Mobile Industrial Robots MIR 1000 Quick Start Guide

Download

Page 1

Quick Start (en)

Date: 12/2019 Revision: v.2.0

Page 2

Table of contents

1. Version history 4

2. Safety 5

2.1 Safety message types 5

2.2 General safety precautions 6

2.3 Intended use 9

2.4 Users 10

2.5 Foreseeable misuse 12

2.6 Residual risks 12

2.7 Warning label 13

3. Light indicators and speakers 14

3.1 Status lights 14

3.2 Signal lights 16

3.3 Speakers 16

4. Control panel 18

4.1 The control panel buttons 18

4.2 The Operating mode key 19

5. Accessing the internal parts 20

5.1 Front compartment 20

5.2 Rear compartment 22

5.3 Side compartments 22

5.4 Top compartments 23

6. IT security 24

6.1 Managing users and passwords 24

Page 3

6.2 Software security patches 24

7. Getting started 26

7.1 In the box 26

7.2 Unpacking MiR1000 27

7.3 Connecting the battery 31

7.4 Connecting to the robot interface 32

7.5 Driving the robot in Manual mode 34

7.6 Checking the hardware status 36

7.7 Mounting the nameplate 37

7.8 Shutting down the robot 39

7.9 Charging the robot 39

Page 4

1. Version history

This table shows current and previous versions of this document.

MiR1000

Revision Release date Description HW

1.0-1.2 2020-06-18 First editions. 1.0

2.0 2020-12-01 Major update and new structure with new sections: Version history, Warning label, IT security, Mounting the nameplate, and Charging the robot.

1.0

Page 5

2. Safety

Read the information in this section before powering up and operating MiR1000.

Pay particular attention to the safety instructions and warnings.

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.

2. Safety

2.1 Safety message types

This document uses the following safety message types.

WARNING

Indicates a potentially hazardous situation that could result in death or serious injury. Carefully read the message that follows to prevent death or serious injury.

CAUTION

Indicates a potentially hazardous situation that could result in minor or moderate injury. Alerts against unsafe practices. Carefully read the message that follows to prevent minor or moderate injury.

NOTICE

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

Page 6

2.2 General safety precautions

This section contains general safety precautions.

WARNING

If the robot is not running the correct software and is therefore not functioning properly, the robot may collide with personnel or equipment causing injury or damage.

• Ensure that the robot is always running the correct software.

WARNING

2. Safety

When the robot is in an operating hazard zone, there is a risk of injury to any personnel within the zone.

• Ensure that all personnel are instructed to stay clear of operating hazard

zones when the robot is in or approaching the zone.

WARNING

The robot may drive over the feet of personnel, causing injury.

• All personnel must be informed of the side Protective fields of the robot and

be instructed to wear safety shoes near an operating robot.

WARNING

The robot may drive into a ladder, scaffold, or similar equipment that has a person standing on it. Personnel risk fall injuries and equipment may be damaged.

• Don't place ladders, scaffolds, or similar equipment in the robot's work

environment.

Page 7

WARNING

The robot may drive down staircases or holes in the floor and cause serious injury to personnel and damage to the robot and to equipment.

• Mark descending staircases and holes as Forbidden zones on maps.

• Keep the maps up to date.

• Inform personnel that the robot cannot detect descending staircases and

holes in the floor in time to stop.

WARNING

Contact with live electrical parts can cause electric shock.

2. Safety

• Do not touch any internal components of the robot while it is powered.

WARNING

Using a charging device different from the one supplied by the manufacturer can cause a fire and thereby burn injuries to nearby personnel and damage to the robot and equipment.

• Only use an original MiR charger.

WARNING

Attempting to charge batteries outside the robot can lead to electrical shock or burns.

• Never charge the batteries outside the robot.

Page 8

2. Safety

WARNING

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

Observe the following precautions when handling and using lithium-ion batteries:

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

• Do not expose to temperatures 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 an original MiR charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

• Do not touch damaged batteries with bare hands. Only personnel using

suitable Personal Protection Equipment (PPE) and tools should handle damaged batteries.

• Isolate the battery and keep clear if the following conditions are observed:

• The battery exhibits abnormally high temperatures.

• The battery emits abnormal odors.

• The battery changes colors.

• The battery case is deformed or otherwise differs from the normal

electrical or mechanical condition.

• Modifications or manipulations of the battery may lead to considerable

safety risks and are therefore prohibited.

• Do not use the battery for anything other than MiR1000.

Page 9

2. Safety

WARNING

Load falling or robot overturning if the load on the robot is not positioned or fastened correctly can cause fall injuries to nearby personnel or damage to equipment.

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

fastened correctly—see the user guide of your robot for safe payload distribution.

CAUTION

Robot malfunctions can cause an electrical fire, causing damage and injury to equipment and personnel.

• Personnel operating near the robot must be informed on how to use an ABC

fire extinguisher to put out an electrical fire should the robot malfunction and catch on fire.

CAUTION

Risk of trapping or injury to personnel if robots malfunction or if personnel enter operating hazard zones.

• Personnel operating near the robot must be informed on how to engage the

robot's Emergency stop function in emergency situations.

2.3 Intended use

MiR1000 is intended to be commissioned and used in indoor industrial environments where access for the public is restricted.

MiR1000 is intended to be commissioned according to the guidelines in your robot's user guide. This is a prerequisite for safe usage of MiR1000.

MiR1000 is equipped with safety-related features that are purposely designed for collaborative operation where the robot operates without a safety enclosure or together with people.

Page 10

2. Safety

MiR1000 is intended to be used with top modules supported by Mobile Industrial Robots or custom modules that:

• Do not have any moving parts.

• Do not extend the footprint of the robot.

• Operate within the environmental conditions required for MiR1000.

If used with custom modules, all obligations of a manufacturer apply to the individual who performs the modifications in accordance with the machinery directive.

MiR1000 is designed for and all risks are considered when used with one of the following types of top modules:

• MiR Pallet Lift 1000 used with MiR Lift Pallet Rack.

• MiR EU Pallet Lift 1000 used with MiR EU Pallet Rack.

• MiR Shelf Lift to transport MiR supported shelves.

MiR1000 can be used as a partly complete machine as defined in the EU machinery directive, with top modules that do not meet the above limitations. Those who design, manufacture, or commission a system that does not meet the limitations of use of MiR1000 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.

The following list gives examples of modules that are foreseeable misuse of MiR1000:

• Top modules (including total payload) that increase the footprint of MiR1000

• Conveyers (powered and non-powered)

• Industrial robot arms

• Devices that tow carts

• Customized load transfer stations

NOTICE

A safe machine does not guarantee a safe system. Follow the commissioning guidelines in your robot's user guide to ensure a safe system.

2.4 Users

MiR1000 is only intended to be used by personnel that have received training in their required tasks.

Page 11

2. Safety

There are three types of intended users for MiR1000: commissioners, operators, and direct users.

Commissioners

Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and maintenance of MiR1000 and have the following main tasks:

• Commissioning of the product. This includes creating maps and restricting the user

interface for other users and making brake tests with a full payload.

• Conducting the risk assessment.

• Determining the payload limit, weight distribution, safe fastening methods, safe loading

and unloading of loads on MiR1000, and ergonomic loading and unloading methods if relevant.

• Ensuring the safety of nearby personnel when the robot is accelerating, braking, and

maneuvering.

• Marking operating hazard zones.

Operators

Operators have thorough knowledge of MiR1000 and of the safety precautions presented in this user guide. Operators have the following main tasks:

• Servicing and maintaining MiR1000.

• Creating and changing missions and map features in the robot interface.

Direct users

Direct users are familiar with the safety precautions in this quick start and have the following main tasks:

• Assigning missions to MiR1000.

• Fastening loads to MiR1000 securely.

• Loading and unloading from a paused robot.

All other persons in the vicinity of MiR1000 are considered indirect users and must know how to act when they are close to the robot. For example, they must be aware that visibly marked operating hazard zones must be respected.

Page 12

2. Safety

2.5 Foreseeable misuse

Any use of MiR1000 deviating from the intended use is deemed as misuse. This includes, but is not limited to:

• Using the robot to transport people

• Using the robot on steep surface grades, such as ramps

• Making changes to the SICK configuration

• Driving the robot on cross slopes

• Exceeding the total payload

• Positioning or fastening loads incorrectly according to the specifications

• Using Emergency stop buttons for anything other than emergency stops

• Using the robot in medical and life critical applications

• Operating the robot outside the permissible operating parameters and environmental

specifications

• Using the robot in potentially explosive environments

• Using the robot outdoors

• Using the robot in hygiene zones

2.6 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners must inform personnel about and take all precautions to avoid when working with MiR1000:

• You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot

or walk towards the robot or its intended path while it is in motion.

• You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot

or walk towards it while it is driving in reverse. The robot only drives in reverse when undocking from a marker, such as a charging station or load transfer station.

• You risk being crushed or trapped if you touch the robot while it is in motion.

• You risk being crushed or trapped if the robot places a load outside a designated drop-off

area due to faulty localization.

• You risk losing control of the robot if it is accessed by unauthorized users. Consider

increasing the IT security of your product—see IT security on page 24.

Page 13

2. Safety

NOTICE

Other significant hazards may be present in a specific robot installation and must be identified during commissioning.

2.7 Warning label

MiR1000 is supplied with a warning label that specifies that it is strictly prohibited to ride on the robot.

The label must be placed on the robot or top module so that it is clearly visible.

Figure 2.1. The warning label must be placed on the robot or top module.

Page 14

3. Light indicators and speakers

The robot uses two types of light indicators to let people in the environment know what the robot is currently doing or planning to do.

• Status lights

LED light bands on all four sides of the robot uses colors and light motion patterns to signal the current status of the robot.

• Signal lights

The signal lights at the front and back of the robot show if the robot is about to turn a corner or go backward. Front lights are white and rear lights are red. Right and left turns are indicated by blinking.

Figure 3.1. Indicator lights on MiR1000.

Table 3.1.

Identification of indicator lights in Figure 3.1

Pos. Description Pos. Description

1 Status lights 2 Signal lights

3.1 Status lights

The LED light bands running all the way around the robot indicate the robot’s current operational state. Colors may also be used as part of missions, but as standard, status lights indicate the statuses described in Table 3.2.

Page 15

Table 3.2.

Status light colors

Red Emergency stop

Green Ready for job

Cyan Drives to destination

Purple Goal/Path blocked

White Planning/Calculating

Yellow Mission paused

Yellow wavering Startup signal before PCis active

3. Light indicators and speakers

Yellow fade Shutting down robot

Yellow blinking Relative move, ignoring obstacles

Purple - yellow General error, for example hardware, localization

Blue Manual drive

Blue wavering Mapping

Contracting white Chargingat charging station

White wavering Prompt user / Waiting for user's response

Cyan wavering (robots connected to MiR Fleet

Waiting for MiR Fleet resource

only)

When the robot's battery reaches a critically low level of power (0-1%), the ends of the status lights flash red.

Page 16

3. Light indicators and speakers

When the robot is charging in a charging station, the status lights on the side of the robot indicate the robot's battery percentage.

3.2 Signal lights

Signal lights are used to indicate the robot’s immediate motion plans by signaling forwardsbackwards-braking and left-right turns.

The signal lights work similarly to lights used on cars; white at the front, red at the back, and indicating a left or right turn by blinking.

When the robot drives with muted Protective fields, for example, when docking to a marker, all signal lights blink yellow.

3.3 Speakers

In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of the default sounds.

Sounds are used in missions and can be used as alerts: “Please step aside” or to attract peoples attention, for example, when the robot has arrived at a position.

When the robot drives with muted Protective fields it emits a warning sound. In System >

Settings > Safety system, you can choose which sound the robot makes and the volume of

the sound.

CAUTION

Changing the safety system can cause the robot to not comply with safety standards.

• Do not disable the sound in the safety system.

Page 17

3. Light indicators and speakers

Figure 3.2. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its Protective fields.

CAUTION

It is the responsibility of the commissioner to ensure that the warning sounds are audible in the robot's work environment.

Page 18

4. Control panel

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

4.1 The control panel buttons

4. Control panel

Figure 4.1. The MiR1000 control panel.

Table 4.1.

Identification of items on the control panel in Figure 4.1

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.

Page 19

4. Control panel

Resume

Pressing this button:

• Clears the Emergency stop state.

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

operating mode changes.

• Lets the robot start operating after powering up.

Color indication:

• 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.

4.2 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.

Page 20

5. 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

5.1 Front compartment

To open the front compartment, follow these steps:

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

Page 21

2. Turn the two levers 180°.

5. Accessing the internal parts

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

Page 22

5. Accessing the internal parts

5.2 Rear compartment

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

5.3 Side compartments

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

Page 23

5. Accessing the internal parts

5.4 Top compartments

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

Page 24

6. IT security

ITsecurity is a set of precautions you can take to prevent unauthorized personnel from accessing MiR1000. This section describes the main IT-security related risks and how to minimize them when commissioning MiR1000.

MiR1000 communicates all data over the network that it is connected to. It is the responsibility of the commissioner to ensure that it is connected to a secure network. MiR recommends conducting an IT-security risk assessment before commissioning the robot.

Contact your distributor for a list of FAQs about IT security.

6.1 Managing users and passwords

Managing your users and passwords is the main way you can control access to MiR1000.

There are three default users with predefined passwords for you to start using. These are described in the MiR Robot Reference Guide along with instructions to create new users, user groups, and passwords. MiR advises you to:

• Change the default password for all predefined users if you choose to continue to use

them. Make sure to choose a strong password since MiR1000 does not enforce any password rules nor expire the password.

• Create new user groups if more levels of access are necessary.

• Create dedicated user accounts under the relevant user group for each person accessing

MiR1000, and ensure that the users change the password on their first sign-in. It is not recommended to have several users share the same account.

• Only enable users with a minimum level of access to use a pin code to sign in. Users with

a higher level of access are recommended to use a strong password to sign in instead.

6.2 Software security patches

To improve the security of MiR1000, MiR supplies security patches to the operating system in new MiR software update files. When you install a security patch, it takes approximately 10-15 minutes longer to update a MiR product.

Page 25

6. IT security

Security patches are included from software version 2.8.3 and higher.

Understanding MiR software versions

MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1 means that the software is based on the second major release, the eighth minor release of the major version, the first patch release of the minor version, and, in this example, a single hot fix is included too.

• Major releases include the most significant changes that affect the entire robot software.

• Minor releases often include new features and smaller changes that only affect parts of

the software.

• Patch releases focus on fixing small issues in the software and introducing quality

improvements.

• Hot fix releases are only created when a patch release has introduced a critical issue that

needs to be fixed immediately.

Security patch policy

MiR applies the following policy when supplying security patches:

• New security patches are distributed per every minor release.

• All patch releases under a minor release include the previous security patches also. In

other words, if you chose not to install the first software version in a minor release, such as version 2.9.0, the security patches will still be installed when you update to 2.9.1 or higher.

Page 26

7. Getting started

This section describes how to get started with MiR1000.

NOTICE

Read Safety on page 5 before powering up MiR1000.

In some images in this section, the robot is shown with a MiR EU Pallet Lift 1000 top module.

7.1 In the box

7. Getting started

This section describes the contents of the MiR1000 box.

Figure 7.1. The box containing the robot and accessories.

Page 27

7. Getting started

The box contains:

• The MiR1000 robot

• A MiR1000 document folder containing a USB flash drive and the following printed

documents:

• MiR1000 Quick Start

• High visibility stickers

• The CE Declaration of Conformity for your robot

• Getting the robot online

• Passwords

• The unique nameplate for your robot

• The USB flash drive in the document folder has the following content:

• MiR1000 User Guide

• MiR1000 Quick Start

• MiR Network and WiFi Guide

• MiR Robot Reference Guide

• MiR Robot REST API Reference

• Getting the robot online

• CE Declaration of Conformity

7.2 Unpacking MiR1000

This section describes how to unpack the robot.

Keep the original packaging for future transportation of MiR1000.

To unpack the robot, follow these steps:

1. Place the box with the robot so that there is at least three meters of free space at the

front or the back of the box. This is necessary as the robot drives out of the box on a ramp.

Page 28

7. Getting started

2. Remove the screws that attach the walls of the box to the box lid and the base of the box.

3. Remove the lid from the box.

4. Take the folder with the printed documents and the USB flash drive out of the box.

Page 29

5. Remove the walls of the box and the protective foam blocks.

7. Getting started

Page 30

6. Cut the protective straps.

7. Getting started

For increased visibility, you can add the supplied high visibility stickers to the four corners of the robot.

Page 31

7. Getting started

7. Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush

with the base of the box.

8. Remove the wheel stop board from the pallet to let the robot drive on the ramp.

7.3 Connecting the battery

To connect the battery to the robot, you need to open the rear compartment—see Accessing

the internal parts on page 20.

Page 32

7. Getting started

Once you have accessed the rear compartment, turn the Battery disconnect switch to the On position.

The battery is now connected, and you can close the rear maintenance hatch.

7.4 Connecting to the robot interface

When the robot is turned 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 original username and password for the robot’s web interface are in the document Getting the robot online.

The unique password for the WiFi access point is in the Passwords document.

Both documents are in the box with the product.

Page 33

7. Getting started

To connect to the robot interface, follow these steps:

1. Using your PC, tablet, or phone, connect to the WiFi access point of the robot using the

unique password for the WiFi access point. The access point name has the following format: MiR_20XXXXXXX.

The access point name is derived from the robot application's model serial number.

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

3. Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in

Manual mode on the next page.

Page 34

7.5 Driving the robot in Manual mode

CAUTION

When driving the robot in Manual mode, it is possible to mute the Protective fields and drive the robot into Forbidden zones and Unpreferred zones on the map. This means that the robot will only stop when it is very close to an obstacle and will not respond to zones on the map. This can result in injury to personnel or damage to equipment if the robot is not driven carefully.

• Drive carefully to avoid collisions with any personnel or objects when

driving the robot in Manual mode.

• Avoid driving the robot manually without a clear visual of the robot.

7. Getting started

To drive the robot in Manual mode, follow these steps:

1. On the robot, turn the Operating mode key to Manual mode (turn it to the right).

2. In the robot interface, select Manual control. The Resume button on the robot starts

blinking.

3. On the robot, press the Resume button. The status lights turn blue, indicating that the

robot is in Manual mode.

The robot is shown with an EU pallet lift.

Page 35

4. In the robot interface, select the joystick icon. The joystick control appears.

7. Getting started

5. Drive the robot off the ramp using the joystick.

Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping.

Page 36

7. Getting started

7.6 Checking the hardware status

To check that all hardware components work as intended, follow these steps:

1. Sign in to the robot interface—see Connecting to the robot interface on page 32.

2. Go to Monitoring > Hardware health.

Page 37

7. Getting started

3. 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 Reference Guide on the MiR website.

7.7 Mounting the nameplate

Before using MiR1000, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application.

NOTICE

The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CEmark is invalid.

Page 38

To mount the nameplate correctly, follow these steps:

1. Locate the right side hatch.

2. Clean the area marked in the image below with a degreasing agent.

7. Getting started

3. Mount the nameplate on the cleaned area.

Page 39

7.8 Shutting down the robot

To shut down MiR1000, follow these steps:

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

2. Press the Power button for three seconds.

7. Getting started

3. The robot starts the shutdown process. The status lights waver yellow, and the Power

button blinks red.

4. When the robot finishes the shutdown process, the status and the signal lights go off, and

the Power button turns blue.

When you shut down the robot for transportation, service, or repair, the battery must be disconnected—see your robot's user guide.

7.9 Charging the robot

This section describes how to charge MiR1000 using a MiR cable charger.

A MiR cable charger is not part of the MiR1000 standard delivery. Contact your distributor for more information.

The robot is delivered 40-60% charged.

Page 40

7. Getting started

The rear compartment holds the robot’s battery. To access the rear compartment, see

Accessing the internal parts on page 20.

To charge MiR1000 using the cable charger, connect the cable charger to the charging interface on the robot in the bottom-left corner.

Use only an original MiR cable charger.

For information about the charging time, see specifications on the MiR website.

Page 41

7. Getting started

Page 42

7. Getting started

Page 43

7. Getting started

Page 44

7. Getting started

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