Mobile Industrial Robots Robot interface Reference Guide
Reference Guide (en)
Date: 02/2021
Revision: v.2.2
Copyright and disclaimer
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.
Copyright © 2017-2021 by Mobile Industrial Robots A/S.
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
MiRrobot Reference Guide (en) 02/2021-v.2.2 ©Copyright 2017-2021: Mob ileIndustrial Ro bots A/S. 2
Table of contents
1. About this document 6
1.1 Where to find more information 6
1.2 Version history 6
2. MiRrobot interface 10
2.1 Signing in 10
2.2 Navigating the MiRrobot interface 13
3. Dashboards 15
3.1 Dashboards 16
3.2 Widgets 19
4. Setup 27
4.1 Missions 27
4.2 Maps 64
4.3 Sounds 88
4.4 Transitions 90
4.5 I/O modules 93
4.6 Paths 94
4.7 Path guides 96
4.8 Marker types 99
4.9 Footprints 104
4.10 Users 108
4.11 User groups 111
5. Monitoring 116
5.1 Analytics 117
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 3
5.2 System log 118
5.3 Error logs 119
5.4 Hardware health 120
5.5 Safety system 121
5.6 Mission log 123
6. System 126
6.1 Settings 127
6.2 Processes 147
6.3 PLC registers 151
6.4 Software versions 155
6.5 Backups 157
6.6 Robot setup 158
6.7 Triggers 160
7. Help 164
7.1 Robot information 164
7.2 API documentation 165
7.3 Remote access 166
7.4 Service book 167
7.5 Manual 168
8. Hook 169
8.1 Controlling MiR Hook 170
8.2 Carts 173
8.3 Settings 180
8.4 Setup 181
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 4
9. Modbus register reference 183
9.1 Status messages 183
9.2 PLC triggers 184
9.3 Mission triggers 184
9.4 Action commands 184
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 5
1. About this document
1. About this document
This document describes the MiRrobot interface and is intended for administrators of the
system and users responsible for updating the system regularly.
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.
• 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 MiRFleet.
• Reference guides contain descriptions of all the elements of the robot interface and
MiRFleet 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 MiRFleet. HTTP requests can be
used to control robots, hooks, and MiRFleet.
• MiR network and WiFi guide specifies the performance requirements of your network
and how you must configure it for MiR robots and MiRFleet to operate successfully.
1.2 Version history
This table shows current and previous versions of this document.
Revision
1.0 2017-03-02 First edition 2.0
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 6
Release
date
Description
SW
version
1. About this document
Revision
Release
date
Description
1.1 2017-10-30 Updated to SW version 2.0.2
New features in the robot interface:
• Continue/Pause button added to top bar.
• Pause action added to Missions
• Corrections and improvements throughout the
document
1.2 2017-12-06 Updated to SW version 2.0.14
New features in the robot interface:
• New widgets, improved mapping editor.
• Jumping from 2.0.2 to 2.0.14 to align with old
webinterface versions 1.8.14/1.9.14.
1.3 2018-01-26 Updated to SW version 2.0.15
New features in the robot interface:
SW
version
2.0.2
2.0.14
2.0.15
• Redesigned Dashboard with flexible widgets
and new options, for example, control of
Bluetooth functions
• New feature: Path guides for precise control
of robots´ paths between two positions
• New mapping method: Cartographer
• Positions & Mapping section removed and
fully integrated in Mapping section
1.4 2018-04-19 Updated to SW version 2.0.17
New features in the robot interface:
• New Hook widget: Hook widget described in
chapter 3 Dashboard
• Modbus: a section, Triggers, is added to
chapter 6 System, and a new chapter, 11
Modbus registers, has been added
2.0.17
1.5 2018-05-24 Updated to SW version 2.0.18 2.0.18
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 7
1. About this document
Revision
Release
date
Description
New features in the robot interface:
• New section, Mission log, has been added to
the Monitoring menu
• A WiFi watchdog parameter has been added
to the Advanced settings section
• Minor corrections and improvements
throughout the document
1.6 2018-06-18 Updated to SW version 2.1.0
New features in the robot interface:
• The Directional zones functionality is added to
section 4.3 Maps
• Minor corrections and improvements
throughout the document
SW
version
2.1.0
1.7 2018-07-20 Updated to SW version 2.2.0
2.2.0
New features in the robot interface:
• I/O module feature replaces Bluetooth
feature. Changes to chapters 3. Dashboards,
4.2 Missions, and 4.3 Maps. Chapter 4.9 I/O
modules replaces 4.9 Bluetooth relays
• Sound feature has been updated. Changes to
chapters 4.2 Missions, and 4.3 Maps
1.8 2018-10-01 Updated to SW version 2.3.0.
2.3.0
New features in the robot interface:
• A speed control functionality is added to the
Mission editor
• Minor corrections and improvements
throughout the document
1.9 2019-03-06 Updated to SW version 2.6.0. 2.6.0
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 8
1. About this document
Revision
Release
date
Description
New features in the robot interface:
• Map zones have been reconstructed and new
zone settings are available
• Minor corrections and improvements
throughout the document
2.0 2020-03-30 Updated to SW version 2.8.0
New features in the robot interface:
• Marker types, used for robots driving with
shelves, has been added to the Setup section
• A graphic Footprint editor has been added to
the Setup section
2.1 2020-09-11 Updated to SW 2.10.0
New features in the robot interface:
SW
version
2.8.0
2.10.0
• Changes in cart calibrations for MiR hooks
• Removed default users
• Minor corrections and improvements
throughout the document
2.2 2021-02-09 Updated to SW version 2.10.3.1
New features in the robot interface:
• Turn off TOP FUSE feature added
• References to how to-guides added.
• Proximity sensors settings added
• Minor corrections and improvements
throughout the document
2.10.3.1
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 9
2. MiRrobot interface
2. MiRrobot interface
This section gives a quick overview of the MiRrobot interface.
The interface is responsive and automatically adapts to your use of smartphone, tablet, or
PC.
2.1 Signing in
The interface comes with three default access levels:
• Distributor - the MiR distributor
• Administrator - the end-customer’s production engineer with technical responsibility for
the robot
• User - the daily operator(s) of the robot
There are two ways in which you can sign in to the MiRrobot interface:
• Username and password
• PIN code
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 10
2. MiRrobot interface
System permissions are handled per user group whereas login credentials are handled per
individual user. Read more in the sections Users on page 108 and User groups on page 111.
If necessary, contact your distributor for the guide How to improve IT security
of MiR products.
Accessing the interface
The user interface is accessed by connecting to the robot's WiFi and opening your preferred
web browser. Enter the IPaddress of robot or enter mir.com in the browser's address bar.
The interface can be accessed via Google Chrome, Apple Safari, Mozilla
Firefox, and Microsoft Edge.
Username and password
Enter your username and password to sign in to the robot interface.
After signing in the first time, we recommend to change the passwords of the
default users: Distributor, Administrator, and User. See Users on page 108 to
change the passwords.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 11
2. MiRrobot interface
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.
PIN code
Select the PIN code tab and enter a four-digit PIN code. This PIN code will now function as an
access code to the interface. There is no preconfigured PIN code.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 12
2. MiRrobot interface
2.2 Navigating the MiRrobot interface
To access a section in the MiRrobot interface, first select an item on the main menu, then
select the relevant sub-menu. The section appears in the main window.
For example, to go to the Sounds section, select Setup on the main menu, then select
Sounds on the submenu bar.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 13
2. MiRrobot interface
Top bar
The top bar shows information on the current state of the robot, and you can start and pause
the robot by selecting the button.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 14
3. Dashboards
3. Dashboards
This section describes the items in the Dashboards menu.
The Dashboards menu displays all dashboards currently available on the robot.
In the subsection Dashboards, you can create new dashboards and edit existing ones. Select
Dashboards to open the list of dashboards, and select the Create dashboard button to open
the dashboard designer.
The Dashboards menu contains the following
items:
3.1 Dashboards 16
3.2 Widgets 19
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 15
3. Dashboards
3.1 Dashboards
Dashboards are an easy way for different user groups to control the robot giving direct
access to the individual key functions. A dashboard is made up of a number of widgets, each
representing a feature in the system, such as a particular mission, the map the robot is
running in, or the current mission queue.
Create dashboard
Enter a name in the Name field to create a new dashboard. Select Create dashboard to
continue to the design section. Design the dashboard by adding widgets that represent the
features you want to assign to the dashboard.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 16
3. Dashboards
Dashboard designer
Design the dashboard by selecting widgets from the menus in the top bar. Resize the widgets
by pulling the arrow in the lower right corner and rearrange their order by selecting and
dragging them. Some widgets require further settings. For example, you must select a
particular mission for mission buttons. To do this, select the pen icon in the lower left corner
and select the wanted action.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 17
3. Dashboards
Edit dashboard
The dashboard design can be edited and widgets added or removed.
Select Edit next to the dashboard you want to edit.
You can change the name of the dashboard and select Design to make changes in the
dashboard widgets.
Delete dashboard
You can delete all dashboards that are created by you or another member of the user group
you belong to.
Select Delete next to the dashboard you want to delete. In the next dialog, select Delete
dashboard to delete the dashboard.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 18
3.2 Widgets
This section describes the dashboard widgets.
Maps
3. Dashboards
Locked map
A Locked robot map widget makes the active map of the selected robot visible on the
dashboard. The robot is always shown in the middle of a locked map. Select the robot you
want shown on the dashboard.
Map
A Map widget makes the active map visible on the dashboard. You can add and edit
positions and markers in the widget and adjust the robot's position.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 19
Missions
3. Dashboards
Mission button
You can start a mission from the dashboard by adding a Mission button widget and
selecting a predefined mission.
Pause/Continue button
The Pause/Continue button functions the same way as the pause/continue icon on the top
bar of the robot interface, but may be inserted as wizard if you want it in a larger size.
Mission queue
You can have the mission queue displayed on the dashboard by selecting a Mission queue
widget.
Mission action log
The Mission action log widget displays the individual actions being performed during the
execution of a mission.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 20
3. Dashboards
Mission group
You can select a mission group and have all missions from that group displayed on the
dashboard by adding a Mission group widget.
PLC registers
PLC button/display
Get easy access to PLC functions from the dashboard. A PLC widget can be designed as a
button, for example, to shift between two stages, or a display button, for example, for
monitoring read-out values.
I/O module
I/O configuration
The I/O configuration widget lets you program one or more actions that you want the I/O
module to perform when the outputs are in a certain state and when you select the button.
Add states to the widget and configure the conditions that trigger the state and the outputs
that the robot sets on the I/O module when you select the widget. Use the Reset section to
configure a default output configuration.
I/O module
The I/O module widget lets you connect and disconnect I/O modules from the dashboard.
I/O status
The I/O status widget shows the current status of the selected I/O module.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 21
Hook
3. Dashboards
Cart actions
This widget lets you queue the following missions: Pick up cart, Place cart.
Use the check boxes to define which missions are available in the widget. You must select at
least one option (either Pick up cart or Place cart).
When you select the widget, the robot adds the mission shown in the widget to the mission
queue. In the Place cart mission, the robot releases the gripper, lowers the hook, and leaves
the cart in the current position. In the Pick up cart mission, the robot tries to find a cart
within the hook camera's sight and pick it up. For the Pick up cart mission to work, it is
necessary that the hook camera detects the QR code or AprilTag at the robot's current
position.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 22
3. Dashboards
Hook brake
This widget lets you activate and deactivate the hook brake manually. The text in the widget
shows the action that it executes when you select it and changes depending on the state of
the hook brake. For example, if the brake is active (the arm is locked), the widget reads
Deactivate hook brake, and selecting the widget deactivates the brake.
After you select the widget, it shows the current action and you have an option to undo the
action until it is over. For example, if the brake is active and you select the widget, it shows
Deactivating... Click to undo.
Hook gripper control
This widget lets you open and close the hook gripper. This widget shows the current action
(closing or opening) and lets you undo it during execution.
Hook height
This widget lets you set the height of the hook manually. Use the arrows to change the value.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 23
Selecting the height value opens the following dialog:
Hook information
This widget shows the following information about the hook:
• Hook brake state
• Hook gripper state
• Hook height
• Hook angle
3. Dashboards
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 24
Miscellaneous
3. Dashboards
Distributor
This widget shows information about the distributor if any distributor data has been entered
in the Distributor data section under System > Settings.
Error log button
The Error log button allows you to get an error log via the dashboard. The error log is a list
of all detected system errors. Each entry is shown with a description, an indication of which
module is affected, and the time when the error occurred.
Joystick
Make one or more joysticks available directly on the dashboard. Different speeds can be
selected for the joysticks; slow, medium or fast. The standard joystick in the top bar is fast,
except when mapping where it runs medium speed.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 25
3. Dashboards
Log-out button
The Log-out button allows you to log off via the dashboard.
Pause/Continue button
The Pause/Continue button functions the same way as the pause/continue icon on the top
bar of the robot interface, but may be inserted as wizard if you want it in a larger size.
Robot summary
The Robot summary widget makes it possible to have information about the robot on the
dashboard: name, serial no., battery percentage, remaining battery time, uptime, and
moved distance.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 26
4. Setup
This section describes the items in the Setup menu.
The Setup menu contains the following items:
4.1 Missions 27
4.2 Maps 64
4.3 Sounds 88
4.4 Transitions 90
4.5 I/O modules 93
4.6 Paths 94
4. Setup
4.7 Path guides 96
4.8 Marker types 99
4.9 Footprints 104
4.10 Users 108
4.11 User groups 111
4.1 Missions
A mission is a predefined series of actions that the robot can be set to perform. A mission
can be a simple transportation task between defined positions or a more complex job that
includes both moving between positions and performing actions, such as unloading a pallet,
moving to a charging station when the battery is low, or sending an email on arrival at a
position.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 27
4. Setup
Missions are started by adding a given mission to the mission queue. The robot will perform
the missions in the order they are added, and an operator may rearrange the queued
missions if needed.
In MiRFleet, missions are controlled in the Scheduler. The Scheduler makes it possible to
prioritize missions in queue and to set a start time.
Start mission
You can enqueue a mission in one of the following ways:
• From a dashboard
You can configure a Mission button widget on a dashboard.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 28
• From the Missions menu
To enqueue a mission in the Missions menu, select Queue mission for the mission you
want to add to the robot's mission queue.
4. Setup
If there are variable parameters in a mission, for example a variable position, you will be
asked to select the position when adding the mission to the queue.
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 29
4. Setup
The selected parameters are shown in blue text.
Creating a mission
MiR robots function through missions that you create. A mission is made up of actions, such
as: move actions, logic actions, docking actions, and sounds, which can be put together to
form a mission with as many actions as needed. Missions themselves can also be embedded
into other missions.
Most actions have adjustable parameters, for example, which position to go to. Most actions
can also use variables, enabling the user to choose the value of a parameter each time the
mission is used. This can be practical in cases where the robot performs the same series of
actions in different areas of the site that require different parameter settings in the mission
actions.
When you create a mission, you can save it in the default Missions group, or you can choose
to save it in any of the available actions groups. The actions groups are found in the top bar
of the mission editor window, and you can distinguish missions from actions by the small
icons shown next to their names: missions have a target icon , and actions have a runningman icon .
MiRrobot Reference Guide (en) 02/2021 - v.2.2 ©Cop yright 2017-2021: Mobile Industrial Robots A/S. 30
Loading...