Mobile Industrial Robots MiR 250 User Manual

User Guide (en)

Date: 03/2021 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 MiR250 Shelf Carrier 11

2.2 External parts 13

2.3 Internal parts 21

2.4 How MiR Shelf Carrier 250 works 30

3. Warranty 31

4. Safety 32

4.1 Safety message types 32

4.2 General safety precautions 33

4.3 Intended use 38

4.4 Users 39

4.5 Foreseeable misuse 40

4.6 Warning label 41

4.7 Residual risks 41

5. Accessing the internal parts 43

5.1 Front compartment 44

5.2 Rear compartment 45

5.3 Side compartments 46

5.4 MiR Shelf Carrier 250 47

6. Getting started 48

6.1 In the box 48

6.2 Unpacking MiR250 Shelf Carrier 50

6.3 Connecting the battery 53

6.4 Powering up the robot 55

6.5 Connecting to the robot interface 58

6.6 Driving the robot in Manual mode 59

6.7 Moving the robot by hand 62

6.8 Checking the hardware status 64

6.9 Mounting the nameplate 65

6.10 Enable the MiR250 Shelf Carrier feature 67

6.11 Testing the top module 69

6.12 Shutting down the robot 71

7. Battery and charging 73

7.1 Charging the robot 73

7.2 Disconnecting the battery 74

7.3 Enabling fast swap 75

7.4 Swapping out the lithium-ion battery 77

7.5 Battery storage 79

7.6 Battery disposal 80

8. IT security 82

8.1 Managing users and passwords 82

8.2 Software security patches 82

9. Navigation and control system 84

9.1 System overview 84

9.2 User input 86

9.3 Global planner 86

9.4 Local planner 88

9.5 Obstacle detection 89

9.6 Localization 94

9.7 Motor controller and motors 97

9.8 Brakes 97

10. Safety system 99

10.1 System overview 99

10.2 Personnel detection 104

10.3 Overspeed avoidance 108

10.4 Stability 109

10.5 Emergency stop buttons 109

10.6 MiR Shelf Carrier 250 safety functions 110

10.7 Safety stop 112

10.8 Light indicators and speakers 113

11. Commissioning 117

11.1 Analysis of the work environment 117

11.2 Risk assessment 119

11.3 Shelf specifications 120

11.4 Creating and configuring maps 124

11.5 Markers 135

11.6 Positions 138

11.7 Creating missions 139

11.8 Creating a footprint 142

11.9 Using operating hazard zones 145

11.10 Making a brake test 150

11.11 Creating user groups and users 151

11.12 Creating dashboards 154

11.13 Updating MiR250 Shelf Carrier software 156

11.14 Creating backups 157

11.15 System settings 157

12. Usage 166

12.1 Creating markers 166

12.2 Creating positions 172

12.3 Creating a marker type 174

12.4 Creating the mission Prompt user 177

12.5 Creating the mission Try/Catch 182

12.6 Creating the mission Variable docking 188

12.7 Creating the mission 80 cm doorway 196

12.8 Creating the mission Pick up and place shelf 203

12.9 Creating the mission Place shelf at VL-marker 208

12.10 Testing a mission 213

13. Unmounting the top module 215

14. Maintenance 220

14.1 Regular weekly checks and maintenance tasks 220

14.2 Regular checks and replacements 222

14.3 Battery maintenance 224

15. Packing for transportation 226

15.1 Original packaging 226

15.2 Packing the robot for transportation 227

15.3 Battery 227

16. Disposal of robot 228

17. Payload distribution 229

17.1 Side view 230

17.2 Front view 232

17.3 Top view 234

18. Interface specifications 236

18.1 Left side interfaces 236

18.2 Right side interfaces 238

19. Error handling 243

19.1 Software errors 243

19.2 Hardware errors 244

1. About this document

This user guide explains how to set up and start operating your MiR250 Shelf Carrier 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 MiR250 Shelf Carrier along with instructions for proper maintenance of the robot. You will also find information regarding safety and specifications needed to commission a safe MiR250 Shelf Carrier 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.

MiR250 Shelf Carrier

Revision Release date Description HW

1.0 2020-06-26 First edition 1.0

1.1 2020-07-01 General improvements throughout the document.

1.2 2020-07-08 Update section: Operating hazard zones

General improvements throughout the document.

1.3 2020-11-30 Added sections: Warranty, Markers, and Positions.

Updated section: Battery storage with Power save mode and Deep sleep mode.

General improvements throughout the document.

1.4 2021-03-31 Added sections: Enabling fast swap and Swapping out the lithium-ion battery.

General improvements throughout the document.

1.0

2. Product presentation

MiR250 Shelf Carrier is an autonomous mobile robot with a top module mounted to it. It is designed to transport wheeled shelves indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted.

Users operate MiR250 Shelf Carrier 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58. The robot can be set up to run a fixed route,

be called on demand, or perform more complex missions.

The robot interface of MiR250 Shelf Carrier 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84. 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.

MiR250 Shelf Carrier is available both in an ESD approved version, which is black, and a nonESD approved version, which is gray.

MiR250 Shelf Carrier transports shelves that are designed according to the specifications in

Shelf specifications on page120. To ensure that the robot has enough traction to transport a

total payload of up to 300 kg, a traction kit is installed within the robot.

2. Product presentation

The total payload includes both the weight of the shelf and the load on the shelf.

Specifications for MiR250 Shelf Carrier are available on the MiR website.

2.1 Main features of MiR250 Shelf Carrier

The main features of MiR250 Shelf Carrier 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 shelves

The robot is designed to automate transportation of loaded shelves with a weight of up to 300 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182.

2. Product presentation

• 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124.

2. Product presentation

2.2 External parts

This section presents the parts of MiR250 Shelf Carrier that are visible on the outside.

Figure 2.1. MiR250 Shelf Carrier external parts.

Table 2.1.

Identification of the external parts in Figure 2.1

Pos. Description Pos. Description

1 Corner bumper: four pcs,

one on each corner

3 Swivel wheel with foot

guard: four pcs, one in each corner

2 Front cover: opens to front

compartment—see Internal

parts on page21

4 3D depth camera: two pcs,

both in the front—see

Obstacle detection on page89

Pos. Description Pos. Description

2. Product presentation

5 Nanoscan3 safety laser

scanner: two pcs, in opposite corners—see

Obstacle detection on page89

7 Side cover: opens to side

compartment—see Internal

parts on page21

9 Manual brake release

switch—see Control panel

on page16

11 Signal light: eight pcs, two

on each corner—see Light

indicators and speakers on page113

6 Status light: on all four sides

of the robot—see Light

indicators and speakers on page113

8 Control panel—see Control

panel on page16

10 Rear cover: opens to rear

compartment—see Internal

parts on page21

12 Proximity sensor: eight pcs,

two in each corner behind corner covers—see

Obstacle detection on page89

13 Emergency stop button 14 Rear carrier pin

15 Front carrier pin

Identification label

MiR250 Shelf Carrier is delivered with identification labels mounted to each product. The identification labels identify the product, the product serial number, and the hardware version of the product.

2. Product presentation

The identification label of MiR250 is located on the rear cover next to the battery.

Figure 2.2. Placement of the MiR250 identification label.

The identification label of MiR Shelf Carrier 250 is located on the left side of the shelf carrier beneath its cover.

Figure 2.3. Placement of the MiR Shelf Carrier 250 identification label.

2. Product presentation

Figure 2.4. Example of a MiR Shelf Carrier 250 identification label.

Nameplate

Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR250 Shelf Carrier 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65.

Figure 2.5. Example of a MiR250 Shelf Carrier nameplate.

Control panel

MiR250 Shelf Carrier has a control panel in the rear-left corner of the robot.

The control panel buttons

2. Product presentation

Figure 2.6. The MiR250 Shelf Carrier control panel.

Table 2.2.

Identification of items on the control panel in Figure 2.6

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.

2. Product presentation

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.

The Operating mode key

The Operating mode key lets you switch between operating modes.

• Left position: Autonomous mode

Puts the robot in Autonomous mode.

2. Product presentation

• 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 on the next page.

Manual brake release switch

The Manual brake release switch is located below the control panel and releases the mechanical brakes on MiR250 Shelf Carrier. You release the robot's mechanical brakes by turning the Manual brake release switch clockwise.

Figure 2.7. The manual brake release switch is located below the control panel.

2. Product presentation

The mechanical brakes require electrical power to be released, so if the robot is without power, the mechanical brakes cannot be released. You can see if the robot is powered, by checking if the Power button on the control panel lights up.

If MiR250 Shelf Carrier shuts down due to low battery percentage, there is still enough power to release the brakes for approximately a week after.

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.

Operating modes

MiR250 Shelf Carrier has two operating modes: Manual mode and Autonomous mode.

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

2. Product presentation

mode.

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

page59.

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.

2.3 Internal parts

Most internal parts of MiR250 Shelf Carrier are accessed through covers 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43.

WARNING

Removing covers from the robot exposes parts connected to the power supply, risking damage to the robot from a short circuit and electrical shock to personnel.

• Before removing any covers, turn off the robot, and disconnect the

battery—see Disconnecting the battery on page74.

Front compartment

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

2. Product presentation

To open the front compartment, see Accessing the internal parts on page43.

Front compartment components

The front compartment components are listed in Table 2.3.

Figure 2.8. Internal parts of the front compartment.

Table 2.3.

Identification of internal parts in Figure 2.8

Pos. Description Pos. Description

1 Loudspeaker 2 Carrier board with motor

controller controlling the leftside drivetrain

3 Carrier board with motor

4 Robot computer controller controlling the rightside drivetrain

5 Charging pads under robot and

broom for keeping dirt away from the charging pads

2. Product presentation

Rear compartment

The rear compartment holds the robot’s battery, Battery disconnect lever, power board, and safety PLC. The battery and Battery disconnect lever can be accessed without the use of tools. The other components in the rear compartment are only accessible via use of tools.

To open the rear compartment, see Accessing the internal parts on page43.

NOTICE

The unique nameplate of your robot is to be mounted on the rear compartment cover—see Mounting the nameplate on page65. Make sure you do not swap the cover with covers from other robots.

Rear compartment components

The rear compartment components are listed in Table 2.4.

2. Product presentation

Figure 2.9. Internal parts of the rear compartment.

Table 2.4.

Identification of internal parts in Figure 2.9

Pos. Description Pos. Description

1 Battery disconnect lever 2 Battery connector

3 Battery 4 Cable charging interface

5 Power board for motor

controller, robot computer, and safety PLC

6 Safety PLC

Side compartments

The side compartments contain the bogies and drive wheels.

To access a side compartment, see Accessing the internal parts on page43.

Side compartment components

The left side compartment components are listed in Table 2.5

Figure 2.10. Internal parts of the left side compartment.

Table 2.5.

Identification of internal parts in Figure 2.10

2. Product presentation

Pos. Description Pos. Description

1 Safe Stop 1 (SS1) contactor 2 Safe Torque Off (STO) contactor

3 Bogie and drivetrain consisting

4 Safe Torque Off (STO) contactor of motor, gearbox, encoder, brake, drive wheel, and assembly parts

The right side compartment components are listed in Table 2.6

Figure 2.11. Internal parts of the right side compartment.

2. Product presentation

Table 2.6.

Identification of internal parts in Figure 2.11

Pos. Description Pos. Description

1 Router 2 Safe Stop 1 (SS1) contactor

3 Bogie and drivetrain consisting

of motor, gearbox, encoder, brake, drive wheel, and assembly parts

Top compartments

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

The top compartments are only accessible after the top module has been removed—see Unmounting the top module on page215.

2. Product presentation

Figure 2.12. The top compartments on the robot.

Top compartment components

The top compartments interfaces are listed in Table 2.7. For detailed information on electrical interfaces, see Interface specifications on page236.

Figure 2.13. Interfaces in the top compartments.

2. Product presentation

Table 2.7.

Identification of interfaces in Figure 2.13

Pos. Description Pos. Description

1 Emergency stop 2 Auxiliary power connector

3 Ethernet 4 General purpose I/Os

5 Auxiliary safety functions I/Os

MiR Shelf Carrier 250

Within the shelf carrier top module there is an actuator and a lifting device to raise and lower the pins, sensor switches, and safety contactors.

To access the internal parts of MiR Shelf Carrier 250, see Accessing the internal parts on

page43.

MiR Shelf Carrier 250 components

The components of MiR Shelf Carrier 250 are listed in Table 2.8.

2. Product presentation

Figure 2.14. Internal parts in MiR Shelf Carrier 250.

Table 2.8.

Identification of internal parts in Figure 2.14

Pos. Description Pos. Description

1 Front Emergency stop button 2 Carrier pins

3 Position switches 4 GPIOconnectors

5 Auxiliary safety IO connectors 6 Safety contactors K1 and K2

7 Rear Emergency stop button 8 Lifting mechanism and actuator

9 Emergency stop connector

2. Product presentation

2.4 How MiR Shelf Carrier 250 works

When MiR250 Shelf Carrier docks to a shelf, the carrier pins can be raised to pick up a shelf and lowered to place a shelf at a shelf position.

MiR250 Shelf Carrier uses I/O modules in the safety PLC to control the carrier pins.The robot uses two inputs and two outputs to communicate with MiR Shelf Carrier 250.

The outputs are used to control the position of MiR Shelf Carrier 250, and the inputs are used to signal the current position of the MiR Shelf Carrier 250—see Testing the top module

on page69.

To see the menu options for the I/O modules under Setup >IO modules, you must enable them first—see Enable the MiR250 Shelf Carrier feature on page67.

Table 2.9.

Descriptions of how the robot's internal outputs control the shelf carrier

Output Function

2 Lowers the carrier pins when active.

3 Raises the carrier pins when active.

Table 2.10.

Descriptions of what the robot's internal inputs signal regarding the status of the shelf

carrier

Input Function

2 Is active when the carrier pins are down.

3 Is active when the carrier pins are up.

+ 219 hidden pages

Mobile Industrial Robots MiR 250 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 MiR250 Shelf Carrier

2.2 External parts

2.3 Internal parts

2.4 How MiR Shelf Carrier 250 works