Mobile Industrial Robots MIR 1000 Quick Start Guide

Quick Start (en)

Date: 12/2019 Revision: v.2.0

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

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

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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

+ 30 hidden pages

Mobile Industrial Robots MIR 1000 Quick Start Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Version history

2. Safety

2.1 Safety message types

2.2 General safety precautions

2.3 Intended use

2.4 Users

2.5 Foreseeable misuse

2.6 Residual risks

2.7 Warning label

3. Light indicators and speakers

3.1 Status lights