MIR 200 User Manual

Page 1

User guide (en)

Date: 09/2019 Revision: v.1.4

Page 2

All rights reserved. No parts of this manual may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, express or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice. Every precaution has been taken in the preparation of this manual. Nevertheless, MiR assumes no responsibility for errors or omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S Emil Neckelmanns Vej 15F DK-5220 Odense SØ

www.mir-robots.com

Phone: +45 20 377 577 Email: [email protected]

CVR: 35251235

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 2

Page 3

Table of contents

1. About this document 5

1.1. Where to find more information 5

1.2. Document history 6

2. Safety 7

2.1. Safety message types 7

2.2. General safety precautions 8

2.3. Intended use 10

2.4. Foreseeable misuse 10

2.5. Risk assessment 11

2.6. Residual risks 12

2.7. Safety-related functions and interfaces 12

2.8. Limiting safety-related functions 12

2.9. Lithium battery 14

3. Getting started 15

3.1. In the box 15

3.2. Unpacking MiR200 16

4. Commissioning 18

4.1. Powering up 18

4.2. Connecting to the robot interface 23

4.3. Driving the robot in manual mode 24

4.4. Checking the hardware status 26

4.5. Charging the robot 26

4.6. Shutting down the robot 29

5. Product presentation 30

5.1. Main features of MiR200 30

5.2. Identification label 32

5.3. MiR200 external parts 32

5.4. MiR200 internal parts 34

Page 4

5.5. Sensor system 35

5.6. Light indicators 42

6. Maintenance 43

6.1. Regular weekly checks and maintenance tasks 43

6.2. Regular checks and replacements 44

6.3. Packing for transportation 47

7. Applications 49

7.1. Mounting a top module 49

8. Payload specifications 51

9. Interface specifications 58

9.1. Application interface 58

9.2. Emergency stop 58

10. Updating MiR200 software 60

Page 5

1. About this document

This document contains the following information:

• How to start up and operate MiR200.

• Product presentation.

• Typical applications.

• Guidelines for proper maintenance of the robot.

1.1. Where to find more information

At www.mir-robots.com, several additional resources are available. To access more information, sign in to the Distributor site with your distributor account at

http://www.mobile-industrial-robots.com/en/account/. The following relevant resources are

available:

• Distributor site > Manuals

http://www.mobile-industrial-robots.com/en/account/manuals/

This page contains the following resources:

- MiR200 Quick start

The short guide that lets you start operating the robot quickly. This document is in the box with the robot in the printed format. Available in multiple languages.

- MiRCharge 24V Operating guide

The operating guide that describes how to set up MiRCharge 24V and configure MiR200 for automatic battery charging at the charging station.

- MiR Robot Reference guide

The reference that describes the elements of the robot interface. Available in multiple languages.

- MiR200 REST API reference.

The REST API reference for MiR100/MiR200the robot.

• Distributor site > Download

http://www.mobile-industrial-robots.com/en/account/download/

This page contains the following resources:

- CAD drawings.

Select Show CAD-files to see the list of available CAD drawings.

- Certificates.

Select Show Certificates to see the list of certificates for the robot.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 5

Page 6

1. About this document

• Distributor site > How to

http://www.mobile-industrial-robots.com/en/account/how-to/

This page contains how-to articles that describe how to perform specific tasks with MiR products.

• Distributor site > Troubleshooting

This page contains troubleshooting guides to solve common issues with MiR products.

• MiR200 product page

http://www.mobile-industrial-robots.com/en/products/mir200/

This page contains specifications, pictures, and brochures for MiR200.

• Universal Robots:

http://www.universal-robots.com/support

1.2. Document history

This table shows latest and previous versions of this document and their interrelations with product software releases.

Revision

Release

date

1.0 2017-1124

1.1 2018-0817

1.2 2018-1128

1.3 2019-0626

1.4 2019-0820

Description SW HW

First edition. 2.0 1.0

Updated for hardware release 1.2

2.2.0 and

1.2

higher

Updates and improvements throughout manual

Updated for hardware release 2.0

2.3.0 and

2.0

higher

Updates and improvements throughout manual

Updated for hardware release 3.0

2.6.0 and

3.0

higher

Updates and improvements throughout the manual

Updated for hardware release 5.0

2.7.6 and

5.0

higher

Updates and improvements throughout the manual

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 6

Page 7

2. Safety

Read the information in this section before powering up and operating MiR200.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR200 or its accessories are damaged, changed or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR200, accessories or any other equipment due to programming errors or malfunctioning of MiR200.

2.1. Safety message types

2. Safety

This document uses the following safety message types.

WARNING

Indicates a potentially hazardous situation that could result in death or serious injury.

• Take proper precautions to avoid damage or injury.

CAUTION

Indicates a potentially hazardous situation that could result in minor or moderate injury. Alerts against unsafe practices.

• Take proper precautions to avoid damage or injury.

NOTICE

Indicates important information, including situations that can result in damage to equipment or property.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 7

Page 8

2.2. General safety precautions

This section contains general safety precautions.

WARNING

If the load on the robot is not positioned or fastened correctly, the load may fall or the robot may overturn.

• Ensure that the load is positioned according to the specifications and

fastened correctly. Refer to Payload specifications on page51

WARNING

Using a charger different from the one supplied by the manufacturer can cause a fire.

2. Safety

• Use only the original charger.

WARNING

Make sure the UR Robot Arm is properly and securely bolted in place. Unstable mounting can lead to accidents.

CAUTION

The robot can not see staircases going downwards and holes in the floor.

• Mark staircases or holes on maps with Forbidden zones.

• Keep the maps up to date.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 8

Page 9

2. Safety

CAUTION

Removing the top cover from the robot exposes parts connected to the power supply.

• Turn off the main power relay to avoid a short circuit. To see the location of

the power relay, refer to Product presentation on page30

CAUTION

Use Flight Mode with smartphone control of the robot. Risk of personal injury and/or damage to the robot.

• If you use Manual control with a smartphone to drive the robot, make sure

that the phone is set to Flight Mode. An incoming call on the smartphone will interrupt control of the robot.

WARNING

Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically.

Observe the following precautions when handling and using lithium batteries:

• Do not short-circuit, recharge or connect with false polarity.

• Do not expose to temperature beyond the specified temperature range or

incinerate the battery.

• Do not crush, puncture or disassemble the battery. The battery contains

safety and protection devices, which, if damaged, may cause the battery to generate heat, explode or ignite.

• Do not allow the battery to get wet.

• In the event the battery leaks and the fluid gets into one’s eye, do not rub

the eye. Rinse well with water and immediately seek medical care. If left untreated, the battery fluid could cause damage to the eye.

• Use only the original charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 9

Page 10

2. Safety

2.3. Intended use

MiR200 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 the robot should operate, see Technical specifications on our website.

MiR200 is intended to be commissioned according to Commissioning on page18 and prepared to the environment according to the guidelines. This is a prerequisite for safe usage of MiR200.

MiR200 is designed and all risks are considered when used with one of the following types of top applications:

• MiRHook 200 to tow trailers.

• A custom designed top application (including payload) designed to fulfill the following

requirements:

- Must not increase the footprint of MiR200 and be within the requirements in Payload

specifications

- Must not have any moving parts

MiR200 can be used as a partly complete machine as defined in the EU machinery directive, with top applications that do not meet above limitations. Those who design, manufacture or commission a system that does not meet the limitations of use of MiR200, carry the obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100. Guidelines outlined in this manual are not sufficient. Examples of top applications, which are not intended use of MiR200, but not limited to, are:

• Shelf on supporting legs (with or without wheels)

• Top applications (including payload) which increase the footprint of MiR200

• Conveyers (power and non-powered)

• Industrial robot arm

• Customized load transfer station

2.4. Foreseeable misuse

Any use or application deviating from the intended use is deemed to be misuse. This includes, but is not limited to:

• Use of the robot to transport people.

Risk of injury.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 10

Page 11

2. Safety

• Steep ramps on the route.

Risk of injury. Steep surface grades (ramps etc.) may cause the robot to skid. See Technical specifications on the website.

• Use outdoor.

Risk of injury. MiR200 is designed and intended for indoor use only.

• Overloading of the robot.

Risk of injury. If the maximum payload on top of the robot is exceeded, it may cause overturning, falling load. See Technical specifications on the website.

• Failure to follow the guidelines for commissioning

See Commissioning on page18.

• Failure to make a risk assessment of the full installation

See Risk assessment below. This applies to the robot with any extra modules installed.

• Operation outside the permissible operating rating parameters and environmental

specifications

Risk of instability, impact or tipping over.

• Transportation of liquids or food

Risk of instability.

• Use in potentially explosive environments

• Use in medical and life critical applications

2.5. Risk assessment

One of the most important steps in achieving a safe installation is to make a risk assessment. The risk assessment is the responsibility of the individuals who are commissioning MiR200 in the environment it will be used in. Most often it will be an integrator who also designs and/or builds work cells or other required infrastructure related to MiR200.

The risk assessment must cover not only MiR200 itself, but also take into account potential potential load transfer stations, work cells and the environment it will be used in. See MiR100 and MiR200 Risk Analysis on the distributor page.

It is recommended that the integrator uses guidelines in ISO 12100, EN 1525, ANSI B56.5 or other relevant standards to conduct the risk assessment.

The risk assessment shall at least consider the following scenarios:

• Detailed description of the robot installation.

• Normal operation of the robot installation.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 11

Page 12

2. Safety

In EN 1525, clause 4 there is a list of significant hazards, hazardous situations and events which can be used for inspiration.

The risk assessment shall be written and saved as part of the technical file.

2.6. Residual risks

Mobile Industrial Robots has identified the potential significant hazards listed below as hazards that must be considered by the integrator.

• Being run over, drawing-in, trapping or impact if a person steps into the route or walks

towards MiR200 while driving in reverse. The MiR200 will only drive in reverse when parking or picking up a cart or undocking from a marker such as the MiRCharge 24V.

• Crushing or trapping if user touches MiR200. Please notice the warnings on MiR200.

• Crushing, drawing-in or trapping at load transfer stations, work cells or charging stations.

NOTICE

Other significant hazards will be present in a specific robot installation and shall be identified during Commissioning.

2.7. Safety-related functions and interfaces

MiR200 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 and/or top manipulator. Each safety function and interface is designed according to the standard ISO 13849-1.

The safety-related functions and interfaces are selected to support compliance with EN

1525.

2.8. Limiting safety-related functions

MiR200 has several built-in safety-related functions that are used to ensure safe operation in the environment it is designed to be used in.

Advanced control software ensures that locomotion and the drive pattern are within safety related limits and thereby avoid triggering a safety function. Violations of limits will hence only occur in exceptional cases. Nevertheless, if a limit is violated, the safety system issues a category 0 stop (stopping by “immediate removal of power to the machine actuators according to IEC 60204-1”) followed by a controlled brake which brings MiR200 to a stop.

See Technical specifications on our website for more details.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 12

Page 13

2. Safety

Collision avoidance

The collision avoidance safety function ensures that the robot will come to a stop before it collides with a human or object.

The function measures the speed on the two driving wheels and switches between the predefined protective fields accordingly. The faster the speed, the larger the protective fields will be.

This ensures that the robot will be brought to a stop in case a human or object is detected within the active protective field.

Collision avoidance is automatically deactivated two seconds after the protective field is free.

Overspeed avoidance

The safety system monitors if the speed of each motor is above limits for maximum rated speed and hence an indication of speed control is lost for any reason.

The overspeed avoidance safety function must be manually deactivated by activation of the restart button.

Emergency stop

MiR200 has one emergency stop device.

The emergency stop is only intended to be used in case of an emergency and shall not be used for operational stop.

Emergency stop must be manually deactivated by activation of the restart button.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 13

Page 14

2.9. Lithium battery

This section contains safety precautions related to lithium batteries in MiR robots.

WARNING

Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused electrically or mechanically.

Observe the following precautions when handling and using lithium batteries:

• Do not short-circuit, recharge or connect with false polarity.

• Do not expose to temperature beyond the specified temperature range or

incinerate the battery.

• Do not crush, puncture or disassemble the battery. The battery contains

safety and protection devices, which, if damaged, may cause the battery to generate heat, explode or ignite.

2. Safety

• Do not allow the battery to get wet.

• In the event the battery leaks and the fluid gets into one’s eye, do not rub

the eye. Rinse well with water and immediately seek medical care. If left untreated, the battery fluid could cause damage to the eye.

• Use only the original charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 14

Page 15

3. Getting started

This section describes how to get started with MiR200.

3.1. In the box

This section describes the content of the MiR200 box.

3. Getting started

The box contains:

1. The MiR200 robot

2. MiR200 Kit

• Emergency stop box, external antenna and 4 pcs. M10x40 bolts

• One charging cable

• One external charger, 24VDC, 10A

3. MiR200 document folder containing the printed documents and the USB flash drive.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 15

Page 16

4. Printed documents:

• MiR200 Quick Start

• MiR username and passwords

• CE declaration of conformity

5. USB flash drive with the following content:

• MiR200 User Guide

• MiR Robot Interface 2.0 Reference guide

• MiR robot REST API reference

• MiR username and passwords

• CE declaration of conformity

3.2. Unpacking MiR200

This section describes how to unpack MiR200.

3. Getting started

Keep the original packaging for the future transportation of the robot.

1. Remove pallet lid and take out the box with the MiR200 kit. Keep the original packaging

for future transportation of the robot.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 16

Page 17

2. Remove the top foam, foam blocks on the sides and the pallet frames.

3. Place the pallet cover as a ramp at the robot's rear end.

3. Getting started

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 17

Page 18

4. Commissioning

This section describes how to get started with MiR200.

NOTICE

Read the Safety chapter before powering up the robot.

4.1. Powering up

Follow these steps to power up MiR200.

1. Grab the two rounded corners and carefully lift off the cover.

4. Commissioning

2. Connect one of the two battery cables to the plug on top of the battery box. The second

cable is for an extra battery.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 18

Page 19

4. Commissioning

3. Switch on the three relays placed in the corner by the front laser scanner. Start with 32A

main power, i.e. from the outer frame in.

4. Ensure that the battery disconnect switch is on (the two yellow indicators pointing to On).

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 19

Page 20

4. Commissioning

5. Connect the two ESD cables attached to the robot frame, next to the loudspeaker, and

inside the cover.

6. Put the cover back on making sure to fit it correctly over the connector openings.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 20

Page 21

7. Mount and connect the emergency stop box on top of the robot cover.

4. Commissioning

If a top module is going to be mounted on top of the robot, the emergency stop must be placed in a position where it is easy to reach. See Mounting a

top module on page49.

8. Connect the antenna to the connector on top of the robot cover. Remove the plastic cap

from the connector before fixing the antenna.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 21

Page 22

4. Commissioning

The antenna can be lowered and rotated in all directions to fit under a top module.

9. Push the blue power button in the corner to turn on the robot. The robot lights up with a

yellow running light for a short moment, then enters emergency stop mode indicated by a constant red light.

10. Press the reset button on the emergency stop when it has lit up. The robot light now

switches to yellow constant light, indicating that the robot is paused and ready to operate.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 22

Page 23

4. Commissioning

4.2. Connecting to the robot interface

When the robot is on, it enables the connection to its WiFi access point. The name of the access point appears in the list of available connections on your pc, tablet or phone.

NOTICE

The username and password for the robot’s WiFi access point and for accessing the web interface are in the MiR username and passwords document. The document is in the box with the robot.

Follow these steps to connect to the robot interface:

1. Using your pc, tablet or phone, connect the WiFi access point of the robot. The access

point name has the following format: MiR_SXXXX.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 23

Page 24

2. In a browser, go to the address mir.com and sign in.

4. Commissioning

The robot is now ready to move down the ramp. To do this switch to manual mode and use the electronic joystick in the robot interface. See next section Driving the robot in manual mode below.

4.3. Driving the robot in manual mode

To drive the robot in Manual mode:

1. In the robot interface, select the joystick icon. Then press Manual control and the joy-

stick control opens.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 24

Page 25

4. Commissioning

2. The status light on the robot turns blue indicating that the robot is in Manual mode.

3. Drive the robot using the joystick.

We recommend to reverse the robot down the ramp.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 25

Page 26

4. Commissioning

4.4. Checking the hardware status

To check that all hardware components work as intended:

Go to Monitoring > Hardware health.

Check that all elements on the page have the OK status and that they have green dots on the left.

For more information, see Hardware health in MiR Robot Interface 2.0 Reference Guide.

4.5. Charging the robot

The robot arrives with a charged battery and can drive for up to three hours before recharging is required. Follow these steps to charge the robot using the enclosed charging cable:

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 26

Page 27

4. Commissioning

1. Remove the rear corner by pulling it towards you. You may have to apply a bit of force

the first couple of times.

To avoid fast discharging and a depletion of the battery, we recommend that you turn off the robot while charging with a cable.

If charging two robots right after each other with a cable, wait approximately one minute between unplugging the first robot and plugging in the second. This will ensure that the charger registers that a new robot is being charged.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 27

Page 28

4. Commissioning

2. Attach the charger to the robot’s charging socket and to a power outlet. Turn on the

rocker switch on the robot to begin charging.

Use only the original charging cable.

3. After a maximum of four and a half hours, the robot is fully charged.

4. Turn off the rocker switch and disconnect the charging cable from the robot. Slide the

corner cover back on.

The robot detects both cable and activated charging-button and will go into emergency stop in both cases.

For information about the charging time, see the robot specifications at www.mir-

robots.com.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 28

Page 29

4.6. Shutting down the robot

To shut down MiR200:

1. Ensure that the robot is not moving or executing an action.

2. Press the On/Off button.

4. Commissioning

3. The robot starts the shutdown process. During shutdown, status lights show yellow fading

light.

4. You'll know that the shutdown process is finished when the status lights are off.

If you're shutting the robot down for transportation or service/repair, the battery disconnect switch must be turned off as well and the battery cable disconnected.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 29

Page 30

5. Product presentation

MiR200 is an autonomous mobile robot that can transport loads up to 200 kg and pallets indoors within production facilities, warehouses, and other industrial locations.

Users operate MiR200 via a web-based user interface, which is accessed via a browser on a PC, smartphone or tablet. Each robot has its own network. See Connecting to the robot

interface on page23. The robot can be set up to run a fixed route, be called on demand or

perform more complex operations (missions).

The robot performs localization and navigation via a map which can be created or imported the first time the robot is used. The internal map contains defined locations (office, product delivery, production hall etc.) that are used for logistical planning. While operating, the safety laser scanners ensure that the robot avoids dynamic obstacles (people, furniture) that are not mapped.

With a MiRCharge 24V, the robot handles moving to a charging station automatically. All it takes is the definition of a charging mission and a charging position on the map.

5.1. Main features of MiR200

The main features of the MiR200 are:

• Driving in a populated workspace

The robot is designed to operate among people and maneuvers safely and efficiently in even highly dynamic environments.

• Overall route planning and local adjustments

The robot autonomously navigates to find the most efficient path to its destinations. The robot adjusts the path when it encounters obstacles which are not on the map (like people and objects).

• Efficient transportation of heavy loads

The robot is designed to automate transportation of loads up to 200 kg across industries, allowing employees to focus on higher value activities.

• Sound and light signals

The robot continuously signals with light and sounds indicating its current mode, for example waiting for job, driving to destination, destination reached or alert mode.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 30

Page 31

5. Product presentation

• User friendly and flexible

The web-based user interface, accessed from a PC, tablet or smartphone, gives easy access to operation and monitoring of the robot and can be programmed without any prior experience. Different user group levels and tailored dashboards can be set up to suit the different users.

• Alert for ‘lost’

If the robot enters a situation where it is unable to find a path to its destination, it stops, turns on the yellow-purple running error light and a customer defined ‘catch’ action may be used to alert people or take other actions.

• Automatic deceleration for objects

The built-in sensors ensure that the robot is slowed down when obstacles are detected in front of it.

• Optimal surface operations

The robot is made to run on a level, dry floor and 3D cameras detect and avoid objects.

• Internal map

The robot can either use a floor plan from a CAD system or a map can be created by manual navigation around the entire site in which the robot is going to operate. When mapping, the robot’s sensors detect walls, doors, furniture and then creates a map based on this input. After creation of the map, positions and other features can be added in the map editor.

Add-ons

The following add-ons are available for the MiR200:

• MiRHook 200

A hook may be mounted on MiR200 enabling it to automate the internal transport of carts.

To read more about the add-ons, go to www.mir-robots.com.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 31

Page 32

5. Product presentation

5.2. Identification label

The identification label of MiR200 is placed on the back of the battery box.

CE Mobile Industrial Robots A/S declares that MiR200 meets the

requirements of the applicable EC directives.

Serial number

MiR200 3.0 Product name and hardware version.

Example of MiR200 CE marking and identification label.

The 15-digit serial number is a unique identifier of the robot. The last four digits form part of the original name of the robot, e.g. MiR R635.

5.3. MiR200 external parts

This section presents the parts of MiR200 that are visible on the outside.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 32

Page 33

5. Product presentation

1. Top cover 11. Behind removable rear corner cover: Charging port with switch

2. Caster wheel - all four corner

wheels

12. Ultrasound sensors for detection of transparent objects (rear)

3. Drive wheel - differential control 13. Rear cover

4. Behind removable corner cover:

14. Rear laser scanner

HDMI port and USB “service port”

- connects to the robot’s PC

5. Scanner reset button (yellow) and on/off button (blue)

6. Ultrasound sensors for detection

15. Mooring hole - one in each corner for fixation of top modules

16. RJ45 Ethernet connection

of transparent objects (side)

7. 3D depth cameras 17. Application interface - for connection to hardware such as hook - see Interface specifications

on page58

8. Pad connectors - for connection to

18. Antenna socket charging poles on MiRCharge 24V charging station

9. Front laser scanner 19. USB port “service port” - connects to the robot's PC

10. Side cover 20. Emergency stop interface with added options for connection to small units and I5 input on SICK scanners - see Interface

specifications on page58

MiR200 external parts

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 33

Page 34

5.4. MiR200 internal parts

This section presents the parts of MiR200 that are visible on the inside.

5. Product presentation

1. Breaker - automatic fuse between battery and components

2. Robot power off relay - releases the latching relay (pos. 16) when the robot is shutting down.

3. Motorcontroller - manages the two motor drives

4. Brake relay - short circuits motor windings for faster braking

10. SICK safety PLC

11. Optocoupler - emergency stop signal to motorcontroller

12. Loudspeaker

13. MiR board - interface board for gyroscope, accelerometer, ultrasound, light, on/off circuit and CAN bus communication

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 34

Page 35

5. Product presentation

5. Battery connector for extra battery

6. Safe torque off relay (controlled by SICK)

7. CAN bus connection for Battery Management System, logging data e.g. no of charge cycles. See

MiR Robot Interface 2.0 Reference guide.

8. Router - local network, 2.4 and 5 GHz

9. Battery with connector - main power to the robot

MiR200 internal parts

5.5. Sensor system

14. 24 V power supply - secures stable voltage for PC and PLC

15. Latching relay - activates the 24V power supply turning on the robot

16. Transient protection - provides circuit protection for the power supplies by absorbing voltage spikes from battery or top mounted applications

17. DFI Computer

Collaboration between the robot’s internal and external sensors ensures that the robot can navigate in the environment and most importantly secures that it can operate safely among people and objects, like furniture, machines, pallets etc.

This section describes the functionality of the different parts of the sensor system.

Safety laser scanners

The safety laser scanners on MiR200 are of the type SICK S300. In this guide, the term safety laser scanner is used.

Scanner functions

Two safety laser scanners, diagonally placed on front and rear corners of the robot, scan their surroundings. Each safety laser scanner has a 360° field of view up to 1 meter around the robot, providing visual protection around the robot.

The safety laser scanners serve three purposes:

• They are used for mapping, see also MiR Robot Interface 2.0 Reference Guide.

• They are used to localize the robot in the environment and plan routes between points.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 35

Page 36

5. Product presentation

• They continuously scan the surroundings when the robot operates, thereby avoiding col-

lision with objects and people.

The safety laser scanners detect objects in a plane approximately 200 mm above ground. Objects above or below are not detected by the safety laser scanners.

When in motion, the safety laser scanners continuously scan the surroundings using a distance of up to 2.5 m.

When mapping, the safety laser scanner’s view is reduced to 20 m to support that maps will get the highest possible quality.

The safety laser scanners see up to 20 m when mapping an area.

Signals from safety laser scanners are combined with input from 3D cameras and proximity sensors and used to evaluate if an object or person is in the path of travel. In that case, the robot gradually slows down while trying to avoid the obstacle. If unable to make its way around the obstacle, the robot stops and waits for clearance.

Protective field sets

The protective field sets are part of the robot’s personnel detection means. The protective field sets consist of individually configured contours around the robot. MiR200 activates the correct field set based on the speed. If a person or object within the area active protective field set, the robot will do a protective stop and remain stopped until the protective field set is free.

The following tables show the sizes of the protective fields sets at given speeds. The faster the robot moves, the larger the scanners' field set.

The protective field sets differ for forwards and backwards driving.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 36

Page 37

5. Product presentation

Field sets for forwards driving direction

The following table shows speeds and field sets in forwards driving direction. The table describes the length of the field set in front of the robot in different cases. Each case is defined by a speed interval that the robot may operate at. The colors and cases in the table correspond to the field set shown in the illustration below.

Case Speed Field set in front of robot Comments

1 -1.40 to 0.20 m/s 20 mm Reversing and slowly forwards

2 0.21 to 0.40 n/s 120 mm

3 0.41 to 0.80 m/s 290 mm

4 0.81 to 1.10 m/s 430 mm

5 1.11 to 2.00 m/s 720 mm Forwards at max. speed

The illustration shows the field set contours in forwards driving direction. The reach of the field set changes with the robot's speed. In Case 1 the field set reaches 20 mm ahead, in Case 2 it reaches 120 mm ahead etc.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 37

Page 38

5. Product presentation

Field sets for backwards driving direction

This table shows speeds and field sets in backwards driving direction. The colors correspond to the field set shown in the illustration below.

Case Speed Field set Comments

1 -1.14 to 1.80 m/s 30 mm Reversing and slowly backwards

2 -0.20 to 0.15 m/s 120 mm

3 0.40 to 0.21 m/s 290 mm

4 -1.50 to 0.41 m/s 430 mm Backwards at max. speed

The illustration shows the field set contours in backwards driving direction. The reach of the field set changes with the robot's speed. The illustration also shows how the front scanner reduces its protective field sets to a minimum when the robot moves backwards.

NOTICE

Protective field tolerances

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 100 mm.

MiR200 User guide (en) 09/2019 - v.1.4 ©Co pyright 2019: Mobile Industrial Robo ts A/S. 38

Page 39

5. Product presentation

CAUTION

The protective field sets are configured to comply with the safety standards of MiR200.

If they are changed, Mobile Industrial Robots takes no responsibility for any safety related incidents, and the warranty becomes void.

3D cameras

Two 3D depth cameras positioned on the front of the robot detect objects in front of the robot while the robot’s local planner continuously adjusts its planned routes around such objects.

The 3D cameras detect objects:

• Vertically up to 1800 mm at a distance of 1950 mm in front of the robot.

• Horizontally 180 mm to the first view of ground.

The 3D cameras do not detect objects within 50 mm of the lenses.

The space from the floor and vertically up to 50 mm is ignored. This space increases by 10 mm for every one meter horizontally.

The camera readouts are used as 3D point cloud data. They are not recording recognizable objects or people.

The following illustrations show the field of view of the cameras.

Page 40

5. Product presentation

The two 3D cameras can see objects up to 1800 mm above floor height.

Page 41

5. Product presentation

The two 3D cameras have a horizontal field of view of 118°.

Ultrasound sensors

Four ultrasound sensors are placed on the robot: two at the front and two at the rear of the robot. The ultrasound sensors are used to detect transparent objects.

Internal sensors

The internal sensor system of the robot consists of the following components:

• Gyroscope (IMU)

Measures the orientation and angular velocity of the robot.

• Motor encoder

Provides closed loop feedback signals by tracking the speed and/or position of the motor shaft.

• Accelerometer

Measures non-gravitational acceleration.

Page 42

5. Product presentation

• Wheel encoders

Detect wheel movements.

5.6. Light indicators

The robot uses light indicators to let people in the environment know what the robot is currently doing.

Status lights

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

Status lights show the current operational state on MiR200

Page 43

6. Maintenance

The following maintenance schedules give an overview of regular cleaning and parts replacement procedures.

The stated intervals are indicative and depend on the operating environment and frequency of usage of the robot.

NOTICE

Only use approved spare parts. Mobile Industrial Robots disclaims any and all liability if unapproved spare parts are used. Mobile Industrial Robots can not be held responsible for any damages caused to the robot, accessories or any other equipment due to use of unapproved spare parts.

6.1. Regular weekly checks and maintenance tasks

Once a week, carry out the following maintenance tasks:

Parts Maintenance tasks

Robot cover and sides

Clean the robot on the outside with a damp cloth.

Do not use compressed air.

Page 44

6. Maintenance

Parts Maintenance tasks

Laser scanners Clean the optics covers of the scanners for optimum performance.

Avoid aggressive or abrasive cleaning agents.

Clean the laser scanners using a damp cloth, or for better maintenance see the notice below. Also do this before contacting your local technical support with any of the issues mentioned below. We recommend cleaning the laser scanners daily to increase the chance of avoiding these issues.

Possible problems from not cleaning the laser scanners:

• The robot fails to detect markers / pallet racks

• The robot goes into emergency stop without obvious reason

NOTICE

Static charges cause dust particles to be attracted to the optics cover. You can diminish this effect by using the anti-static plastic cleaner (SICK part no. 5600006) and the SICK lens cloth (part no. 4003353). See the manufacturer’s own documentation.

Caster wheels (the four corner wheels)

Drive wheels (the two middle wheels)

Remove dirt with a damp cloth, and make sure nothing is entangled in the wheels.

LED light band Check if the LED light band is intact. Ensure that the light shows all

the way around the robot.

6.2. Regular checks and replacements

Before starting replacement tasks that involve removal of the top cover:

• Press the On/Off button to turn off the robot

• Push the battery switch button to remove power from the battery

• Turn off relays and unplug the battery

Page 45

6. Maintenance

The following table contains the parts that you should check and the intervals when you should do that:

Part Maintenance Interval

Robot cover Check for cracks.

Check mounting. Does it sit evenly on top of the robot with connections accessible.

Caster wheels

Check bearings and tighten. Check weekly and replace once a (the four corner wheels)

Drive wheels (the

Check wheel surfaces for wear. Check every six months and two middlewheels)

Check monthly and replace as needed.

year.

replace as needed.

NOTICE

You must calibrate the robot after replacing the wheels. To do this, access the robot's user interface and navigate to System > Robot setup. Further instructions are provided here.

Page 46

Part Maintenance Interval

6. Maintenance

Scanners Check for visual defects, e.g.

cracks and scratches.

Emergency stop To check that the emergency stop

buttons work, push down the red

button and check that the emer-

gency reset button lights up.

Replace as needed.

NOTICE

You must calibrate the robot after replacing the scanners. To do this, access the robot's user interface and navigate to System > Robot setup. Further instructions are provided here.

Every three to four months / according to EN/ISO 13850 Safety of machinery - Emergency stop function.

3D cameras Check for visual defects, e.g.

cracks and scratches.

Manual brake release

Check if the brakes can be deac-

tivated. Activate the brakes and

push the robot gently forward.

Remember to deactivate the brake

after testing.

Internal cabling Check if all network/USB cables

are plugged in properly.

Safety marking on the floor

Check if the safety markings made

with e.g. tape around cart pick-up

and drop-off points are intact and

visible.

Safety stickers Check if the safety stickers on the

robot are still intact and visible.

Check monthly and replace as needed.

Check every six months and replace as needed.

Page 47

6.3. Packing for transportation

This section describes how to pack the robot for transportation.

Original packaging

Use the original packaging materials when transporting the robot.

6. Maintenance

The packaging materials are:

• The bottom of the box (the pallet).

• The lid of the box (the ramp).

• The walls of the box.

• Protective foam blocks: Side blocks and the top layer.

• Screws.

Packing the robot for transportation

To pack the robot for transportation:

1. Shut down the robot. See section .

2. Turn the battery disconnect switch to position OFF (the two yellow indicators pointing to

off).

Repeat the steps in section Getting started on page15 in the reverse order.

Page 48

6. Maintenance

NOTICE

Pack and transport the robot in an upright position. Packing and transporting the robot in any other position voids the warranty.

Battery

The lithium battery is subject to transport regulations. Make sure that you follow the safety precautions in this section and the instructions in section Packing for transportation on the

previous page. Different regulations apply depending on the mode of transportation: land,

sea, or air.

Contact your distributor for more information.

CAUTION

Lithium batteries are subject to special transportation regulations according to United Nations Regulation of Dangerous Goods, UN 3171. Special transport documentation is required to comply with these regulations. This may influence both transport time and costs.

Page 49

7. Applications

You can install top modules on top of MiR200 for specific applications. For more information about top modules, go to the following page:

http://www.mobile-industrial-robots.com/en/mir-tradeforum/

For instructions on how to mount top modules and accessories, refer to the application manuals at www.mir-robots.com or contact your distributor.

7.1. Mounting a top module

Top modules must be fastened using the self-tightening conically shaped mooring holes in each corner of the robot and should be mounted with a tightening torque of 47 Nm.

Top modules are fastened through the mooring holes in the top cover.

CAUTION

Certain top modules may require the installation of an extra emergency stop button. Perform risk assessment according to standard ISO 12100.

Page 50

7. Applications

CAUTION

Certain top modules may lead to new hazards and/or increased risks which cannot be eliminated or reduced by the risk reduction measures applied by Mobile Industrial Robots. Perform risk assessment according to standard ISO

12100.

CAUTION

Stay within the specifications for weight and the payload’s center of gravity, see Payload specifications on page51.

Page 51

8. Payload specifications

The following drawings illustrate the center of mass (CoM) specifications for safe operation at different payloads.

Payload: 50 kg

Page 52

Payload: 75 kg

8. Payload specifications

Page 53

Payload: 100 kg

8. Payload specifications

Page 54

Payload: 125 kg

8. Payload specifications

Page 55

Payload: 150 kg

8. Payload specifications

Page 56

Payload: 175 kg

8. Payload specifications

Page 57

Payload: 200 kg

8. Payload specifications

Page 58

9. Interface specifications

9.1. Application interface

9. Interface specifications

Pin number Voltage Max. current Description

1 Battery voltage (24 V) 3A Starts with the robot.

2 Battery voltage (24 V) 3A Starts with the robot.

3 Battery voltage (24 V) 10A Stops by emergency stop.

4 GND 10A Ground.

Application interface

9.2. Emergency stop

Page 59

9. Interface specifications

number

Signal name Description

1 DIN 19

2 DIN 14

3 DIN 70

4 Emergency stop,

1 GN

5 Emergency stop,

GN-WH/RD

6 Reset button,

BWN-WH

7 SICK XTIO, Q3 For SICK scanner

8 I5 For SICK scanner

9 GND To use with the 24V signal from pin 10

10 24V max. 1A Can be used to connect small external unitsusing up to 1

amp. such as tablets and PLC interfaces.

Emergency stop interface

Must use the GND from pin 9.

Page 60

10. Updating MiR200 software

Follow the steps below to update MiR200 software:

1. Go to MiRDistributor site and sign in with your credentials at mirfleet.com.

2. Select Download and select MiR200 in the product drop down menu.

3. Download the latest version of MiR Software Robot /Hook /Fleet 2 version x.x.x.

4. Connect your computer to the WiFi of the robot you would like to update.

5. Access the robot's interface by going to the website mir.com in your preferred web

browser and sign in.

Page 61

10. Updating MiR200 software

6. Navigate to System > Software versions and select Upload software

7. Locate and select the downloaded software package.

8. It may take a few minutes for the package to successfully upload.

NOTICE

When updating MiR200 with an attached MiRHook 200, the Hook software must be updated first to ensure that the robot is compatible with the hook when uploading the software.