a maintenance plan to make sure that all maintenance tasks are done and that the responsible(s) are aware of their tasks. It is the responsibility of the operator to perform all maintenance tasks on the robot.
Page 209 14. Maintenance Table 14.1 Regular weekly checks and maintenance tasks Parts Maintenance tasks Robot top cover Clean the robot on the outside with a damp cloth. Do not use and maintenance compressed air to clean the robot. hatches Caster wheels (the Remove dirt with a damp cloth, and make sure nothing is entangled four corner in the wheels.
Page 210: Regular Checks And Replacements
14. Maintenance Parts Maintenance tasks Laser scanners Clean the optics covers of the scanners for optimum performance. Use anti-static cleaning products, and avoid aggressive or abrasive cleaning agents. Make sure to also clean the top part of the optics cover. The contamination sensors scan the entire optics cover glass piece.
Page 211 14. Maintenance Table 14.2 Regular checks and replacements Part Maintenance Interval Robot top cover Check mounting. Ensure it sits Check monthly, and replace as evenly on top of the robot with needed. connections accessible. Safety PLC In the robot interface under Check monthly and after Monitoring >...
Page 212 14. Maintenance Part Maintenance Interval Caster wheels (the Check bearings and tighten if Check weekly, and replace if the four corner necessary, and check the diameter is less than 93 mm. wheels) wheels for wear and tear. Replace all four caster wheels Measure the diameter of the together.
Page 213 See the guide How to ensure that each pad moves clean the charging pads under up and down freely. MiR robots. Clean the charging pads using sandpaper. Also clean the pads on the charging stations. Clean the broom, and check that it is intact.
Page 214 How to calibrate a D435 3D To test the cameras, see the camera. guide How to test if the 3D cameras are working on MiR robots. Proximity sensors Check for dust or dirt, and Check weekly.
Page 215: Battery Maintenance
14. Maintenance Part Maintenance Interval Safety stickers and Check if the safety stickers, Check every six months, and nameplate identification label, and replace as needed. nameplate on the robot are still intact and visible. CAUTION If the robot has been impacted, it may be structurally damaged, causing a risk of malfunction and injury to personnel.
Page 216 14. Maintenance Figure 14.1 Illustration of how to lift MiR1350. To lift the robot safely without damaging it, ensure that the following criteria are met: • Use four M12 eye-bolts with counternuts and washers in each corner of the robot. •...
Page 217: Transportation
15. Transportation 15. Transportation This section describes how to pack the robot for transportation. 15.1 Original packaging Use the original packaging materials when transporting the robot. Figure 15.1 The packing materials. The packaging materials are: • The bottom of the box (the pallet) •...
Page 218: Packing The Robot For Transportation
15. Transportation 15.2 Packing the robot for transportation Before packing the robot for transportation: • Shut down the robot—see "Shutting down the robot" on page 68. • Disconnect the battery—see "Disconnecting the battery" on page 76. To pack the robot, repeat the steps in "Unpacking MiR1350"...
Page 219: Payload Distribution
16. Payload distribution 16. Payload distribution The following drawings illustrate where the center of mass (CoM) of payloads must be located for safe operation with different payloads. 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.
Page 221: Side View
16. Payload distribution 16.1 Side view Figure 16.2 The center of mass (CoM) of payloads seen from the side at maximum speed. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 222: Front View
16. Payload distribution 16.2 Front view Figure 16.3 The center of mass (CoM) of payloads seen from the front at maximum speed. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 223: Electrical Interfaces
17. Electrical interfaces 17. Electrical interfaces This section describes the specifications of the electrical interfaces. NOTICE Read "Safety" on page 30 before using the electrical interface. MiR1350 has six electrical interfaces divided into two groups: • Left top compartment • Power •...
Page 224 17. Electrical interfaces Power Figure 17.1 Pin numbers: female connector viewed from the front (left) and wiring diagram (right). Table 17.1 contains the description of the pins of the Power interface. The maximum current across pins 1 and 3 combined is 20 A when the robot is at standstill. When the robot is driving, the maximum combined current is 2 A.
Page 225 17. Electrical interfaces CAUTION 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. CAUTION The robots are not designed to absorb inverse current from top modules. This can damage the electrical components inside the robot, and the top module will likely not work as intended.
Page 226 17. Electrical interfaces Pin no. Description Signal name: 48V SafePWR Max. current: 20 A Voltage range: 41.8 - 53.8 V. Standard function: Turns off in case of a Protective or Emergency stop. This output is controlled by the internal safety PLC and the STO contactor, to ensure that power is always disconnected from this pin in case of a protective or emergency stop.
Page 227 17. Electrical interfaces • Neither the TOP 48V pin nor the TOP-Safe 48V pin can draw power during an Emergency or Protective stop. • The power from both pins are softstarted by gradually raising the voltage from 0 to 48 V in 100 ms. During this period, the current should be less than 2 A. If you set the feature to False, the TOP FUSE does not turn off when the robot enters Protective or Emergency stop.
Page 228 17. Electrical interfaces GPIO Figure 17.3 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) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 229 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 230 17. Electrical interfaces Figure 17.5 Example of I2 registered as high by the robot. Output pins must be connected to RTN pins, and input pins must be connected to 24 V pins. Table 17.2 contains the description of the pins of the GPIO interface. Table 17.2 Description of the pins in the GPIO interface Pin no.
Page 231 17. Electrical interfaces Pin no. Description Name: RTN Standard function: Protected return Name: O2 Maximum current: 1 A at 24 V Standard function: Output 2 Name: RTN Standard function: Protected return Name: O3 Maximum current: 1 A at 24 V Standard function: Output 3 Name: RTN Standard function: Protected return Name: I0...
Page 232 17. Electrical interfaces Pin no. Description Name: I1 Maximum current: 1 A at 24 V Standard function: PNP input 1 Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output Name: I2 Maximum current: 1 A at 24 V Standard function: PNP input 2 Name: 24V Maximum current: 1 A at 24 V Standard function: Protected output...
Page 233 Various protocols are supported, such as Modbus. For more information on how to use Modbus, ask your distributor for the guide How to use Modbus with MiR robots. Table 17.3 contains the description of the pins of the Ethernet interface.
Page 234: Right Compartment Interfaces
17. Electrical interfaces Pin no. Signal name 17.2 Right compartment interfaces This section describes the safety interfaces and antenna interface located in the right side top compartment of MiR1350. Auxiliary emergency stop Figure 17.7 Pin numbers: female connector viewed from the front (left) and wiring diagram (right). The Auxiliary emergency stop interface is designed to support Emergency stop and other safety functions—see "Emergency stop circuit"...
Page 235 17. Electrical interfaces Table 17.4 contains the description of the pins of the Auxiliary emergency stop interface. Table 17.4 Description of the pins in the Auxiliary emergency stop interface Pin no. Description Signal name: Test output Type: Output Standard function: 24 V output signal from the safety PLC for the Emergency stop circuit.
Page 236 17. Electrical interfaces Pin no. Description Signal name: Reset Type: Input Standard function: When active, the robot resets. Signal name: Safe RTN Type: Ground Standard function: Safe return. Signal name: Reset lamp Type: Output Standard function: Active when robot needs to be reset. Unassigned.
Page 237 17. Electrical interfaces Auxiliary safety functions Figure 17.8 Pin numbers: female connector viewed from the front (left) and wiring diagram (right). The Auxiliary safety functions interface is designed to support safety functions that can trigger a Protective stop—see "Safety-related functions and interfaces" on page 97.
Page 238 17. Electrical interfaces Pin no. Description Signal name: Test output Type: Output Standard function: 24 V output. Signal name: Safeguarded stop 1 Type: Input Standard function: When inactive, the robot enters Protective stop. If pins 3 and 4 are unequally set for more than three seconds, the robot must be restarted.
Page 239 17. Electrical interfaces Pin no. Description Signal name: System E-stop out 1 Type: Output Standard function: Inactive when the robot is in Emergency stop. Signal name: System E-stop out 2 Type: Output Standard function: Inactive when the robot is in Emergency stop. Signal name: System E-stop in 1 Type: Input Standard function: When inactive, the robot enters Emergency stop.
Page 240 Pin no. Description Signal name: Shelf mode Type: Input Standard function: When active, the robot checks for shelf legs if pin 11 is also active. Is only intended to be used with MiR Shelf Lift Unassigned. Unassigned. Signal name: Safe RTN Type: Ground Standard function: Safe return.
Page 241 17. Electrical interfaces If you choose to use the WiFi antenna interface, you must disconnect one of the two antennas already installed in the robot, and connect the antenna cable from the WiFi interface to the robot computer instead. To swap which antenna is connected to the robot computer, follow these steps: Open the front compartment—see "...
Page 242: Connector List
17. Electrical interfaces Disconnect one of the connected antenna cables from the robot computer and connect the other antenna cable in its place. Use an 8 mm wrench to loosen and tighten the connectors. Close the front compartment. 17.3 Connector list Table 17.6 describes the connectors for the different interfaces that we recommend using.
Page 243 17. Electrical interfaces Connector name Connector type Phoenix Contact Dimensions Auxiliary M17 8p ST-08P1N8A8K03S Figure 17.10. emergency stop Auxiliary safety M17 17p ST-17P1N8A8K03S Figure 17.10. functions WiFi antenna RP-SMA Figure 17.9 Connector dimensions for Power connector. Figure 17.10 Connector dimensions for GPIO, Auxiliary emergency stop, and Auxiliary safety functions connectors.
Page 244: Disposal Of The Robot
According to the European directive 2012/19/EU, Article 2, paragraph 4) d) and 4) e) (WEEE directive), MiR’s robots are not in scope of the directive. The robot is therefore not classified as WEEE and can be disposed of in accordance with the applicable local regulations.
Page 245: Error Handling
19. Error handling 19. Error handling The robot enters an error state when it can't solve a problem on its own. Errors include: • Hardware faults • Failed localization • Failure to reach destination • Unexpected events in the system An error triggers a Protective stop.
Page 246: Hardware Errors
"Creating and configuring maps" on page 133 To clear an error, select the red warning indicator in the interface, and select Reset. For more details on setting up missions and error handling, see MiR Robot Interface Guide on the MiR website. 19.2 Hardware errors If the error is a fault in the hardware, either you will not be able to clear it, or the error will return until the fault is fixed.
Page 247 • For further troubleshooting, see the MiR troubleshooting guides and the document Error codes and solutions. You can find this guide on the MiR Support Portal. MiR1350 User Guide (en) 01/2023 - v.1.3 ©Copyright 2021-2023: Mobile Industrial Robots A/S.
Page 248: Glossary
MiR1350; and ensuring the safety of nearby personnel when a MiR robot is accelerating, braking, and maneuvering.
Page 249 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 250 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 251 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. It is accessed by connecting to the same network as the robot and entering the robot's IP address in a browser.
Page 252 REST API REST API is used by MiR Fleet and MiR robots to communicate status data and orders. Robot group Robot groups are used to organize your robots into various groups. You can link a mission group to a robot group so only a certain group of robots can execute a certain group of missions.
Page 253 20. Glossary 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.

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