User Guide
October 2017 v.1.02017 v.1.2
with MiR Robot Interface 2.0
08/2018 v1.1
en
Copyright and disclaimer
All rights reserved. No parts of this manual may be reproduced in any form without the express written
permission of Mobile Industrial Robots ApS (MiR). MiR makes no warranties, express or implied, in respect
of this document or its contents. In addition, the contents of the document is 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.
Copyright © 2017-2018 by Mobile Industrial Robots
For more material
,
go to our website
Contact the manufacturer:
Mobile Industrial Robots
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: +45 20 377 577
Email: support@mir-robots.com
CVR: 35251235
Table of contents
1 About this manual .............................................................................................................3
1.1 Overview......................................................................................................................3
1.2 Document history ........................................................................................................3
1.3 Where to find more information .................................................................................3
2 Safety.................................................................................................................................4
2.1 Overview......................................................................................................................4
2.2 Safety concept .............................................................................................................4
2.3 General safety instructions..........................................................................................5
2.3 1 Warning notes ..................................................................................................5
2.3 2 Caution notes....................................................................................................6
2.3 3 Notices..............................................................................................................7
2.4 Lithium battery ............................................................................................................7
2.5 Safety circuit ................................................................................................................8
3 Certifications......................................................................................................................9
3.1 Overview......................................................................................................................9
3.2 Certificates...................................................................................................................9
3.3 Applied standards........................................................................................................9
4 Getting started.................................................................................................................11
4.1 In the box...................................................................................................................11
4.2 Unpacking the MiR100™............................................................................................12
4.2 1 Unboxing.........................................................................................................12
4.2 2 Powering up....................................................................................................13
4.3 Getting connected .....................................................................................................16
4.4 Charging the robot.....................................................................................................17
4.5 Testing the robot .......................................................................................................18
4.6 Shutting down the robot ...........................................................................................19
5 Product presentation.......................................................................................................20
5.1 About the MiR100™...................................................................................................20
5.2 Identification label.....................................................................................................20
5.3 MiR100™ Outer parts ................................................................................................21
5.4 MiR100™ Inner parts .................................................................................................22
5.5 Sensor systems ..........................................................................................................23
5.6 Light indicators ..........................................................................................................25
5.7 Main features of the MiR100™..................................................................................25
6 Applications .....................................................................................................................26
6.1 Overview....................................................................................................................26
6.2 Placing the top module..............................................................................................26
7 Technical specifications ...................................................................................................27
7.1 Main specifications....................................................................................................27
7.2 Dimension drawing....................................................................................................29
8 Maintenance....................................................................................................................30
8.1 Overview....................................................................................................................30
8.1 1 Regular checks and maintenance tasks ..........................................................30
8.1 2 Regular checks and replacements ..................................................................31
9 Repacking for transport...................................................................................................32
9.1 Preparations ..............................................................................................................32
9.2 Packing the robot for transportation.........................................................................33
A Payload specifications .......................................................................................................34
B Connectors - pinout...........................................................................................................38
C Certificates ........................................................................................................................40
D Declaration of conformity.................................................................................................42
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1 About this manual
1.1 Overview
This User Guide contains all essential information about how to start up and operate a MiR100™
robot. It also includes necessary information about safe handling of the robot, technical
specifications, troubleshooting and guidelines for proper maintenance of the robot. The User
Guide is intended for Mobile Industrial Robots’ distributors as well as end users responsible for the
daily operation of the MiR100™ robot.
1.2 Document history
This table shows latest and previous versions of this document and their interrelation with product
software releases.
1.3 Where to find more information
Manuals are available on the product pages of the MiR website where you will also find video
tutorials, product pictures and technical specifications.
For example:
• Quick starts - a short getting started manual (also delivered in printed format with the robot)
• MiR Robot Interface Reference guide - describes all features of the MiR Robot interface
Available in various languages
Product pages: www.mobile-industrial-robots.com/en/products.
The Distributor login page, available to all MiR distributors, contains additional information such as
How-to articles, wiring diagrams, CAD drawings and certificates:
• Distributor login page: www.mobile-industrial-robots.com/en/account.
Doc version Release date Description SW rel HW rel
1.0 2017-11-27 First edition 2.0.2 1.0
1.1 2018-08-17 • Updated for Hardware release 2.1
• Updates and improvements throughout manual
2.2.0 and
higher
2.1
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2 Safety
2.1 Overview
This manual contains notices you have to observe to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the
manual by a safety alert symbol. The notices shown below are graded by signal words to indicate
degree of danger.
2.2 Safety concept
Indicates an immanently hazardous situation that will result in death or severe personal injury if proper
precautions are not taken.
Indicates a potentially hazardous situation that could result in death or severe personal injury if proper
precautions are not taken.
Indicates a situation that could result in minor personal injury or damage to the equipment if proper
precautions are not taken.
Indicates a situation that could result in property damage if proper precautions are not taken.
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2.3 General safety instructions
This section contains general safety notes. Some safety notes are repeated or further specified in
other sections of the manual and further safety notes are present throughout the manual.
2.3.1 Warning notes
• Ensure proper mounting of loads during transport
Danger of personal injury from overturning robot or falling load.
All accessories and loads mounted on top of the robot should be fastened correctly and meet specifications.
See on page 30.
• Avoid leakage of fluid during transport
Danger of personal injury from leaking fluid.
Make sure that loads containing fluids do not leak during transport.
• Use only the original charger
Danger of personal injury and/or damage to the robot.
Use of other charger than the one supplied by the manufacturer can ruin the battery and may cause fire.
• Update maps to avoid hazards on the route
Danger of personal injury and/or damage to the robot.
Make sure to update maps to avoid driving in hazardous zones such as close to stairways.
• Do not drive vehicle irresponsibly
Danger of personal injury and/or damage to the robot.
The robot should not be driven over edges or in other ways operated irresponsibly.
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2.3.2 Caution notes
• Do not use the robot to transport people
Risk of personal injury and/or damage to the robot.
The robot should never be used to transport people. This will revoke compliance with the standard EN 1525
Safety for unmanned trucks.
• Avoid gradients above 5% on the route
Risk of personal injury and/or damage to the robot.
The surface grade (ramps etc.) cannot exceed 5% as this may cause the robot to skid.
• Only drive on even and dry surface
Risk of personal injury and/or damage to the robot.
Wet and uneven surfaces may cause the robot to skid.
• Do not overload the robot
Risk of personal injury and/or damage to the robot.
The maximum payload for the load on top of the robot is 100 kg - 220 lbs. If exceeded, it may cause
overturning, falling load and damage to the robot. See also Appendix .
• Do not use robot on board ships
Risk of personal injury and/or damage to the robot.
Unstable surface caused by moving vessel may cause the robot to skid.
• Turn off the main power immediately after removal of the top cover
Risk of personal injury and/or damage to the robot.
Turn off main power relay to avoid short circuit. See Product presentation on page 17
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2.3.3 Notices
2.4 Lithium battery
Lithium batteries are primary power sources with high energy content designed to represent the
highest possible degree of safety.
• Indoor use only
Risk of damage to the robot.
The robot is made for indoor use only and should never be used outdoor.
• Avoid small objects on the floor in the robot’s area
Risk of property damage and/or minor damage to the robot.
The robot cannot detect obstacles lower than 50 mm and may overrun smaller objects.
• Remove unwanted objects from the floor in the robot’s area
Risk of inefficient execution of orders.
The robot will go around objects that are not parts of the map, but this may influence the efficiency of the
planned route.
• Avoid overheating of components
Risk of damage to the robot or robot components.
The ambient temperature in the robot’s environment must not exceed 50° C - 122° F.
• Avoid exposure of the robot to excessively humid or dry environment
Risk of damage to the robot or robot components.
The ambient humidity in the robot’s environment must be within the specifications, see Technical
specifications on page 23.
Potential hazard
Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused
electrically or mechanically.
Observe the following precautions handling and using lithium batteries:
• Shut off the battery when not in use.
• 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 and always follow the instructions from the battery manufacturer.
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2.5 Safety circuit
If a person or other moving object enters the safety zones of the robot where the planner due to
response time, errors etc. does not respond, the safety circuit will force the robot into emergency
stop, and the robot stops immediately. When the person or object is out of the safety zone again,
the robot will automatically reset the emergency stop.
MiR100™ is designed with total redundant electrical safety circuit including Sick Safety components.
If any internal errors in the safety circuit occur, the robot will immediately go into emergency stop
which means that all moving parts will be voltage free by mechanical disconnection. Only when the
redundancy is provided, it is possible to reset the emergency stop and continue.
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3 Certifications
3.1 Overview
This chapter presents certificates and declarations applying to the robot.
Copies of the CE declarations of conformity in various languages and 3rd party certificates are
posted and can be downloaded from the Distributor login site: (http://www.mir-robots.com/
downloads/certificates).
3.2 Certificates
The MIR100™ has been tested and awarded the following certificate by a recognized test institute.
Cleanroom The MiR100™ has been assessed and rated suited for operation in cleanrooms fulfilling the
specifications of Air Cleanliness Classes according to ISO 14644-1.
A signed copy of the certificate is found in the appendix on page 42.
3.3 Applied standards
The MiR100™ is certified and fulfills all relevant provisions according to the EU directives or
regulations listed below.
The European directives are available on the official website: https://eur-lex.europa.eu
Reference to the harmonized standards used, as referred to in Article 7(2):
Ref. no. Title
2006/42/EC
Directive 2006/42/EC of the European Parliament and of the Council of 17 May
2006 on machinery, and amending Directive 95/16/EC (recast) (1).
Ref. no. Title
EN 60204-1:2006+A1:2009
Safety of machinery – Electrical equipment of machines – Part 1: General
requirements
EN ISO 12100:2010 Safety of machinery – General principles for design – Risk assessment and risk
reduction (ISO 12100:2010)
EN ISO 13849-1:2015 Safety of machinery – Safety related parts of control systems – Part 1: General
principles for design (ISO 13849-1:2015)
EN ISO 13849-2:2012 Safety of machinery – Safety related parts of control systems – Part 2: Validation
(ISO 13849-2:2012)
EN ISO 13850:2015 Safety of machinery – Emergency stop function – Principles for design (ISO
13850:2015)
EN 1175-1:1998+A1:2010 Safety of industrial trucks – Electrical requirements – Part 1: General
requirements for battery powered trucks
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Reference of the other technical standards and specifications used:
See also signed copy of Declaration of conformity in Appendix D on page 42.
Ref. no. Title
EN 1525:1997-09 Safety of industrial trucks – Driverless trucks and their systems
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4 Getting started
4.1 In the box
Figure 4.1. The shipment
1. The robot
2. MiR100 Kit
•
Emergency stop box, external antenna and 4 pcs. M10x40 bolts
• Two charging cables, one for 110 V and one for 220 V
3. MiR folder containing:
• Printed documents: MiR100 Quick start in English and local language if applicable, Passwords sheet, CE
declaration of conformity, mounting instructions for emergency stop
• USB flash drive: Getting started video, MiR100™ User Guide, CE declaration of conformity, other
manuals
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4.2 Unpacking the MiR100™
4.2.1 Unboxing
Follow these steps to unbox the MiR100™
Step Action
1
Remove pallet lid and take out the box with the MiR100 kit.
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.
Keep the packaging for any future transportation of the robot.
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4.2.2 Powering up
Step Action
1
Grab the two rounded corners and carefully lift off
the cover.
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.
Switch on the four relays placed in the corner by the
front laser scanner. Start with 32A main power, i.e.
from the outer frame in.
3
Before putting the cover back on, make sure that
the battery disconnect switch is on (the two
yellow indicators pointing to On).
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4
Carefully fit the cover correctly over the
connector openings.
Mount and connect the emergency stop box on top
of the robot cover.
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 Placing the top module on page 22.
5
Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the
connector before fixing the antenna.
The antenna can be lowered and rotated in all directions to fit under a top module.
Step Action
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6
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.
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.
Step Action
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4.3 Getting connected
Step Action
1
On a PC, tablet or smartphone, go
to the WiFi menu, find the name of
your robot and connect to it.
Open a browser and go to mir.com.
Log in to the MiR Robot.
Access name and
passwords required to
log on to the robot’s
WiFi and the robot
interface are found on
the enclosed paper slip,
see In the box on
page 11.
2
When logged in, press Manual
control on the joystick icon to put
the robot in manual driving mode,
and use the joystick to drive the
robot down the ramp.
The robot light switches
to blue, indicating that
the robot is in manual
mode and can be
controlled by the
joystick.
3
It is recommended to reverse the robot down the ramp.
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4.4 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:
Step Action
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, it is
recommended to turn off the
robot while charging.
Then connect the charging cable to the robot’s
charging socket and to a power outlet. Turn on the
LED switch to start the charging.
Use only the original charging cable.
2
After a maximum of three hours, the robot is fully charged. The robot emits a green light when the
battery is full.
3
Turn off the LED switch and disconnect the charging cable from the robot. Slide the corner cover back
on.
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4.5 Testing the robot
Before using the robot, you are recommended to check that all components and processes inside
the robot work as intended.
1. Log on to the MiR Robot interface, see Getting connected on page 16.
2. Go to Monitoring > Hardware health.
3. When all components in a group are OK, it is marked with a green dot. If one or more
components in a group are not in perfect condition, the group will be marked with a yellow or
red dot and you can expand the group by clicking on the green arrow and see which
components are not functioning correctly and why.
Figure 4.2. Extract of Hardware Health menu. Message: OK indicates that the components of the group are OK.
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MiR100™ User Guide, Robot interface 2.0, 08/2018 v.1.1 19
4.6 Shutting down the robot
Follow these steps to shut down the robot correctly.
If shutting the robot down for transportation or service/repair, the battery
disconnect switch must be turned off as well and the battery cable disconnected, see
Packing the robot for transportation on page 31.
Step Action
1 Bring the robot to a halt. Then push the blue on/
off button to turn off the robot. The light switches
to yellow fading light during shut-down.
Wait for the light on the robot to turn
off. This means that there is no more
power going to the robot.
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5 Product presentation
5.1 About the MiR100™
The MiR100™ is an autonomous mobile robot that can transport materials internally within
production facilities, hospitals, warehouses, and a host of other industrial locations.
The user provides the destination of product delivery via a web-based user interface. MiR100™ can
be set up to run a fixed route, be called on demand or perform more complex operations (missions).
It can also operate as part of a fleet of MiR robots, centrally controlled from a single web based user
interface. It is recommended to use the MiRFleet application when two or more robots operate on
the same site.
The MiR100™ operates via a map which can be created the first time the robot is used. While
operating, the safety scanners ensure that the robot avoids obstacles (people, furniture) that are not
mapped. The internal map contains defined locations (office, product delivery, production hall etc.)
that are used for logistical planning.
With a MiRCharge™ charging station the robot handles moving to a charging station automatically.
All it takes is the definition of a charging mission and a charing position on the map.
The robot is controlled from a web-based user interface, which is accessed via a browser on a PC,
smartphone or tablet. Each robot has its own network. See Getting connected on page 14.
5.2 Identification label
The identification label of the MiR100™ is placed on the back of the battery box.
Figure 5.1. Example of MiR100™ CE marking and identification label
• CE Mobile Industrial Robots ApS declares that the MiR100™ meets
the requirements of the applicable EC directives. See Declaration
of conformity on page 34
• Serial number The 15-digit serial number is a unique identifier of the robot. The
last four digits match the digits in the original name of the robot,
for example if the serial number ends with 0635, the robot name
is MiR R635.
• MiR100 2.1 Product name and hardware version.
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5.3 MiR100™ Outer parts
Figure 5.2. MiR100™ Outer parts
1. Top cover 11. Behind removable rear corner cover:
Charging port with switch
2. Caster wheel - all four corner wheels 12. Rear cover
3. Drive wheel - differential control 13. Rear laser scanner
4. Behind removable corner cover: HDMI port and
USB “service port” - connects to the robot’s PC
14. Mooring hole - one in each corner for fixation
of top modules
5. Scanner reset button (yellow) and on/off button
(blue)
15. RJ45 Ethernet connection
6. Ultrasonic sensors for detection of transparent
objects (feature in progress)
16. Application interface - for connection to
hardware such as hook - see also in Appendix C,
Connectors - pinout on page 38
7. Pad connectors - for connection to charging poles
on MiRCharge charging station
17. Antenna socket
8. Front laser scanner 18. USB port “service port” - connects to the
robot’s PC
9. 3D depth camera 19. Emergency stop interface with added options
for connection to small units and I5 input on SICK
scanners - see also in Appendix C, Connectors pinout on page 38
10. Side cover
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5.4 MiR100™ Inner parts
Figure 5.3. MiR100™ Inner parts
1. Breaker - automatic fuse between battery and
components
10. Battery with connector - main power to the
robot
2. Solid state relay - releases the latching relay (pos.
16) when the robot is shutting down.
11. SICK safety PLC
3. Battery charger - internal 110/230 V 12. Optocoupler - emergency stop signal to
motor controller
4. Motor controller - manages the two motor drives 13. Loudspeaker
5. Brake relay - short circuits motor for faster braking 14. MiR board - interface board for gyroscope,
accelerometer, ultrasound, light, on/off circuit
and CAN bus communication
6. Battery connector for extra battery 15. 24 V power supply - secures stable voltage for
PC and PLC
7. Redundant power for motor controller relays
(controlled by SICK)
16. Latching relay - activates the 24V power
supply turning on the robot
8. CAN bus connection for Battery Management
System, logging data e.g. no of charge cycles.
See MiR Robot Interface 2.0 reference guide
17. Transient protection - provides circuit
protection for the power supplies by absorbing
voltage spikes from battery or top mounted
applications
9. Router - local network, 2.4 and 5 GHz 18. NUC PC
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5.5 Sensor systems
The MiR100™ has a number of internal and external safety sensors to secure safe operation among
people and equipment.
External
sensors
External sensors (see alsoMiR100™ Outer parts on page 21)
The camera records 3D point cloud data only; it is not filming.
The two laser scanners located diagonally in the front and rear corners provide 360° protection up
to 1 meter around the robot.
The range of the safety zones is dynamic and changes with the speed of the robot.
Figure 5.4. 3D camera and laser scanners fields of view provide safety all around the robot
• 3D camera Intel RealSense™ Detection of objects in front of robot:
• 0-1950 mm ahead
• 50-995 mm above floor
• SICK safety laser scanners S300 (front and
back)
360
°
visual protection
• Ultrasonic scanners (4 pcs.) Feature in progress for detection of transparent
objects
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Figure 5.5. The laser scanners detect objects 200 mm above ground and the 3D camera detects objects from ground
level and up to 995 mm above ground
Safety zones
The MiR Safety zones change depending on the speed of the robot.
The speed regulations are as follows for the front scanner:
The speed regulations are as follows for the rear scanner:
The robot uses laser scanner data up to 2.5 m away from the robot for dynamic object identification.
It will actively try to avoid objects within 2.5 m. The scanners will only see objects at 0.2 m height.
No more or less. The scanners can be obstructed by direct sunlight.
Internal
sensors
Internal sensors (see also MiR100™ Inner parts on page 22)
Both gyroscope and accelerometer are placed on the MiR board
Zone name Speed minimum Speed maximum Zone size
Front Field Set 1 -1.4 m/s 0.1 m/s 5 cm
Front Field Set 2 0.11 m/s 0.4 m/s 18 cm
Front Field Set 3 0.41 m/s 0.68 m/s 33 cm
Front Field Set 4 0.69 m/s 1.1 m/s 48 cm
Front Field Set 5 1.11 m/s 2.0 m/s 76 cm
Zone name Speed minimum Speed maximum Zone size
Rear Field Set 1 -0.1 m/s 1.8 m/s 5 cm
Rear Field Set 2 -0.15 m/s -0.2 m/s 14 cm
Rear Field Set 3 -0.21 m/s -0.4 m/s 18 cm
Rear Field Set 4 -0.41 m/s -1.5 m/s 28 cm
• 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
• Wheel encoders Detection of wheel movements
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5.6 Light indicators
The light indicators on the MiR100™ indicate current operational state. Colors may be adapted to
individual user needs, but the robot is delivered with the following setup.
Figure 5.6. MiR100™ light indicators
5.7 Main features of the MiR100™
• Driving in a populated workspace
The robot is designed to operate among people.
• Overall route planning and local adjustments
The robot plans a general path to its target destinations. When the robot encounters obstacles
which are not in the map (like people and objects), adjustments are made to the path.
• 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.
• Planning of driving and receiving a package
A web-based interface, accessed from a PC, tablet or smartphone, gives easy access to operation
and monitoring of the robot.
• Alert for ‘lost’
If the robot enters a situation where it is unable to find a safe 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 slow down the robot when obstacles are detected in front of it.
• Optimal surface operations
The robot is made to run on a level, dry floor with a maximum grade of 5%. The sensors detect
and avoid objects from 50 mm above floor level.
• Internal map
The MiR100™ uses an internal map for route planning. The robot can either use a floor plan
from a CAD system or create a map by manual navigation around the entire area 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.
• MiRHook
A hook may be mounted on the MiR100™ enabling it to tow carts with a payload of up to 300 kg.
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6 Applications
6.1 Overview
The MiR100™ can be equipped with a range of applications to suit the specific purpose the robot
will be used for. Some are user-provided and others are purchased directly from Mobile Industrial
Robots.
For instructions on how to mount an application, for example a top camera, please refer to the
relevant application manual found on Mobile Industrial Robot’s website or contact your distributor.
In the following, you can read the general rules for how to mount a top module.
6.2 Placing the top module
Top modules must be fastened using the self-tightening conically shaped mooring holes in each
corner of the robot and tightening torque: 47 Nm.
Figure 1. Top modules are fastened through the mooring holes in the top cover.
Before adding the top module, the emergency stop box must be removed and remounted
on the top module in a position where it is easy to reach.
The correct position must be
assessed in each individual case taking into account potential risks. Requirements of the
harmonized standard EN ISO 13850 should be followed.
Stay within the specifications for weight and the payload’s center of gravity, see Payload
specifications on page 30
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7 Technical specifications
7.1 Main specifications
Dimensions
Length
890 mm
Width
580 mm
Height
352 mm
Height above floor
50 mm
Weight (without load)
62.5 kg
Load surface
600 x 800 mm
Color
Pure white: RAL 9010
Payload
Robot payload
100 kg (maximum 5% incline)
Towing capacity
300 kg
Speed and performance
Running time
10 hours or 20km
Maximum speed
Forwards: 1.5 m/s (5,4 km/h)
Backwards: 0.3 m/s (1 km/h)
Turning radius
520 mm around center of robot
Positioning accuracy
+/- 50 mm of position, +/- 10 mm to docking marker
Traversable gap and sill tolerance
20 mm
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Technical specifications
MiR100™ User Guide, Robot Interface 2.0, 08/2018 v.1.1 28
Power
Battery
Li-NMC, 24 V, 40 Ah; charging time: up to 3 hours (0-80%
in 2 hours)
See safety notes for the battery in “Lithium
battery” on page 7.
See also requirements for battery
transportation in “Repacking for transport” on
page 29.
An extra battery may be installed.
Internal charger
Input: 100-230 V ac, 50-60 Hz / Output: 24 V, max 15 A
Environment
Ambient temperature range
+5° C to 50°C (humidity 10-95% non-condensing)
IP class
IP 20
Communication
WiFi
Dual-band wireless AC/G/N/B
Bluetooth
4.0 LE, range: 10-20 m
I/Os
USB and Ethernet
Safety sensors
SICK laser scanners S300 (2 pcs)
360° visual protection around robot
3D camera Intel RealSense™
Detection of objects ahead 50-500 mm above floor
Ultrasonic scanners (4 pcs) Current status: Feature in progress.
Application: Detection of transparent objects.
Safety compliance and approvals
Compliance with
EN 1525, PLd cat. 3, ESD approved and CE certified
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MiR100™ User Guide, Robot Interface 2.0, 08/2018 v.1.1 29
7.2 Dimension drawing
Figure 1. Dimensions of the MiR100™
Top module
Max height from floor to top
1800 mm
Center of gravity
Lower than 900 mm above the floor
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8 Maintenance
8.1 Overview
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.
8.1.1 Regular checks and maintenance tasks
Weekly Once a week carry out the following maintenance tasks:
Parts Maintenance task
Robot cover and sides Clean the robot on the outside with a damp cloth.
Do not use compressed air.
Laser scanners Clean the optics covers of the scanners for optimum
performance. Avoid aggressive or abrasive cleaning agents.
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)
Remove dirt with a damp cloth, and make sure nothing is
entangled in the 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. Does the light show all the
way around the robot.
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Maintenance
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8.1.2 Regular checks and replacements
Before starting replacement tasks that involve removal of the shield:
• Press the On/Off button to turn off the robot
• Push the battery switch button to remove power from the battery
• Remove the cover and unplug the ESD cable if applied, see Getting connected on
page 15
• Turn off relays and unplug the battery, see Powering up on page 12
Part Maintenance Interval
Robot cover Check for cracks.
Check mounting. Does it sit evenly on
top of the robot with connections
accessible.
Check monthly and replace as
needed.
Caster wheels (the four
corner-wheels)
Check bearings and tighten. Check weekly and replace as
needed.
Drive wheels (the two
middle-wheels)
Check wheel surfaces for wear. Check every six months and
replace as needed.
The robot must be
calibrated after
replacement of the
wheels.
Scanners Check for visual defects, e.g. cracks and
scratches
Replace as needed.
The robot must be
calibrated after
replacement of the
scanners.
Emergency stop To check that the emergency stop works,
push down the red button and check
that the emergency reset button lights
up.
Every three to four month /
according to EN/ISO 13850
Safety of machinery - Emergency
stop function.
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9 Repacking for transport
9.1 Preparations
Packaging
Use the original packaging when transporting the robot.
Figure 9.1. The original packing material consists of pallet bottom and top plates, pallet frames,
foam blocks and foam top layer.
Battery
The lithium battery is subject to transport regulations, see Caution below. If the robot is to be sent
back for service and repair, the battery connector must be disconnected from the battery.
Lithium batteries are subject to special transportation regulations according to United
Nations Regulation of Dangerous Goods, UN 3171. Special transport documentation is
required to observe these regulations. This may influence both transport time and costs.
Different regulations apply depending on the mode of transportation; land, sea or air. Contact your
distributor for more information.
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Repacking for transport
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9.2 Packing the robot for transportation
Before packing the robot, it must be shut down as follows:
1. Bring the robot to a halt and push the blue power button to turn off the robot.
2. Turn off the battery disconnect switch (the two yellow indicators pointing to Off).
To pack the robot, reverse the steps of the unpacking procedure, see “Unpacking the MiR100™” on
page 12.
The robot must always be packed and transported in an upright position. Packing and
transporting the robot in any other position will void the warranty.
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A Payload specifications
The following drawings illustrate the center of mass (CoM) specifications for safe operation at
different payloads.
The specifications apply to payloads of:
• 25 kg
• 50 kg
• 75 kg
• 100 kg
200
400
800
600
1000
1200
1400
2000
400
600
200
400
8
0
0
600
1000
1
2
00
1
4
00
2
00
0
40
0
600
Units: mm
25kg payload
800600400200 1000800600400200 1000
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200
400
800
600
1000
1200
1400
2000
400
600
200
400
8
0
0
600
1000
1
2
00
1
4
00
2
00
0
40
0
600
Units: mm
50kg payload
800600400200 1000800600400200 1000
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200
400
800
600
1000
1200
1400
2000
400
600
200
400
8
0
0
600
1000
1
2
00
1
4
00
2
00
0
40
0
600
Units: mm
75kg payload
800600400200 1000800600400200 1000
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200
400
800
600
1000
1200
1400
2000
400
600
200
400
8
0
0
600
1000
1
2
00
1
4
00
2
00
0
40
0
600
Units: mm
100kg payload
800600400200 1000800600400200 1000
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B Connectors - pinout
B.1 Application interface
Figure 1. Application interface
Pin number Signal name Max. current Remarks
1 Battery voltage 3A Starts with the robot
2 Battery voltage 3A Starts with the robot
3 Battery voltage 10A Stops by emergency stop
4 GND 10A Ground
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B.2 Emergency stop
Figure 2. Emergency stop interface
Pin number Signal name Remarks
1 DIN 19
2 DIN 14
3 DIN 70
4 E-stop, 1 GN
5 E-stop, 2, 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. max. 1A Can be used to connect small external units
using up to 1 amp. such as tablets and PLC
interfaces
Must use the GND from pin 9.
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C Certificates
C.1 Particle emission (Cleanroom)
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D Declaration of conformity
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