Mobile Industrial Robots MiR 1000 User Manual

User Guide (en)

Date: 12/2020 Revision: v.1.4

All rights reserved. No parts of this document may be reproduced in any form without the express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties, expressed 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 document. 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.mobile-industrial-robots.com

Phone: +45 20 377 577 Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 8

1.1 Where to find more information 8

1.2 Version history 9

2. Product presentation 10

2.1 Main features of MiR1000 11

2.2 Top modules 12

2.3 External parts 13

2.4 Internal parts 19

2.5 Manual brake release switch 25

3. Warranty 26

4. Accessing the internal parts 27

4.1 Front compartment 27

4.2 Rear compartment 29

4.3 Side compartments 29

4.4 Top compartments 30

5. Safety 31

5.1 Safety message types 31

5.2 General safety precautions 32

5.3 Intended use 35

5.4 Users 37

5.5 Foreseeable misuse 38

5.6 Residual risks 38

6. Getting started 40

6.1 In the box 40

6.2 Unpacking MiR1000 41

6.3 Connecting the battery 45

6.4 Powering up the robot 46

6.5 Connecting to the robot interface 48

6.6 Driving the robot in Manual mode 50

6.7 Checking the hardware status 52

6.8 Mounting the nameplate 53

6.9 Shutting down the robot 55

7. Battery and charging 56

7.1 Charging the robot 56

7.2 Disconnecting the battery 57

7.3 Battery storage 57

7.4 Battery disposal 58

8. IT security 59

8.1 Managing users and passwords 59

8.2 Software security patches 59

9. Navigation and control system 61

9.1 System overview 61

9.2 User input 63

9.3 Global planner 63

9.4 Local planner 65

9.5 Obstacle detection 66

9.6 Localization 72

9.7 Motor controller and motors 75

9.8 Brakes 75

10. Safety system 77

10.1 System overview 77

10.2 Personnel detection 82

10.3 Overspeed avoidance 87

10.4 Stability 87

10.5 Emergency stop buttons 88

10.6 Emergency stop circuit 89

10.7 Safeguarded stop 90

10.8 Locomotion 91

10.9 Shared emergency stop 92

10.10 Reduced speed 94

10.11 Safety stop 94

10.12 Light indicators and speakers 95

11. Commissioning 99

11.1 Analysis of the work environment 99

11.2 Risk assessment 101

11.3 Creating and configuring maps 102

11.4 Markers 114

11.5 Positions 117

11.6 Creating missions 118

11.7 Creating a footprint 121

11.8 Using operating hazard zones 125

11.9 Making a brake test 127

11.10 Creating user groups and users 128

11.11 Creating dashboards 131

11.12 Updating MiR1000 software 133

11.13 Creating backups 134

11.14 System settings 134

12. Usage 143

12.1 Creating markers 143

12.2 Creating positions 148

12.3 Creating the mission Prompt user 150

12.4 Creating the mission Try/Catch 155

12.5 Creating the mission Variable docking 161

12.6 Testing a mission 169

13. Applications 171

13.1 Mounting a top module 171

14. Maintenance 174

14.1 Regular weekly checks and maintenance tasks 174

14.2 Regular checks and replacements 176

14.3 Battery maintenance 179

15. Packing for transportation 180

15.1 Original packaging 180

15.2 Packing the robot for transportation 181

15.3 Battery 181

16. Payload distribution 182

17. Disposal of robot 189

18. Interface specifications 190

18.1 General purpose interfaces 190

18.2 Safety interfaces 197

18.3 Connector list 201

19. Error handling 203

19.1 Software errors 203

19.2 Hardware errors 204

1. About this document

This user guide explains how to set up and start operating your MiR1000 robot and provides examples of simple missions you can expand to your purposes. This guide also contains information regarding the external and internal components of MiR1000 along with instructions for proper maintenance of the robot. You will also find information regarding safety and specifications needed to commission a safe MiR1000 robot application.

NOTICE

Save this manual. It contains important safety and operating instructions.

1.1 Where to find more information

At the MiR website, you can find the following resources under the Manuals tab on each product page:

• 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. User guides are available in multiple languages.

• Commissioning guides describe how to commission your robot safely and prepare it to

operate in the workplace.

• Operating guides describe how to set up and use MiR accessories or supported functions

that are mainly hardware-based, such as charging stations and shelf functions.

• Getting started guides describe how to set up MiR accessories that are mainly software-

based, such as MiR Fleet.

• Reference guides contain descriptions of all the elements of the robot interface and MiR

Fleet interface. Reference guides are available in multiple languages.

• Best practice guides specify how much space MiR robots need to execute common

maneuvers.

• REST API references for MiR robots, MiR hooks, and MiR Fleet. HTTP requests can be

used to control robots, hooks, and MiR Fleet.

• MiR network and WiFi guide specifies the performance requirements of your network

and how you must configure it for MiR robots and MiR Fleet to operate successfully.

1. About this document

1.2 Version history

This table shows current and previous versions of this document.

MiR1000

Revision Release date Description HW

1.0 2019-05-31 First edition. 1.0

1.1 2019-07-11 New sections: Create mission, Mission editor, Lift modifications

Updated section: Status lights.

1.2 2019-10-08 New section: Updating MiR1000 software. 1.0

1.3 2020-06-11 New section: IT Security

Added new information about payload

1.4 2020-12-01 New chapters: Warning label, Mounting the nameplate, Accessing the internal parts, Battery and charging, IT security, Navigation and control system, Safety system, Usage, Disposal of robot, Error handling and Glossary.

General improvements throughout the document.

1.0

2. Product presentation

MiR1000 is an autonomous mobile robot that can transport loads up to 1000 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted.

Users operate MiR1000 via a web-based user interface, which is accessed through a browser on a PC, smartphone, or tablet. Each robot has its own network—see Connecting to the robot

interface on page 48. The robot can be set up to run a fixed route, be called on demand, or

perform more complex missions.

The robot interface of MiR1000 can be accessed via Google Chrome, Google Chromium, Apple Safari, Mozilla Firefox, and Microsoft Edge browsers.

The robot uses a map of its work area to navigate and can move to any position on the map—see Navigation and control system on page 61. 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 MiR1000 are available on the MiR website.

2. Product presentation

2.1 Main features of MiR1000

The main features of MiR1000 are:

• Driving in a populated workspace

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

• Overall route planning and local adjustments

The robot navigates autonomously to find the most efficient paths to its destinations. The robot adjusts the path when it encounters obstacles that are not on the map, like personnel and vehicles.

• Efficient transportation of heavy loads

The robot is designed to automate transportation of loads up to 1000 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.

• 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 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 custom defined Try/Catch action may be used to alert personnel or take other actions—see Creating the mission Try/Catch

on page 155.

• Automatic deceleration for objects

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

• Internal map

The robot can either use a floor plan from a CAD drawing, or a map can be created by manually driving the robot around the entire site in which the robot is going to operate. When the robot is mapping, the robot’s sensors detect walls, doors, furniture, and other obstacles, and the robot then creates a map based on these input. After you've finished mapping, you can add positions and other features in the map editor—see Creating and

configuring maps on page 102.

2. Product presentation

2.2 Top modules

The following top modules are available for MiR1000:

• MiR Pallet Lift 1000

A lift platform may be mounted on MiR1000 enabling it to automate the internal transport of US standard 40x48 pallets.

• MiR EU Pallet Lift 1000

A pallet lift for EU pallets may be mounted on MiR1000 enabling it to automate the internal transport of EU pallets.

• MiRPalletRack

Use a MiRPalletRack with MiR Pallet Lift 1000. The lift places and picks up US standard 40 x 48 in (1016 x 1219 mm) pallets from the rack autonomously.

• MiREUPalletRack

Use a MiREUPalletRack with MiR EU Pallet Lift 1000. The lift places and picks up EU pallets from the rack autonomously.

To learn more about the top modules, go to the MiR website.

2.3 External parts

This section presents the parts of MiR1000 that are visible on the outside.

2. Product presentation

Figure 2.1. MiR1000 external parts.

Table 2.1.

Identification of the external parts in Figure 2.1

Pos. Description Pos. Description

1 Left cover plate: access to

Power interface, GPIO interface, and Ethernet interface—see Interface

specifications on page 190

3 Signal light: eight pcs., two

on each corner—see Light

indicators and speakers on page 95

2 Right cover plate: access to

Aux. safety functions interface and Aux. Emergency stop interface— see Interface specifications

on page 190

4 Rear maintenance hatch:

opens to the rear compartment—see Internal

parts on page 19

Pos. Description Pos. Description

2. Product presentation

5 Rear safety laser scanner—

see Obstacle detection on

page 66

7 Emergency stop button: four

buttons, two on each side— see Emergency stop circuit

on page 89

9 3D depth cameras: two pcs,

detect objects in front of the robot— see Obstacle

detection on page 66

11 Front safety laser scanner—

see Obstacle detection on

page 66

6 Right side maintenance

hatch: opens to the right side compartment—see Internal

parts on page 19

8 Proximity sensors: eight pcs.,

two in each corner behind the corner covers—see

Obstacle detection on page 66

10 Front maintenance hatch:

opens to the front compartment— see Internal

parts on page 19

12 Left side maintenance hatch:

opens to the left side compartment—see Internal

parts on page 19

13 Status light: on all four sides

of the robot— see Light

indicators and speakers on page 95

Identification label

MiR1000 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 MiR1000 is located on the rear-right side of the chassis.

Figure 2.2. Placement of the identification label.

2. Product presentation

Figure 2.3. Example of a MiR1000 identification label.

2. Product presentation

Nameplate

Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR1000 identifies the application model and serial number and includes the CE mark, the technical specifications, and the address of Mobile Industrial Robots. The nameplate identifies the complete MiR application, for example, a robot with a top module.

It is the responsibility of the commissioner to mount the nameplate on the application—see

Mounting the nameplate on page 53.

Figure 2.4. Example of a MiR1000 nameplate.

Control panel

MiR1000 has a control panel in the rear-left corner of the robot.

The control panel buttons

2. Product presentation

Figure 2.5. The MiR1000 control panel.

Table 2.1.

Identification of items on the control panel in Figure 2.5

Pos. Description Pos. Description

1 Manual stop button 2 Resume button

3 Power button 4 Operating mode key

Manual stop

Pressing this button stops the robot. After pressing this button, you must press the Resume button to let the robot continue operating.

Color indication:

• Red: It is possible to engage the Manual stop.

Resume

Pressing this button:

• Clears the Emergency stop state.

• Lets the robot continue operating after the Manual stop button was pressed or after the

2. Product presentation

operating mode changes.

• Lets the robot start operating after powering up.

Color indication:

• Blinking blue: The robot is waiting for a user action (clear the Emergency stop state,

acknowledge the change of operating mode).

Power

Pressing this button for three seconds turns the robot on or shuts it off.

Color indication:

• Blue: The robot is off.

• Blinking green: The robot is starting up.

• Green: Normal operation.

• Blinking red: The battery level is too low to start without additional charging, or the robot

is shutting down.

The Operating mode key

The Operating mode key lets you switch between operating modes.

• Left position: Autonomous mode

Puts the robot in Autonomous mode.

• Middle position: Locked

Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot manually.

• Right position: Manual mode

Puts the robot in Manual mode.

For more information on operating modes, see Operating modes below.

Operating modes

MiR1000 has two operating modes: Manual mode and Autonomous mode.

2. Product presentation

Manual mode

In this mode, you can drive the robot manually using the joystick in the robot interface. Only one person can control the robot manually at a time. To ensure that nobody else takes control of the robot, the robot issues a token to the device on which you activate the Manual mode.

For information about activating this mode, see Driving the robot in Manual mode on page

50.

Autonomous mode

In this mode, the robot executes the programmed missions. After switching the key to this mode, you can remove the key, and the robot will continue driving autonomously. In Autonomous mode, the joystick is disabled in the robot interface.

2.4 Internal parts

Most internal parts of MiR1000 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 27.

Front compartment

The front compartment holds several electronic components, such as the robot computer and the motor controller carrier board.

To open the front compartment, see Accessing the internal parts on page 27.

Front compartment components

The front compartment components are listed in Table 2.1.

2. Product presentation

Figure 2.6. Internal parts of the front compartment.

Table 2.1.

Identification of internal parts in Figure 2.6

Pos. Description Pos. Description

1 Cable chain: contains a group of

cables that connect with robot components outside of the front compartment.

3 Access point/Router: access point

that broadcasts the robot's WiFi signal so you can connect to the

2 Safe Torque Off contactors: cuts

power to the robot's motor when the robot enters Protective or Emergency stop.

4 Robot computer: processes data

from the sensors and controls the robot's navigation.

robot wirelessly.

5 Loudspeaker:emits sounds

programmed in missions.

6 Power board: controls the power

distribution for the motor controller, robot computer, and safety PLC.

2. Product presentation

Pos. Description Pos. Description

7 Motor controller carrier board:

contains the motor controllers and the controller for proximity sensors and light indicators.

8 Safety PLC:controls the safety

system—see Safety system on

page 77.

Rear compartment

The rear compartment holds the robot’s battery, Battery disconnect switch, and charging interface.

To open the rear compartment, see Accessing the internal parts on page 27.

Rear compartment components

The rear compartment components are listed in Table 2.2.

Figure 2.7. Internal parts of the rear compartment.

2. Product presentation

Table 2.2.

Identification of internal parts in Figure 2.7

Pos. Description Pos. Description

1 Connectors for the proximity

sensors.

3 Connector for the status light

band.

5 Charging connection interface:

for external MiR cable charger.

7 Connection interface for MiR

Controller: connect a MiR controller to drive the robot with a joystick.

2 Battery disconnect switch:

disconnects the battery from the robot. Shown in the Off position where the battery is disconnected.

4 Manual brake release switch:

releases the brakes so the robot can be pushed manually. Shown in the Off position, where the robot engages and releases the brakes automatically—see

Manual brake release switch on page 25.

6 Battery with connector: main

power to the robot.

Side compartments

The side compartments contain the bogies and drive wheels.

To access a side compartment, see Accessing the internal parts on page 27.

NOTICE

The unique nameplate of your robot is to be mounted on the right side compartment hatch—see Mounting the nameplate on page 53. Make sure you do not swap the hatch with hatches from other robots.

Side compartment components

The left and right side compartment components are listed in Table 2.3.

2. Product presentation

Figure 2.8. Internal parts of the MiR1000 left and right side compartments.

Table 2.3.

Identification of internal parts in Figure 2.8

Pos. Description Pos. Description

1 Connector for status light band 2 Drive wheel

Top compartments

The two top compartments contain electrical interfaces that can be connected to top modules.

2. Product presentation

Figure 2.9. The top compartments on the robot.

Top compartment components

The top compartments interfaces are listed in Table 2.4. For detailed information on electrical interfaces, see Interface specifications on page 190.

Figure 2.10. Interfaces in the top compartments.

2. Product presentation

Table 2.4.

Identification of interfaces in Figure 2.10

Pos. Description Pos. Description

1 Ethernet 2 GPIO: General purpose I/O

3 Power 4 Auxiliary Emergency stop

5 Auxiliary safety functions

2.5 Manual brake release switch

The Manual brake release switch is located in the rear maintenance hatch below the Battery disconnect switch. You release the robot's mechanical brakes by turning the Manual brake release switch counter-clockwise.

Figure 2.11. The manual brake release switch is located below the control panel.

The mechanical brakes require electrical power to be released, so if the robot is without power, the mechanical brakes cannot be released.

When driving in Autonomous mode, the robot engages and releases the mechanical brakes automatically.

The robot cannot operate while the mechanical brakes are released manually.

3. Warranty

Mobile Industrial Robots offers a standard warranty on all products.

Contact your distributor to see the terms and extend of product coverage.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR1000 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1000, accessories, or any other equipment due to programming errors or malfunctioning of MiR1000.

3. Warranty

4. Accessing the internal parts

Most internal parts of MiR1000 are accessed through maintenance hatches that open to different compartments:

• Front compartment

• Rear compartment

• Side compartments

• Top compartments

4.1 Front compartment

To open the front compartment, follow these steps:

1. Push the two white buttons and pull the hatch.

2. Turn the two levers 180°.

4. Accessing the internal parts

3. Pull out the compartment drawer while holding underneath it and lifting slightly.

4. Accessing the internal parts

4.2 Rear compartment

To open the rear compartment, push the two white buttons at the same time and pull the hatch.

4.3 Side compartments

To open a side hatch, turn the two screws 90° with a flat-head screwdriver, and pull open the hatch.

4. Accessing the internal parts

4.4 Top compartments

To open a top compartment, remove the four screws and lift off the top cover.

+ 181 hidden pages

Mobile Industrial Robots MiR 1000 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. About this document

1.1 Where to find more information

1.2 Version history

2. Product presentation

2.1 Main features of MiR1000

2.2 Top modules

2.3 External parts

2.4 Internal parts

2.5 Manual brake release switch

3. Warranty

4. Accessing the internal parts

4.1 Front compartment

4.2 Rear compartment

4.3 Side compartments

4.4 Top compartments