MIR MiR200 User Manual

User Guide (en)
Date: 10/2020
Revision: v.3.1
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 © 2017-2020 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: [email protected]
CVR: 35251235
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Table of contents
1. About this document
7
1.1 Where to find more information
7
1.2 Version history
8
2. Product presentation
9
2.1 Main features of MiR200
10
2.2 Top modules
11
2.3 External parts
11
2.4 Internal parts
16
3. Safety
19
3.1 Safety message types
19
3.2 General safety precautions
20
3.3 Intended use
24
3.4 Users
25
3.5 Foreseeable misuse
26
3.6 Warning label
27
3.7 Residual risks
27
4. Getting started
29
4.1 In the box
29
4.2 Unpacking MiR200
30
4.3 Connecting the battery
32
4.4 Powering up the robot
38
4.5 Connecting to the robot interface
39
4.6 Driving the robot in Manual mode
41
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4.7 Checking the hardware status
43
4.8 Mounting the nameplate
43
4.9 Shutting down the robot
45
5. Battery and charging
46
5.1 Charging the robot
46
5.2 Disconnecting the battery
48
5.3 Battery storage
50
5.4 Battery disposal
50
6. IT security
52
6.1 Managing users and passwords
52
6.2 Software security patches
52
7. Navigation and control system
54
7.1 System overview
54
7.2 User input
56
7.3 Global planner
56
7.4 Local planner
58
7.5 Obstacle detection
59
7.6 Localization
65
7.7 Motor controller and motors
69
7.8 Brakes
70
8. Safety system
71
8.1 System overview
71
8.2 Collision avoidance
75
8.3 Overspeed avoidance
80
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8.4 Stability
80
8.5 Emergency stop circuit
80
8.6 Robot computer
81
8.7 Light indicators and speakers
82
9. Commissioning
84
9.1 Analysis of the work environment
84
9.2 Risk assessment
86
9.3 Creating and configuring maps
87
9.4 Markers
98
9.5 Positions
101
9.6 Creating missions
102
9.7 Creating a footprint
105
9.8 Making a brake test
109
9.9 Creating user groups and users
110
9.10 Creating dashboards
113
9.11 Updating MiR200 software
114
9.12 Creating backups
115
9.13 System settings
115
10. Usage
123
10.1 Creating markers
123
10.2 Creating positions
128
10.3 Creating the mission Prompt user
130
10.4 Creating the mission Try/Catch
135
10.5 Creating the mission Variable footprint
141
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10.6 Testing a mission
11. Applications
11.1 Mounting a top module
12. Maintenance
144
146
146
148
12.1 Regular weekly checks and maintenance tasks
148
12.2 Regular checks and replacements
149
12.3 Battery maintenance
152
13. Packing for transportation
153
13.1 Original packaging
153
13.2 Packing the robot for transportation
154
13.3 Battery
154
14. Disposal of robot
155
15. Payload specifications
156
16. Interface specifications
164
16.1 Application interface
164
16.2 Emergency stop
165
17. Error handling
167
17.1 Software errors
167
17.2 Hardware errors
168
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1. About this document
1. About this document
This user guide explains how to set up and start operating your MiR200 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 MiR200 along with
instructions for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR200 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.
• 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 softwarebased, 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. Simple http requests can
be used to control robots, hooks and 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.
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1. About this document
1.2 Version history
This table shows current and previous versions of this manual and their interrelations with
hardware releases.
the robot
Revision
Release date
Description
HW
1.0
2017-11-24
First edition.
1.0
1.1
2018-08-17
Updated for hardware release 1.2.
1.2
Updates and improvements throughout the manual.
1.2
2018-11-28
Updated for hardware release 2.0.
2.0
Updates and improvements throughout the manual.
1.3
2019-06-26
Updated for hardware release 3.0.
3.0
Updates and improvements throughout the manual.
1.4
2019-08-20
Updated for hardware release 5.0.
5.0
Updates and improvements throughout the manual.
3.0
2020-10-01
New manual structure.
5.0
New chapters: Warning label, Mounting the
nameplate, Battery and charging, IT security,
Navigation and control system, Safety system,
Usage, Disposal of robot, Error handling and
Glossary.
As a result of the new manual structure, the MiR200
User Guide has been aligned with the top module
version history. Therefore, version 2.0 is skipped
and is instead named 3.0.
3.1
2020-10-30
Updates and improvements throughout the manual.
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2. Product presentation
2. Product presentation
MiR200 is an autonomous mobile robot that can transport loads up to 200 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR200 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 39. The robot can be set up to run a fixed route, be called on demand, or
perform more complex missions.
The robot interface of MiR200 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 54. 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 MiR200 are available on the MiR website.
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2. Product presentation
2.1 Main features of MiR200
The main features of MiR200 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 200 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 135.
• 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 87.
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2. Product presentation
2.2 Top modules
The following top modules are available for MiR200:
• MiR Hook 200
A hook may be mounted on the robot enabling it to automate the internal transport of
carts.
To learn more about the top modules, go to the MiR website.
2.3 External parts
This section presents the parts of MiR200 that are visible on the outside.
Figure 2.1. MiR200 external parts.
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2. Product presentation
Table 2.1.
Identification of the external parts in Figure 2.1.
Pos.
Description
Pos.
Description
1
Top cover: access to internal
parts—see Internal parts on
page 16
2
Swivel wheel: four pcs., one
in each corner
3
Drive wheel: two pcs.,
differential control
4
Behind the removable corner
cover: HDMI port and USB
service port - connects to the
robot computer
5
Scanner reset button (yellow)
and On/Off button (blue)
6
Ultrasound sensors: two pcs.,
for detection of transparent
objects (side)—see Obstacle
detection on page 59
7
3D depth camera: two pcs.,
both in the front—see
Obstacle detection on
page 59
8
Pad connectors: two pcs., for
connection to charging pins
on MiR Charge 24V charging
station
9
S300 safety laser scanner
(front)—see Obstacle
detection on page 59
10
Side cover
11
Behind removable rear
corner cover: Charging port
with switch
12
Ultrasound sensors: two pcs.,
for detection of transparent
objects (rear)—see Obstacle
detection on page 59
13
Rear cover
14
S300 safety laser scanner
(rear)—see Obstacle
detection on page 59
15
RJ45 Ethernet—see Interface
specifications on page 164
16
Application power: for
connection to top modules
such as hooks—see Interface
specifications on page 164
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2. Product presentation
Pos.
Description
17
Antenna socket
19
Emergency stop interface:
with added options for
connection to small units and
I5 input on SICK scanners—
see Interface specifications
on page 164
Pos.
18
Description
USB interface - connects to
the robot's PC
Identification label
MiR200 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 MiR200 is located on the back left side of the chassis underneath
the router.
Figure 2.2. Placement of the identification label.
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2. Product presentation
Figure 2.3. Example of a MiR200 identification label.
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR200 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 43.
Figure 2.4. Example of a MiR200 nameplate.
Control panel
MiR200 has a control panel in the rear-left corner of the robot.
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2. Product presentation
The control panel buttons
Figure 2.5. The MiR200 control panel.
Table 2.1.
MiR200 control panel.
Pos.
1
Description
Scanner reset
Pos.
2
Description
Power
Scanner reset
Pressing this button restarts the scanners after 5-7 seconds. This can be useful if you
experience issues with the safety laser scanners.
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Operating modes
MiR200 has two operating modes: Manual mode and Autonomous mode.
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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 41.
Autonomous mode
In this mode, the robot executes the programmed missions. The robot enters this mode
automatically when you press Continue in the robot interface.
2.4 Internal parts
This section presents the parts of MiR200 that are visible on the inside after removing the
top cover.
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 covers, turn off the robot, and disconnect the battery—see
Disconnecting the battery on page 48.
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2. Product presentation
Figure 2.6. Internal parts of MiR200.
Table 2.1.
Identification of internal parts in Figure 2.6.
Pos.
Description
Pos.
Description
1
Breaker: automatic fuse
between battery and
components
2
Robot power off relay:
releases the latching relay
(pos. 17) when the robot is
shutting down.
3
Motor controller: manages
the two motor drives
4
Brake relay: short circuits
motor windings for faster
braking
5
Battery connector for extra
battery
6
Safe torque off relay
(controlled by Safety PLC)
7
CAN bus connection for
8
Battery disconnect switch
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2. Product presentation
Pos.
Description
Pos.
Description
Battery Management
System, logging data such as
number of charge cycles
9
Router: local network, 2.4
and 5 GHz
10
Battery with connector: main
power to the robot
11
Safety PLC
12
Optocoupler: emergency
stop signal to motor
controller
13
Loudspeaker
14
MiR board: interface board
for gyroscope,
accelerometer, ultrasound,
light, on/off circuit, and CAN
bus communication
15
24 V power supply: secures
stable voltage for the robot
computer and PLC
16
Latching relay: activates the
24 V power supply turning on
the robot
17
Transient protection module:
provides circuit protection
for the power supplies by
absorbing voltage spikes
from battery or top mounted
applications
18
Robot computer
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3. Safety
3. Safety
Read the information in this section before powering up and operating MiR200.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR200 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR200,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR200.
3.1 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.
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3. Safety
3.2 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
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.
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3. Safety
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.
• 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 the original charger.
WARNING
Attempting to charge batteries outside the robot can lead to electrical shock
or burns.
• Never charge the batteries outside the robot.
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3. 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 the original 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 MiR200.
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3. Safety
WARNING
Load falling or the 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 Payload specifications on page 156.
CAUTION
Load placed directly on top of the robot cover may cause damage to the cover
of the robot.
• Ensure that the load is not placed directly on top of the robot cover.
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.
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3. Safety
NOTICE
Moving the robot by hand forcefully may cause damage to the top cover.
• If the robot is stuck, push or pull gently on the top cover corners to move
the robot.
3.3 Intended use
MiR200 is intended to be commissioned and used in indoor industrial environments where
access for the public is restricted.
MiR200 is intended to be commissioned according to the guidelines in Commissioning on
page 84. This is a prerequisite for safe usage of MiR200.
MiR200 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.
MiR200 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 MiR200.
Are within the requirements in Payload specifications on page 156.
If used with custom modules, all obligations of a manufacturer apply to the individual who
performs the modifications in accordance with the machinery directive.
MiR200 is designed for and all risks are considered when used with one of the following
types of top modules:
• MiR Hook 200 to tow carts.
MiR200 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 MiR200 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.
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3. Safety
The following list gives examples of modules that are foreseeable misuse of MiR200:
•
•
•
•
•
Top modules (including total payload) that increase the footprint of MiR200
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 guidelines in
Commissioning on page 84 to ensure a safe system.
3.4 Users
MiR200 is only intended to be used by personnel that have received training in their
required tasks.
There are three types of intended users for MiR200: commissioners, operators, and direct
users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR200 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 MiR200, and ergonomic loading and unloading methods if
relevant.
• Ensuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
Operators
Operators have thorough knowledge of MiR200 and of the safety precautions presented in
this user guide. Operators have the following main tasks:
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3. Safety
• Servicing and maintaining MiR200.
• Creating and changing missions and map features in the robot interface.
Direct users
Direct users are familiar with the safety precautions in this user guide and have the
following main tasks:
• Assigning missions to MiR200.
• Fastening loads to MiR200 securely.
• Loading and unloading from a paused robot.
All other persons in the vicinity of MiR200 are considered indirect users and must know how
to act when they are close to the robot.
3.5 Foreseeable misuse
Any use of MiR200 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—see Payload
specifications on page 156
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
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3. Safety
NOTICE
If the robot is misused, the warranty becomes void. Only use the robot as
described in Intended use on page 24.
3.6 Warning label
MiR200 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 3.1. The warning label must be placed on the robot or top module.
3.7 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 MiR200:
• 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. It will only drive 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 52.
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3. Safety
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
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4. Getting started
4. Getting started
This section describes how to get started with MiR200.
NOTICE
Read Safety on page 19 before powering up MiR200.
4.1 In the box
This section describes the contents of the MiR200 box.
Figure 4.1. The robot and accessories
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4. Getting started
The box contains:
• The MiR200 robot
• The robot kit which contains:
• One Emergency stop box, external antenna, and four pcs. M10x40 bolts
• One charging cable
• One external charger, 24 V DC, 10 A
• A MiR200 document folder containing a USB flash drive and the following printed
documents:
• MiR200 Quick Start
• 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:
• MiR200 User Guide
• MiR200 Quick Start
• MiR Network and WiFi Guide
• MiR Robot Reference Guide
• MiR Robot REST API Reference
• Getting the robot online
• CE Declaration of Conformity
4.2 Unpacking MiR200
This section describes how to unpack the robot.
Keep the original packaging for future transportation of MiR200.
Follow these steps to unpack the robot:
1. Place the box with the robot so that there is 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.
2. Cut the protective straps surrounding the box.
3. Remove the lid from the box.
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4. Getting started
4. Take the folder with the printed documents and the USB flash drive out of the box.
5. Remove the walls of the box and the protective foam blocks.
6. Place the lid of the box so that you can use it as a ramp at the robot's front or rear end.
Align the lid so that it is flush with the base of the box.
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4. Getting started
4.3 Connecting the battery
Follow these steps to connect the battery to the robot:
1. Grab the two rounded corners and carefully lift off the cover.
2. Connect one of the two battery cables to the plug on top of the battery box. The second
cable is for an extra battery.
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4. Getting started
3. Switch on the three relays placed in the corner by the front laser scanner. Start with the
outer relay that is closest to the robot frame and continue towards the center of the
robot. The outer relay is the 32 A main power relay.
4. Ensure that the Battery disconnect switch, placed in the rear right corner, is on (the two
yellow indicators pointing to On).
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4. Getting started
5. Connect the two ESD cables attached to the robot frame, next to the loudspeaker, and
inside the cover.
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4. Getting started
6. Put the cover back on and make sure to fit it correctly over the connector openings.
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4. Getting started
7. Mount and connect the Emergency stop box on top of the robot cover.
If a top module is going to be mounted on top of the robot, the Emergency
stop must be placed in a position where it is easy to reach—see the
mounting instructions for your top module.
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4. Getting started
8. Connect the antenna to the connector on top of the robot cover. Remove the plastic cap
from the connector before fixing the antenna.
The antenna can be lowered and rotated in all directions to fit under a top
module.
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4. Getting started
4.4 Powering up the robot
Follow these steps to power up the robot:
1. Press the Power button in the corner to turn on the robot. The status lights waver yellow,
and the robot starts the software initialization process. When the initialization process
ends, the robot goes into Protective stop.
2. Press the reset button on the Emergency stop when the button lights up. The status lights
switches to yellow constant light, indicating that the robot is paused and ready to
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4. Getting started
operate.
4.5 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.
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4. Getting started
Follow these steps to connect to the robot interface:
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.
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4. Getting started
3. Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in
Manual mode below.
4.6 Driving the robot in Manual mode
CAUTION
When driving the robot in manual mode, it is possible to drive the robot into
Forbidden zones and Unpreferred 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.
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4. Getting started
To drive the robot in Manual mode, follow these steps:
1. In the robot interface, select the joystick icon. The joystick control appears.
2. 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.
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4. Getting started
4.7 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 39.
2. Go to Monitoring > Hardware health.
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.
4.8 Mounting the nameplate
Before using MiR200, you must mount its unique nameplate to it. The nameplate contains
information specific to your MiR application—see Nameplate on page 14.
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4. Getting started
NOTICE
The nameplate must be mounted as described in the following steps. If
mounted incorrectly, the CE mark is invalid.
The following steps describe how to mount the nameplate correctly:
1. Locate the area below the side cover near the swivel wheel at the rear end of the robot—
see External parts on page 11.
2. Clean the area marked in the image below with a degreasing agent. If you cannot access
the area, either lift the robot to an appropriate height or remove the top cover to gain
access.
3. Mount the nameplate on the cleaned area.
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4. Getting started
4.9 Shutting down the robot
Follow these steps to shut down MiR200:
1. Ensure that the robot is not moving or executing an action.
2. Press the Power button for three seconds.
3. The robot starts the shutdown process. The status lights waver yellow.
4. When the robot finishes the shutdown process, the status lights are off.
When you shut down the robot for transportation, service, or repair, the battery must be
disconnected—see Disconnecting the battery on page 48.
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5. Battery and charging
5. Battery and charging
The robot is powered by a lithium battery that can be charged with a MiR cable charger or a
MiR Charge 24V charging station.
5.1 Charging the robot
This section describes how to charge MiR200 using a MiR cable charger.
The robot is delivered 40-60% charged.
To avoid fast discharging and depleting the battery, we recommend that you
turn off the robot while charging with a cable.
If you are charging two robots right after each other with a cable, wait
approximately one minute between unplugging the first robot and plugging in
the second. This will ensure that the charger registers that a new robot is
being charged.
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5. Battery and charging
To charge MiR200 using the cable charger, connect the cable charger to the charging
interface on the robot in the rear-left corner. Follow these steps to do this:
1. Remove the rear corner by pulling it towards you. You may have to apply a bit of force
the first couple of times.
2. Attach the charger to the robot’s charging socket and to a power outlet. Turn on the
rocker switch on the robot to begin charging.
Use only the original charging cable.
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5. Battery and charging
3. Look at the indicator lights on the charger to confirm that the robot starts charging. If the
plug is not connected properly to the socket, the robot will not start the charging.
4. Turn off the rocker switch and disconnect the charging cable from the robot. Slide the
corner cover back on.
The robot detects both cable and activated charging-button. If either the
charging switch is turned on or the cable charger is connected, the robot
enters Protective stop.
For information about the charging time, see specifications on the MiR website.
5.2 Disconnecting the battery
Whenever the robot is to be transported, undergo maintenance, or stored for long periods of
time, you should always disconnect the battery.
Follow these steps to disconnect the battery:
1. Turn off the robot.
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5. Battery and charging
2. Turn the Battery disconnect switch to Off (the two yellow indicators pointing to Off).
3. Remove the top cover.
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5. Battery and charging
4. Disconnect the battery by unplugging the blue battery cable from the battery box.
5. Place the top cover back on the robot.
5.3 Battery storage
The battery should be stored in an area at room temperature with a non-condensing relative
air humidity—see specifications on the MiR website. Temperatures and humidity below or
above the specifications will shorten the service life of the battery.
The battery should not be exposed to nor submerged in any liquid as this may damage the
battery.
Charge the battery before storage to preserve the service life of the battery.
To preserve the battery, disconnect the battery from the robot before storing the robot.
5.4 Battery disposal
Return unserviceable batteries to relevant facilities in accordance with local statutory
regulations.
A crossed-out wheeled bin indicates that the product needs to be disposed separately and
not as municipal waste—see Battery disposal symbols. on the next page.
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5. Battery and charging
You are legally obliged to return used batteries and rechargeable batteries. Disposing used
batteries in the household waste is prohibited. Batteries containing hazardous substances are
marked with the crossed-out wheeled bin. The symbol indicates that it is forbidden to
dispose the product via the domestic refuse. The chemical symbols for the respective
hazardous substances are Cd= Cadmium, Hg = Mercury, Pb = Lead.
Figure 5.1. Battery disposal symbols.
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6. IT security
6. IT security
IT security is a set of precautions you can take to prevent unauthorized personnel from
accessing MiR200. This section describes the main IT-security related risks and how to
minimize them when commissioning MiR200.
MiR200 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 MiR200.
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 MiR200 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
MiR200, 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 MiR200, MiR supplies security patches to the operating system in
new MiR software update files. When you install a security patch, it takes approximately 1015 minutes longer to update a MiR product.
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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.
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7. Navigation and control system
7. Navigation and control system
The navigation and control system is responsible for driving the robot to a goal position
while avoiding obstacles. This section describes the processes and components involved in
the robot's navigation and control system.
7.1 System overview
The purpose of the navigation and control system is to guide the robot from one position on
a map to another position. The user provides the map and chooses the goal position the
robot must move to. The diagram in Figure 7.1 describes the processes in the navigation and
control system.
The main processes involved in the navigation system are:
• Global planner
The navigation process starts with the global planner determining the best path for the
robot to get from its current position to the goal position. It plans the route to avoid walls
and structures on the map.
• Local planner
While the robot is following the path made by the global planner, the local planner
continuously guides the robot around detected obstacles that are not included on the
map.
• Obstacle detection
The safety laser scanners, 3D cameras, and ultrasound sensors are used to detect
obstacles in the work environment. These are used to prevent the robot from colliding
with obstacles.
• Localization
This process determines the robot's current position on the map based on input from the
motor encoders, inertial measurement unit (IMU), and safety laser scanners.
• Motor controller and motors
The motor controller determines how much power each motor must receive to drive the
robot along the intended path safely. Once the robot reaches the goal position, the brakes
are engaged to stop the robot.
Each part of the process is described in greater detail in the following sections.
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7. Navigation and control system
Figure 7.1. Flow chart of the navigation and robot system. The user provides the necessary input for the robot
to generate a path to the goal position. The robot executes the steps in the navigation loop until it reaches the
goal position and stops by engaging the brakes.
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7. Navigation and control system
7.2 User input
To enable the robot to navigate autonomously, you must provide the following:
• A map of the area, either from a .png file or created with the robot using the mapping
function—see Creating and configuring maps on page 87.
• A goal destination on that map—see Markers on page 98.
• The current position of the robot on the map. This usually only needs to be provided when
a new map is activated.
Figure 7.2. On the map, the current position of the robot is identified by the robot icon
, and the goal
destination in this example is the robot position . The robot computer now determines a path from the
current position to the goal position.
Once the robot computer has a map with the robot's current position and a goal destination,
it begins planning a route between the two positions on the map using the global planner.
7.3 Global planner
The global planner is an algorithm in the robot computer that generates a path to the goal
position. This path is known as the global path.
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7. Navigation and control system
Figure 7.3. The global path is shown with the blue dotted line that leads from the start to the goal position.
The global path is created only at the start of a move action or if the robot has failed to
reach the goal position and needs to create a new path. The generated path only avoids the
obstacles the robot detected when the path was made and the obstacles marked on the map.
The global path can be seen in the robot interface as a dotted line from the robot's start
position to the goal position.
Figure 7.4. The dotted line from the start position of the robot to the goal position is the global path generated
by the robot computer.
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7. Navigation and control system
7.4 Local planner
The local planner is used continuously while the robot is driving to guide it around obstacles
while still following the global path.
Figure 7.5. The global path is indicated with the dotted blue line and is visible on the map. The local path is
indicated with the blue arrow, showing the robot driving around a dynamic obstacle.
Whereas the global planner creates a single path from start to finish, the local planner
continues to create new paths that adapt to the current position of the robot and the
obstacles around it. The local planner only processes the area that is immediately
surrounding the robot, using input from the robot sensors to avoid obstacles.
The local path is not displayed in the robot interfaces. The arrows in the
images here are visual aids used in this guide only.
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Figure 7.6. The local planner usually follows the global planner, but as soon as an obstacle gets in the way, the
local planner determines which immediate path will get the robot around the obstacle. In this case, it will likely
choose the path indicated with a green arrow.
Once the local path is determined, the robot computer derives the desired rotational
velocity of each drive wheel to make the robot follow the local path and sends the desired
velocities for each motor to the motor controllers—see Motor controller and motors on
page 69.
7.5 Obstacle detection
The robot detects obstacles continuously while driving. This enables the robot to use the
local planner to drive around obstacles and to determine the robot's current position on the
map.
Three sensor types are responsible for detecting obstacles:
• The safety laser scanners
• The 3D cameras
• The ultrasound sensors
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Table 7.1.
Description of how the robot sees obstacles with its sensors.
What a human sees
A chair placed in the
corner of a room is
detectable by the robot.
What the laser scanners
see
In the robot interface, the
red lines on a map are
obstacles detected by the
laser scanners, and the
purple clouds are an
aggregate of the 3D
camera and laser scanner
data. The scanners only
detect the four legs of the
chair.
What the 3D cameras see
The 3D cameras detect
more details of the chair
when the robot gets close
enough to it. This view
cannot be seen in the robot
interface.
Safety laser scanners
Two safety laser scanners, diagonally placed on one front and one rear corner of the robot,
scan their surroundings. Each safety laser scanner has a 270° field of view, overlapping and
thus providing a full 360° visual protection around the robot.
When in motion, the safety laser scanners continuously scan the surroundings to detect
objects.
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Figure 7.7. The two safety laser scanners together provide a full 360° view around the robot.
The laser scanners have the following limitations:
•
•
•
•
They can only detect objects that intersect a plane at 200 mm height from the floor.
They do not detect transparent obstacles well.
The scanner data can be inaccurate when detecting reflective obstacles.
The laser scanners may detect phantom obstacles if they are exposed to strong direct
light.
If you are using the robot in an area with walls made of glass or reflective
material, mark the walls as Forbidden zones on the map, not as walls—see
Creating and configuring maps on page 87. Walls on the map that the robot
cannot detect will confuse the robot's navigation system.
3D cameras
Two 3D cameras positioned on the front of the robot detect objects in front of the robot. The
3D cameras detect objects:
• Vertically up to 1800 mm at a distance of 1950 mm in front of the robot.
• Horizontally in an angle of 118° and 180 mm to the first view of ground.
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The 3D cameras are only used for navigation. They are not part of the robot's safety system.
The camera readouts are used as 3D point cloud data. They are not recording
recognizable objects or people.
Figure 7.8. The two 3D cameras can see objects up to 1800 mm above floor height.
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Figure 7.9. The two 3D cameras have a horizontal view of 118°.
The 3D cameras have the following limitations:
• They can only detect objects in front of the robot, unlike the full 360° view of the laser
scanners.
• They do not detect transparent or reflective obstacles well.
• They do not detect holes or decending stairways.
• The cameras are not reliable at determining depth when viewing structures with
repetitive patterns.
• The cameras may detect phantom obstacles if they are exposed to strong direct light.
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Ultrasound sensors
Four ultrasound sensors are placed on the robot: two at the front or rear and two at the front
of the robot, but with an angle looking to the front sides.
Figure 7.10. Two ultrasound sensors are placed at the front of the robot (left) and two at the rear of the robot
(right).
On robots where the last four digits of the 12-digit serial number are 0905 or lower, the
ultrasound sensors are placed on the front and sides of the robot.
On robots where the last four digits of the 12-digit serial number are 0906 and up, the
ultrasound sensors are placed on the rear and sides of the robot.
The ultrasound sensors are used to detect objects which cannot be seen by the camera or
the laser scanners.
Table 7.2.
Range of the ultrasound sensors.
Pos.
Minimum range
Maximum range
Front
10 mm
200 mm
Front side
200 mm
300 mm
Rear
10 mm
350 mm
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Be aware that soft material such as foam or clothes can absorb sound and
may not be detected by the sensors.
7.6 Localization
The goal of the localization process is for the robot to determine where it is currently
located on its map. The robot has three inputs for determining where it is:
• The initial position of the robot. This is used as a reference point for the methods used to
determine the robot position.
• The IMU and encoder data. This is used to determine how far and fast the robot has
traveled from the initial position.
• The laser scanner data. This is used to determine the likely positions of the robot by
comparing the data with nearby walls on the map.
This data is used by a particle filter to determine the most likely position of the robot on the
map.
IMU and motor encoders
Both the data from the IMU (Inertial Measurement Unit) and motor encoders is used to
derive where and how fast the robot has traveled over time from its initial position. The
combination of both sets of data makes the derived position more accurate.
If the drive wheels are worn down significantly—see Maintenance on
page 148—or the robot is running with an incorrect gear ratio, the robot will
miscalculate how far it has traveled based on the encoder data.
Laser scanners and particle filtering
The robot computer compares the input from the laser scanners with the walls on the map
to try and find the best match. This is done using a particle filter algorithm. The robot
computer only compares input from the area where it expects the robot to be based on the
encoder and IMU data. Therefore, it is important that the initial position of the robot is
correct.
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Failed localization
Successful localization
Figure 7.11. In a failed localization, the robot cannot determine a position where the red lines (laser scanner
data) align with the black lines on the map. When the robot can localize itself, it determines a cluster of likely
positions, indicated in the images above as blue dots.
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To make sure the robot can localize itself well using particle filtering, consider the following
when creating a map:
• There must be unique and distinguishable static landmarks on the map that are easily
recognizable. A landmark is a permanent structure that the robot can use to orient itself,
such as corners, doorways, columns, and shelves.
No distinguishable landmarks
Many distinguishable landmarks
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• The robot must be able to detect the static landmarks that are marked on the map to be
able to approximate its current position. Make sure there are not too many dynamic
obstacles around the robot so that it cannot detect any static landmarks.
Cannot detect any static landmarks
Can detect enough static landmarks
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• To improve the robot's localization, it can often help to divide long continuous walls on
the map. Even if the walls are connected in the actual work environment, it can help the
localization process if the walls on the map are divided into smaller sections.
Undivided walls
Divided walls
• The robot does not compare the laser scanner data with the entire map, but only around
the area that it expects to be close to based on the IMU and encoder data and its initial
position. This is why it is important that the initial position you place the robot at on the
map is accurate.
• The robot can drive for a short distance without being correctly localized. As it drives, the
estimated positions should converge to a small area, indicating the robot has determined
an accurate estimate. If this does not occur within a set time limit, the robot reports a
localization error.
7.7 Motor controller and motors
The robot keeps adjusting how much power is sent to each motor based on sensory
input. This means the robot can correct its speed when going up slopes or when carrying a
heavier payload, and it can change its driving direction to avoid moving obstacles.
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7. Navigation and control system
7.8 Brakes
Once the approximated position of the robot determined from localization is the same as the
goal position calculated by the global planner, the brake relay is engaged to bring the robot
to a stop.
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8. Safety system
8. Safety system
The robot's safety system is responsible for stopping or slowing down the robot and its top
module in situations where personnel are at risk of injury.
MiR200 is equipped with a range of built-in safety-related functions as well as safety-related
electrical interfaces designed for integration with a top module. Each safety function and
interface is designed according to the standard ISO 13849-1. The safety-related functions
and interfaces are selected to support compliance with EN 1525 and ISO 3691-4.
8.1 System overview
The safety system is controlled mainly by the safety PLC. The PLC regulates inputs and
outputs from safety-related functions or interfaces involved with ensuring the safety of
personnel working nearby the robot.
If a safety function is triggered, the robot uses its relays to bring the robot to a category 0
stop (stopping by “immediate removal of power to the machine actuators" according to IEC
60204-1). This is known as bringing the robot into Emergency stop or Protective stop,
depending on the function—see Types of stop below.
There is also an Emergency stop electrical interface that enables you to connect any number
of Emergency stop buttons to your robot. These Emergency stop buttons can, for example,
be mounted to a top module. The Emergency stop buttons must be connected in series with
two identical circuits to ensure redundancy.
Types of stop
There are three different stopped states:
• Operational stop
• Protective stop
• Emergency stop
Protective stop and Emergency stop are monitored by the safety PLC.
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Operational stop
The robot is in Operational stop when it is stopped through the robot interface either
through a mission action or by pausing the mission. The top module and all moving parts are
still connected to a power supply.
Protective stop
The robot enters Protective stop automatically to ensure the safety of nearby personnel.
When the robot enters Protective stop, internal safety relays are switched so the robot's top
module and all moving parts of the robot do not receive power. You can hear the safety
relays emit audible clicks when they are switched.
When the robot is in Protective stop, the status lights of the robot turn red, and you are not
able to move the robot or send it on missions until you bring the robot out of the Protective
stop. The following cases describe the various Protective stops and how to bring the robot
out of them:
• A safety laser scanner detects an object in its active Protective field
Remove the object from the active Protective field—see Collision avoidance on page 75.
The robot will resume its operating state after two seconds.
• The robot finishes the startup process
The reset button on the Emergency stop will flash after startup. Press the reset button on
the Emergency stop to bring the robot out of Protective stop.
• The safety system detects a fault, or the motor control system detects a discrepancy
To bring the robot out of Protective stop, resolve the fault causing the error. Use
information regarding the error from the robot interface to determine the fault. Go to
Monitoring > Hardware health to find specific information on what caused the issue. For
further guidance, see the troubleshooting guides on the Distributor site.
Emergency stop
The robot enters Emergency stop when an Emergency stop button has been pressed
physically. When you press the Emergency stop button, internal safety contactors are
switched so the robot's top application and all moving parts of the robot do not receive
power. You can hear the safety contactors emit audible clicks when they are switched.
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When the robot is in Emergency stop, the status lights of the robot turn red, and you are not
able to move the robot or send it on missions until you bring the robot out of the Emergency
stop. To do this, you must press the flashing Emergency stop reset button. If the robot is in
Emergency stop, it will immediately resume an operating state after you press the flashing
Emergency stop reset button.
MiR200 has one Emergency stop button that must be connected through the electrical
interface. You can also connect the interface to a series of additional Emergency stop
buttons.
CAUTION
Emergency stop buttons are not designed for frequent use. If a button has
been used too many times, it may fail to stop the robot in an emergency
situation, and nearby personnel may be injured by electrical hazards or
collision with moving parts.
• Only press Emergency stop buttons in emergencies.
• Regularly check that all Emergency stop buttons are fully functional—see
Maintenance on page 148.
• Use the robot interface to stop the robot in non-emergency situations.
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8. Safety system
Safety-related functions
The following functions are integrated within the robot itself and cannot be modified or used
with other applications. The following list introduces the main safety-related functions
integrated in MiR200:
• Collision avoidance
This function ensures that the robot stops before it collides with personnel or an object. If
the laser scanners detect an object or person within a defined Protective field, the robot is
brought to a stop. The function determines what the current speed of the robot is based
on data from the motor encoders, and the function switches between predefined
Protective fields accordingly. The faster the speed, the larger the Protective field is.
• Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of each
motor is above the limits for maximum rated speed. If the limit is exceeded, the robot
enters Protective stop.
• Stability
The safety system monitors if the motor encoder data indicates that the speed difference
between the two motors are above predefined limits. If the limit is exceeded, the robot
enters Protective stop.
• Emergency stop circuit
The Emergency stop circuit goes through the Auxiliary emergency stop interface and
connects to the top module. It is possible to connect multiple emergency stop buttons to
the circuit. When the circuit is broken, the robot goes into Emergency stop.
These functions are described in further detail in the following sections.
The diagram in Figure 8.1 shows the inputs to these functions and interfaces and how they
are all connected and monitored by the safety PLC. The safety PLC is able to switch the
contactors to cut off power to the robot motors and the top module whenever a Protective
or Emergency stop is triggered. Also, the safety PLC sends information to the robot computer
to be displayed in the robot interface (in Monitoring > Hardware health) and to indicate
the robot's status through the status lights and the speaker.
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8. Safety system
Figure 8.1. Overview of components involved in each safety function and interface. When a safety function is
triggered, the safety PLC switches the STO and brake relays so the brakes, motors, and safe power supply to the
top module no longer receive power.
8.2 Collision avoidance
The collision avoidance function prevents the robot from colliding with personnel or
obstacles by stopping it before it collides with any detected obstacles. It does this using the
safety laser scanners.
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8. Safety system
Drives when the area is clear
Stops when an obstacle is detected
Figure 8.2. Collision avoidance ensures that the robot drives when its path is clear and stops if an obstacle is
detected within its Protective field.
The safety laser scanners are programmed with two sets of Protective fields. One field set is
used when the robot is driving forward and the other when it is driving backward. The
Protective field sets are part of the robot’s Personnel detection means. Each Protective field
in the sets is an individually configured contour around the robot. The robot activates the
correct field based on the speed. If a person or object is detected within the active Protective
field, the robot enters Protective stop until the Protective field is cleared of obstacles for at
least two seconds.
The tables in the following sections show the sizes of the Protective fields at given speeds.
The faster the robot moves, the larger the scanners' field is. The speed of the robot is
determined based on the encoder data.
WARNING
The Protective field sets are configured to comply with the safety standards of
MiR200. Modifications may prevent the robot from stopping in time to avoid
collision with personnel and equipment. Any modifications of the SICK
configuration requires a new CE certification of the robot and compliance to
all safety standards listed in the specification of the application and in other
way declared.
• Do not modify the safety system without a competent third party to
evaluate the safety of the design and performance of the robot after the
modifications are applied.
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Field set when driving forward
The following table shows speeds and the field range when driving forward. The table
describes the length of the Protective field in front of the robot in different cases. Each case
is defined by a speed interval that the robot may operate at. Robots with serial number
204203005 and higher have an improved SICK configuration and the speed intervals are
therefore different. The colors and cases in Table 8.1 correspond to the field set shown in
Figure 8.3.
Table 8.1.
Range of the robot's Protective fields within its forward speed interval cases.
Speed
(serial numbers
204203004 and lower)
Speed
(serial numbers
204203005 and higher)
Protective
field
range
1
-1.40 to 0.20 m/s
-2.000 to 0.150 m/s
0-20 mm
2
0.21 to 0.40 m/s
0.151 to 0.400 m/s
0-120 mm
3
0.41 to 0.80 m/s
0.401 to 0.680 m/s
0-290 mm
4
0.81 to 1.10 m/s
0.681 to 0.800 m/s
0-430 mm
Case
5
1.11 to 2.00 m/s
0.801 to 2.000 m/s
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0-720 mm
Comments
Reversing,
standstill,
and slowly
forwards
Forwards
at
maximum
speed
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8. Safety system
Figure 8.3. The illustration shows the field set contours when the robot drives forward. The range of the active
field changes with the robot's speed.
Field set when driving backward
The field set for driving backward is the same as the field set for driving forward. Robots
with serial number 204203005 and higher have an improved SICK configuration and the
speed intervals are therefore different. The colors and cases in Table 8.2 correspond to the
field set shown in Figure 8.4.
Table 8.2.
Range of the robot's Protective fields within its backward speed interval cases.
Speed
(serial numbers
204203004 and lower)
Speed
(serial numbers
204203005 and higher)
Protective
field
range
1
-0.14 to 1.80 m/s
-0.150 to 2.000 m/s
0-30 mm
2
-0.20 to -0.15 m/s
-0.400 to -0.151 m/s
0-120 mm
3
-0.40 to -0.21 m/s
-0.680 to -0.401 m/s
0-290 mm
Case
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Forward,
standstill
and slowly
backwards
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8. Safety system
Case
4
Speed
(serial numbers
204203004 and lower)
-1.50 to -0.41 m/s
Speed
(serial numbers
204203005 and higher)
-0.800 to -0.681 m/s
Protective
field
range
Comments
0-430 mm
Backward
at max.
speed
Figure 8.4. The illustration shows the field set contours when driving backward. The range of the active field
changes with the robot's speed. The illustration also shows how the front scanner reduces its Protective field to
a minimum when the robot moves backward.
NOTICE
Scanners measure distances to diffuse reflections, which means that a
tolerance is added to the Protective field sets to secure a safe detection of
persons crossing the Protective field sets. The tolerance distance is 100 mm.
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8.3 Overspeed avoidance
The overspeed avoidance function prevents the robot from driving if the motor encoders
measure that the robot is driving faster than the predefined safety limit. This can occur if
there is a hardware error in the robot, or if it drives down a steep slope.
If the robot is driving faster than the predefined safety limit, it is immediately brought into a
Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled.
8.4 Stability
The stability function prevents the robot from driving if the motor encoders measure that
the expected difference between how fast each wheel turns is outside the predefined safety
limits. This indicates that the robot is not driving as intended, for example, if one of the
wheels loses traction.
If the robot detects instability, it is immediately brought into a Protective stop. This ensures
that the robot cannot drive if it has lost control of the speed of each drive wheel.
8.5 Emergency stop circuit
The Emergency stop circuit goes through the Auxiliary emergency stop interface and uses
external input to bring the robot into an Emergency stop. The interface uses two output pins
to provide a 24 V signal and two input pins to bring the robot into Emergency stop.
It is intended that the circuit is set up so the 24 V signal delivered from the safety
PLC outputs passes through all Emergency stop buttons of the top module and then continues
to the two input pins. When the input pins both receive 24 V, the robot can operate. The
connected Emergency stop buttons must break the circuit when you press them so both
inputs receive a 0 V signal that will bring the robot into Emergency stop.
If the circuit or an Emergency stop button is installed incorrectly so the input signals are not
the same, the robot enters Protective stop until the circuit is fixed.
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Emergency stop button
released
Emergency stop button
pushed
Emergency stop circuit
faulty
Figure 8.5. If the input pins deliver 24 V to the robot, it can operate. When you push a connected Emergency
stop button, both pins deliver 0 V, and the robot enters Emergency stop. If the pins do not deliver the same
input, the robot enters Protective stop until the circuits are fixed.
8.6 Robot computer
The robot computer is connected to the safety PLC via an Ethernet cable. The safety PLC
sends all of the statuses of its various inputs to the robot computer so the information can be
sent to the robot interface. This enables you to identify which part of the safety system may
be causing a Protective or Emergency stop.
Additionally, the robot computer sends the current robot state to the power MiR board,
which regulates the status lights making them indicate which state the robot is in.
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8.7 Light indicators and speakers
The robot uses its status lights and speaker to let people in the environment know what the
robot is currently doing or planning to do.
Status lights
The LED light band running all the way around the robot indicates the robot’s current
operational state. Colors may also be used as part of missions, but as standard, status lights
indicates the statuses described in Table 8.1.
Table 8.1.
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
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
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Cyan wavering (MiR
Fleet robots only)
Waiting for MiR Fleet resource
When the robot's battery reaches a critically low level of power (0-1%), the
ends of the status lights flash red.
When the robot is charging in a charging station, the status lights on the side
of the robot indicate the robot's battery percentage.
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.
CAUTION
It is the responsibility of the commissioner to ensure that the warning sounds
are audible in the robot's work environment.
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9. Commissioning
This section describes how to commission MiR200.
Commissioning should be done without payload, except when doing brake tests where the
robot should have a payload equaling the heaviest load it will be driving with.
Only persons assigned with the commissioning task should be present during commissioning.
It is the responsibility of the commissioner to:
•
•
•
•
•
•
•
•
•
•
Analyze the work environment.
Make a risk assessment of the full installation.
Create and configure the site.
Configure audio and light signals according to the environment.
Create operating hazard zones.
Make a brake test.
Create user groups and users.
Create dashboards.
Update robot software.
Change the relevant system settings.
9.1 Analysis of the work environment
The work environment of the robot must fulfill a number of requirements for the robot to
function properly and safely. This section describes the factors that must be considered when
the robot is being commissioned to function in a work environment.
Surfaces
The floor surface of the work environment must be dry. MiR200 functions on many different
types of surfaces, but some materials can affect the performance and safety of the robot,
such as very thick carpets or slippery floors.
It is the responsibility of the commissioner to test the performance and safety of the robot
on the surfaces in the work environment—see Making a brake test on page 109.
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Light, reflections, and materials
Bright sunlight and reflective or transparent objects can affect the performance of the
robot's laser scanners and cameras. This can result in the robot detecting nonexistent
objects or failing to detect real objects.
Likewise, docking to markers made in very high gloss or transparent materials can reduce
the effectiveness of the robot's scanners, hindering a successful docking.
It is the responsibility of the commissioner to test if sunlight, reflections from high gloss
materials, and transparent objects affect the robot's performance or safety.
Temperature and humidity
Temperatures outside of the approved temperature range can affect the performance and
durability of the robot—see specifications on the MiR website. This is especially relevant for
the robot's battery—see Battery storage on page 50.
Inclines, doorways, gaps, and sills
The robot must operate within the approved specifications for driving on inclines, through
doorways, and over gaps and sills—see specifications on the MiR website. Operating in areas
that do not meet the specifications may result in the robot failing to complete the missions
or losing control of its load.
Space
The robot must have sufficient space to operate efficiently. Determine during commissioning
if the robot has sufficient space to drive, dock, turn, and perform other tasks. Make sure to
test each mission under the most likely operating conditions to determine if there is enough
space for the robot to maneuver.
Dust
Dusty environments can affect the performance and durability of the robot. Dust can get into
the robot computer and mechanical parts, affecting their performance and durability, and it
can obstruct the view of the robot's sensor system. Make sure the environment MiR200
operates in is suitable for its IP rating—see specifications on the MiR website.
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Static landmarks and dynamic obstacles
The robot uses static landmarks to navigate by. If it cannot detect enough distinguishing
landmarks, it cannot navigate the map efficiently—see Localization on page 65.
9.2 Risk assessment
To achieve a safe installation, it is necessary to make a risk assessment of MiR200 in the
environment it will be used in. This is the responsibility of the commissioner.
The risk assessment must cover both MiR200 itself and also take into account potential load
transfer stations, work cells, and the work environment.
NOTICE
Mobile Industrial Robots takes no responsibility for the creation and
performance of the risk assessment, but we provide information and
guidelines that may be used in this section.
For more guidelines, see the guide MiR100 and MiR200 Risk Analysis found on
the robot product page under Manuals on the MiR website.
It is recommended that the commissioner follows the guidelines in ISO 12100, EN ISO3691-4,
EN 1525, ANSI B56.5, or other relevant standards to conduct the risk assessment.
In EN 1525 clause 4 there is a list of possible significant hazards and hazardous situations
that the commissioner should consider.
A risk assessment of the application must be used to determine the adequate information for
users. Special attention to at least the following Essential Health and Safety Requirements
(EHSR) must be taken:
•
•
•
•
•
•
1.2.2 Unexpected start for potential exposed persons
1.3.7 Risk related to moving parts
1.7.1 Information and warning on the machinery
1.7.2 Warning of residual risks
1.7.3 Marking of the machinery
1.7.4 Instructions
The risk assessment will lead to new instructions that shall be written by the party who draw
up the CE marking. The instructions must at least include:
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• Intended use and foreseeable misuse.
• A list of residual risks.
• Training required for personnel.
9.3 Creating and configuring maps
The map is visible in the robot interface and is the basis for the robot's ability to navigate its
surroundings safely and efficiently. The map illustrates the physical area in which the robot
operates.
Figure 9.1. Example of a map without any added zones, positions, or markers.
The robot must have a map for every area that it operates in. It is important to create robust
and reliable maps for the robot to perform effectively and safely.
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Figure 9.2. The Default site has three maps within it for the areas in the site: Office area, Production area, and
Warehouse.
A site contains one or more maps that often connect to each other. The number of maps you
need in a site depends on the work environment of the robot:
• If the operating area is very large, you may need to split the area into smaller maps.
• You can tell that a map is too large if the robot takes a long time to plan its routes or
often reports CPU errors.
• In general, we recommend that maps should not exceed an area of 300 x 300 meters.
• You can connect smaller maps using map transitions—see MiR Robot Reference Guide,
or ask your distributor for the guide How to set up transitions between maps.
• If the robot must operate on different floors connected with ramps or elevators, you must
have a map for each floor.
• If you are using an elevator, ask your distributor for the guide How to set up elevators
in MiR Fleet.
• If you are using ramps, connect the maps using transitions—see MiR Robot Reference
Guide, or ask your distributor for the guide How to set up transitions between maps.
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Each site also includes other elements in the interface, such as missions. For
the full list of what is included in a site, see MiR Robot Reference Guide on the
MiR website or in the Help section of the robot interface.
Creating a map
To create a new map, you drive the robot around its intended work environment while its
sensors gather data to generate a map from. This process is known as mapping.
As the robot moves during mapping, the laser scanners detect physical obstacles, which are
recorded on the map as walls. In the editing afterward, you can remove all obstacles that
should not stay on the map, for example carts or boxes that were present at the time of
recording but will not stay permanently.
Before you map a new location, be sure to do the following preparations:
• Clear the area of dynamic obstacles, such as pallets and carts. Dynamic obstacles can also
be deleted from the map later.
• Ensure that all doors and gates that the robot should be able to go through are opened
before mapping.
Avoid doing the following:
• Starting the mapping with the robot in a very open space.
• Getting the robot stuck close to walls or objects as you will have to push it away manually.
To create a new map, see MiR Robot Reference Guide on the MiR website. When mapping,
you should apply the following best practices:
• Focus on mapping in a circular pattern around the perimeter of the working environment.
• When reaching long corridors with few obstacles, let the robot stay in position for
approximately five seconds before moving down the corridor.
• Walk behind the robot as you map.
• End the mapping in the same place you started it.
For more information on creating a map, see the Creating your first mapcourse in MiR Academy on the MiR website.
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Cleaning up a map
The robot navigates best when using a clean map with as little noise as possible. Figure 9.3 is
an example of what a map can look like after the mapping process but where it still needs
further editing.
Figure 9.3. Example of a map that includes too much noise and dynamic obstacles.
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There are several tools in the robot interface that you can use to improve your map:
• Use Erase uploaded or recorded data when editing walls to remove walls that were
created around dynamic obstacles and noise on the map.
Noise refers to recorded data that originates from interfering elements.
This can be physical obstacles that make the robot record walls where there
are none or more subtle interferences that can make recorded walls
appear pixelated.
• Use Draw a new shape when editing floors to fill out the gray areas where there
should be floor. When using this tool, you do not affect the walls on the map.
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• Use Draw a new line
when editing walls to create solid and even walls.
Adding zones to the map
Adding zones to the map helps organize robot traffic. There are several different zones that
can optimize the preferred paths and driving behavior of the robot.
For more information about what each zone does, see MiR Robot Reference
Guide on the MiR website, or ask your distributor for the guide How to use
zones on a map.
NOTICE
All zones are ignored when you drive the robot in Manual mode and if you use
a relative move action (except in Limit-robots zones).
Examples of when and how to use zones
The following sections describe examples of cases where certain zones can be used to
improve the robot's operations.
For more examples, contact your distributor for the guide How to use zones on
a map.
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Descending staircases
Issue: The robot sensors cannot detect descending staircases. Marking a staircase as a wall
on the map will only confuse the robot as it will try to navigate from a wall that is not there.
Solution: Mark staircases and areas surrounding staircases or holes in the floor as
Forbidden zones on the map.
Low hanging fixtures
Issue: If a low hanging fixture is outside of the robot sensors' range, the robot may try to
travel beneath it. This can be dangerous if the robot is carrying a tall top module or load that
can collide with the fixture.
Solution: Mark the area where the low hanging fixture is located as a Forbidden zone.
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Highly dynamic areas
A highly dynamic area is an area where objects are moved frequently. This could be a
production area where pallets and boxes are often moved back and forth.
Issue: The robot will stop if a person steps out in front of it. In a transient work flow area, the
robot will stop and reassess its paths many times a day, thereby wasting valuable time.
Solution: Mark highly dynamic areas on the map with Unpreferred zones (blue) or
Forbidden zones (red) depending on the environment. Directional zones can also be used
here to guide the robot in a specific direction.
If the robot has trouble with localization in a highly dynamic area, place some static objects
with 3 m distance between them and mark them as walls on the map. Remove the 'walls'
created from dynamic obstacles in the area. Static objects make it easier for the robot to
localize and navigate the area.
Figure 9.4. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with
replanning of paths.
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Doorways
Going through narrow doorways can cause problems for the robot's global planner since the
robot must drive closer to wall edges than it usually would. It can also be hazardous for the
people working near the robot, as they might not see the robot coming.
Issue: The robot does not plan its global path through narrow doorways, since this will bring
the robot too close to a known obstacle.
Solution: Add a Critical zone (orange) in the narrow doorway to enable the global planner to
make a path through the corridor. You only need to place the zone down the center of the
doorway so the center of the robot is in the zone. Add Sound and light zones (yellow) in
narrow doorways to warn people near the doorway that the robot is coming through.
Figure 9.5. Narrow doorways can be marked with a Sound and light zone (marked with yellow) to warn people
that a robot is coming through. A Critical zone (orange) can be placed in the narrow doorway to force the global
planner to make a path through the corridor.
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Shelves
Shelves are often placed in a certain height above the floor on four (or more) posts and will
often appear as dots on a map for the robot. This may cause the robot to believe that there
is enough space (if the posts are far enough apart) below the shelves to pass through. The
robot will then plan a path underneath the shelves, but when it comes closer, the camera
will see the obstacle. This could result in replanning paths several times a day.
Issue: The robot will only see shelves as dots on the map and believe that it can make a
global plan underneath the shelves.
Solution: Add a Forbidden zone (red) around the shelves.
Figure 9.6. A Forbidden zone covering the shelf area.
Glass
Highly transparent glass may not be detected by the safety laser scanners.
Issue: The robot will not stop before driving into a glass window, door, or other glass objects.
Solution: Make the glass visible to the safety laser scanners by gluing non-transparent
window film on the glass in the scanner height, 150 to 250 mm, or mark the wall as a
Forbidden zone. Edit the map afterwards in the robot interface and mark the glass as walls
to help the robot localize.
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Directional lanes
Issue: In some areas, such as long corridors, robots driving towards each other may have a
hard time passing each other efficiently.
Solution: If there is not enough space for the two robots to pass each other, you can create
a two-way lane using Directional zones in combination with Forbidden or Unpreferred zones.
• Create a thin Forbidden zone (red) in the middle of the corridor parallel to the corridor
walls. This is the lane separator.
• Create Directional zones (gray with arrows) on both sides of the Forbidden zone. Make
the directions of the zones opposite.
With such a configuration, robots going in the opposite directions use different lanes and do
not get in each others' way. Replacing the Forbidden zone with an Unpreferred zone gives
robots more space for maneuvers, for example if a robot needs to cross the lane separator
to drive around an obstacle.
Figure 9.7. The robot drives down a two-way lane. The two Directional zone lanes are separated by a Forbidden
zone.
If there isn't enough space for robots to pass each other, you can use a Limit-robots zone to
specify that only one robot may drive down the corridor at a time.
To use Limit-robots zones, your robots must be connected to MiR Fleet.
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9.4 Markers
Markers are defined as X-Y coordinates on a map that mark locations where you want the
robot to travel to. Markers are points on the map that mark a physical entity, such as a
charging station or a pallet rack, and enable the robot to position itself accurately relative to
this entity.
You should always use markers when it is important that the robot is positioned accurately
relative to an object in the work environment, such as load transfer stations and work
stations.
Markers require the robot to do a docking sequence. When the robot is docking, it uses its
safety laser scanners to detect the marker and drives itself to the correct position relative to
the detected marker. The robot begins docking to a marker from the marker's entry
position—see Figure 9.8. The entry position is automatically created approximately one
meter in front of the marker and can be moved in the map editor.
Figure 9.8. A VL-marker with its entry position.
There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers.
A V-marker is a small, V-shaped marker that is designed for the robot to either dock to so its
front or its rear is facing the marker. The V-marker is the simplest marker available for the
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robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm.
Figure 9.9. The icon used for V-markers in the interface and an illustration of how robots can dock to the
marker.
A VL-marker is a larger marker that enables the robot to dock more accurately than Vmarkers. It consists of a V-marker with a 350 mm plate attached to the right of the V shape.
Like V-markers, VL-markers are also designed for the robot to either dock to so its front or
its rear is facing the marker.
Figure 9.10. The icon used for VL-markers in the interface and an illustration of how robots can dock to the
marker.
An L-marker makes it possible for the robot to dock in several different ways and
orientations. Robots can both dock to the inside and outside of an L-marker, and the marker
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can be on any side of the robot. The marker is shaped liked an L, and the dimensions are 400
mm x 600 mm and must have a defined angle of 90.̊
Figure 9.11. The icon used for L-markers in the interface and an illustration of how robots can dock to the
marker.
A Bar-marker can be used for forward or reverse docking between two bars or plates,
similar to pallet racks or shelves. Bar-markers must be between 400 mm and 750 mm long,
and the distance between the bars must be between 750 mm and 1500 mm.
The distance between the bars must be larger than the footprint of your robot.
Figure 9.12. The icon used for Bar-markers in the interface and an illustration of how robots can dock to the
marker.
A few centimeters between all the types of markers should make docking possible.
Determine during commissioning if more space is required.
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For further information on markers, contact your distributor for the guide How
to create and dock to V-markers, VL-markers, L-markers, and Bar-markers.
To create a marker, see Creating markers on page 123.
9.5 Positions
Positions are defined as X-Y coordinates on a map that mark locations where you want the
robot to travel to. Positions mark a point on the map the robot travels to. To reach a
position, the robot must be correctly localized on the map—see Localization on page 65.
Positions are used either as destination positions or as waypoints on a route that you want to
use in missions. The robot does not compare its position to a physical entity, making them
less accurate than markers.
Generally, positions are used to mark where robots should wait when they are idle, which
points robots must pass through along a route, or as destinations you often want to send the
robots to.
The final orientation of the robot is indicated by the arrow on the position icon.
There are different types of positions depending on whether the robot is part of a fleet or
drives with top modules, but the standard position that is available in all MiR applications is
the Robot position. This position has no special features, it simply marks a location where
you want to be able to send the robot to.
To create a position, see Creating positions on page 128.
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9.6 Creating missions
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 .
Figure 9.13. Different actions can be created and put together to make up a mission.
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For more information on parameters and variables, contact your distributor to
see the guide How to use variables in missions.
To create efficient missions, you should first familiarize yourself with the available actions in
MiR Robot Interface—see the MiR Robot Reference Guide— and then consider:
• Which tasks do I want the robot to perform?
• Which actions are involved in this task and in which order are the actions executed?
• How much do each of these tasks differ? Are they similar enough that you can reuse the
same mission but use variables for some of the parameters? If so, identify which of the
parameters change in each mission—see Figure 9.14.
Figure 9.14. You can use variables to make a mission where you can set a parameter in one of the actions
each time you use the mission (either when you add the mission to the mission queue or embed it in
another mission). In this example, you can set the variable Load transfer station to any marker created on
the map. This means that you can use the same mission for making the robot pick up a load from any of the
markers on the map.
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• Are there small parts of different missions that are the same each time where it would be
worthwhile to make a mission for the repeated task and embed this mission into the
larger missions? For an example, see Figure 9.15.
Figure 9.15. You can embed small missions into other missions. In this example, the mission Pick up from
conveyor is used in three different missions. If you want to change how the robot picks up a package from
the conveyor, you only need to change it once in the original mission instead of three times in each
individual mission.
It is often a good idea to reuse the same missions if you know that any changes
that may need to be applied to one of the tasks will also need to be applied to
all other similar tasks.
When you make a mission, you should also consider all the possible outcomes from the
mission and prepare it for the possibilities of error and what the robot should do if an error
occurs—see an example of this in Creating the mission Try/Catch on page 135
For more information on building robust missions, see the Mission robustness
videos in MiR Academy on the MiR website.
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When you have figured out which tasks you want the robot to perform and how many
different missions you need to create, you should consider how you want to organize the
missions in different mission groups. You can consider the following:
• Do you want to add the missions into existing action groups?
• Do you want to create new mission groups to organize your missions in? If so, consider
how you want to divide your missions. For example, you can divide them based on
function, location, priority, or responsible users.
The section Usage on page 123 provides several examples of how to create simple missions
with different types of mission actions and describes how you add a mission to the mission
queue to test it. Whenever you create a mission, it is very important that you test it to
ensure the robot performs as expected.
For more information on creating missions, see MiR Robot Reference Guide
and the Making your first missions-course in MiR Academy on the MiR
website.
9.7 Creating a footprint
The footprint specifies how much space the robot occupies, including any loads or top
modules. The footprint is defined by a number of points relative to the robot's center
coordinate system and the total height of the robot application.
If your robot drives with loads or top modules that exceed the width or length of the robot,
you must define new footprints for the robot to ensure that the robot plans its route
correctly and avoids colliding with obstacles with its top module or load.
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Default footprint
Larger footprint
Figure 9.16. Examples of the default robot footprint and an extended footprint. The values displayed along each
line is the length of the edge in meters.
The number of footprints you need to define depends on:
• If there are low hanging fixtures that the robot can pass under only when it is not carrying
certain loads or top modules, you must define new footprints for the various heights that
the robot and its load can have to ensure that they don't collide with the low hanging
fixtures.
• The top modules you use with your robot.
• If a robot's top module exceeds the width or length of the robot, you must define a new
footprint for that top module.
• If a top module has moving parts that can extend over the edges of the robot's
footprint while the robot is moving, you must define a footprint that includes the
moving parts when they are at their most extended positions.
• The loads the robot transports.
• For each load the robot transports that exceeds the length or width of the robot, you
must define a footprint for that load.
• If you prefer to only have one footprint for the robot when it is carrying oversized
loads, create a footprint that is suitable for the load that has the largest footprint.
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CAUTION
The footprint is only used by the robot's global and local planner to avoid
obstacles. The Collision avoidance feature—see Collision avoidance on
page 75—still uses the same field sets. If your robot is carrying a load or top
module that extends the footprint in front of or behind the robot, it may
collide with personnel or equipment.
• Avoid extending the footprint in front of or behind the robot.
• Mark all areas where the robot drives with an unsafe load as operating
hazard zones.
• Consider modifying the Protective field sets if necessary—see Collision
avoidance on page 75.
For a more thorough guide to creating footprints, contact your distributor for
the guide How to change the robot footprint.
For more information about the footprint editor, see MiR Robot Reference
Guide on the MiR website.
If you want to change the footprint in a mission, use the Set footprint action found under the
Move action group. This is used to change the footprint when the robot picks up a load that
extends the footprint or places a load and the footprint returns to the default.
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If you want to edit the default footprint of the robot, for example if the mounted top module
is larger than the robot, go to System > Settings > Planner, and select a new footprint under
Robot footprint.
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9.8 Making a brake test
It is the responsibility of the commissioner to perform an adequate test of the robot's
braking capability.
The braking distance of MiR200 is particularly dependent upon four factors:
1.
2.
3.
4.
The speed of the robot
The payload of the robot
The surface the robot drives on
The decline of the surface the robot drives on
Because of this, it is not possible to predetermine the exact braking distance of MiR robots.
The distance has to be determined in the environment and under the driving conditions the
robot will be operating in.
The goal of the brake test is to ensure that the robot will brake in time to avoid a collision
with a human or object when driving with maximum payload, with different field sets for
different speeds, and at the steepest supported decline.
If the measured braking distance is too long, the field sets of the robot should be made
larger to ensure a safe installation. This can happen if the floor has low friction, for example,
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high gloss floors and similar. The Protective fields should always be at least somewhat larger
than the braking distance at all speeds. To modify the field sets, contact your distributor for
the guide How to adjust Protective field sets on MiR100/MiR200.
9.9 Creating user groups and users
All users of the robot must have a user profile in the system. Users are administered in the
Users section where you set up, edit, and delete system users.
The user profiles are created during commissioning. By default, the robot has three user
groups: User, Administrator, and Distributor. Parts of the user interface can be locked by the
commissioner. The locked parts are typically related to the safety of the robot system, and
changing these settings can violate the CE marking of the robot.
It is important to analyze and consider who is:
• Working directly with MiR200 as direct users or operators?
• Responsible for MiR200 as commissioner?
Furthermore, the following questions should be answered:
•
•
•
•
How many different users are there?
What tasks does each user have with MiR200?
What permissions should the different users have?
What functions or widgets should be available for the different users?
For more details on users and dashboards, see MiR Robot Reference Guide on
the MiR website.
Create user groups
In Setup > User groups, you can create specific user groups with specific access to different
parts of the robot interface.
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Figure 9.17. You can create specific user groups.
Under Set permissions, you can select the specific parts of the robot interface that the user
group has access to.
Figure 9.18. You can select the specific parts of the robot interface that the user group has access to.
Create users
In Setup > Users, you can create new users and select:
• Which user group they belong in.
• If they are SingleDashboard users with no access to other parts of the interface than to
control the robot from a dashboard.
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• If they should be allowed quick access to the interface via a four digit PIN code. We only
recommend PIN codes for users with no access to settings and safety system.
Figure 9.19. When you create a user, you must fill out the fields shown in this image.
Table 9.1.
The table identifies examples of which users MiR recommends should be able to edit
which features—see Users on page 25.
Feature
User group
Controlling the robot manually
Operator
Creating maps and positions
Commissioner
Creating and editing missions
Operator
Adjusting warning sounds
Commissioner
Creating new user groups
Commissioner
Assigning missions
Direct user
Changing system settings
Commissioner
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9.10 Creating dashboards
To make the user experience as easy and simple as possible, you can build a unique
dashboard for each user. Dashboards are an easy way for different user groups to control
the robot, giving direct access to the individual groups' key functions.
For more details on how to use and create dashboards, see MiR Robot
Reference Guide on the MiR website.
A dashboard is made up of a number of widgets, each representing a feature in the system,
for example a particular mission, the map the robot is operating on, or the current mission
queue.
The system comes with a default dashboard—see Figure 9.20—, and users with access rights
to create dashboards can create an unlimited number of additional customized dashboards.
Figure 9.20. The default dashboard includes the robot information, a joystick for manual control, and the active
map.
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When creating new dashboards, you should consider the following:
• Who will be using the dashboards?
• Which functionalities will they need to use the most?
• For example, if your robot uses many I/O modules, you may want to monitor them
from the dashboard, or if there is a mission that the robot often has to execute on
demand, you may want to add it to the dashboard.
• Will each user or user group need a different dashboard? If so, what should be included in
each?
• Will some users need more than one dashboard?
• Users that are responsible for both maintaining and operating the robot could have
seperate dashboards for the maintenance routine and another dashboard for operating
the robot.
• If you have any SingleDashboard users, which functionalities will they need and which
would be useful to include?
• Often it is not a good idea to include too many widgets in the dashboard as this can
slow down the interfacing to the robot. Try to include only the necessary widgets.
9.11 Updating MiR200 software
MiR continuously updates the software the robots use, either to fix issues, to improve
existing features, or to introduce new features. Each software release is issued with a
release note explaining the content of the update and its target audience.
Contact your distributor for the latest recommended update file.
Follow the steps below to update MiR200 software:
1. Connect your computer to the WiFi of the robot you want to update, and sign in to the
robot interface.
2. Go to System > Software versions and select Upload software.
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3. Locate and select the downloaded software package. It may take 10-20 minutes for the
package to successfully upload depending on whether or not the software introduces new
security patches.
4. Once the software is uploaded, turn the robot off and then on again.
9.12 Creating backups
It can be useful to create a backup if you at a later stage want to be able to revert to the
exact state of the current software, including data such as settings, missions, and reports.
We recommend to create a backup in the following cases:
• Before you update the robot software.
• Before making any large changes to your site.
Backups take up some of your robot's memory space. It is a good idea to
remove any old backups you are certain you will not need in the future.
For more information on how to create, roll back, and delete backups, see MiR Robot
Reference Guide on the website.
9.13 System settings
This section describes some of the commonly used system settings of MiR200 that the
commissioner must be aware of.
Only the basic system settings are explained in this section—see MiR Robot
Reference Guide on the MiR website for more information.
In System > Settings, you can access the settings of the robot. Access to the settings must be
restricted by the commissioner—see Creating user groups and users on page 110.
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Figure 9.21. Under System > Settings, there are several menus where you can edit your robot's settings.
Remember to restart the robot if you have made any changes to the system
settings.
Planner
In the Planner section, you set the basic parameters for driving the robot.
This section refers to the local and global planner functions. For more
information on the robot's path planners, see Global planner on page 56 and
Local planner on page 58.
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Figure 9.22. You set basic parameters for driving the robot in the Planner section.
Robot height defines the height of the robot including top modules. Use this setting if your
robot operates permanently with a top module that makes the combined robot application
higher than the robot itself. This prevents the robot from colliding with obstacles from
above.
Max distance from path defines the maximum allowed distance in meters that the
generated global path is allowed to deviate from the most direct path on the map. By
default, this parameter is disabled, meaning the robot will always make a global path and
follow it to the goal position no matter how far the path is. If you want to avoid the robot
traveling paths of a specific length and report an error instead, enter the maximum length
that the global path may exceed the most direct path.
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Maximum planning time defines the maximum time allowed for planning a path. By
default, this parameter is disabled, meaning the robot will always try to finish planning a
global path no matter how long it takes. If you want the robot to report an error after a set
time period instead, enter the maximum amount of time in seconds that the robot can spend
planning a path before it reports an error.
Path timeout defines the maximum time the robot's path can be blocked before it
generates a new global path. By default, this value is 0, meaning the robot will not wait if its
current global path is blocked by an obstacle it cannot navigate around using the local
planner. If you want the robot to wait and see if the obstacle moves before planning a new
path, enter the maximum waiting time.
Path deviation defines the maximum distance in meters that the local path is allowed to
deviate from the global path before it makes a new global path. By default, this parameter is
disabled, meaning the robot can deviate from the global path using the local planner to go
around an obstacle as far as possible in the map.
Optimizing the timeout and deviation of paths is useful in situations where you
want to configure how strictly the robot should follow the path it has planned.
Making the robot follow the exact path it has planned with little or no
deviation is known as Line-following mode. This can be useful, for example, in
narrow corridors where there isn't enough space for the robot to go around
dynamic obstacles—see Figure 9.23.
For more information on Line-following, see the how-to guide Enable Linefollowing mode. Contact your distributor.
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Line-following disabled
Line-following enabled
Figure 9.23. Example of where the robot might benefit from using a Line-following configuration. When there
isn't enough space for the robot to go around an obstacle, it will often spend more time trying to maneuver
around the obstacle and correct its trajectory afterward than it would have just waiting for the obstacle to move
out of the way.
Maximum allowed speed defines the overall speed limit of the robot. The maximum
allowed speed will never be exceeded no matter what is stated in the mission. This setting
can be useful if, for example, the robot transports motion sensitive objects or if the work
environment in other ways requires the robot to always stay below a certain speed
threshold.
Desired speed sets the desired speed of the robot. This setting can be useful in the same
way as maximum allowed speed, but with this setting, the robot will drive faster than the set
desired speed in a Speed zone that requires it.
Docking
In the Docking section, you can change the parameters regarding docking to and from
markers.
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Figure 9.24. Change the parameters regarding docking to and from markers in The Docking section.
In Undock from markers, you can select if the robot should undock from a marker before it
starts moving from a docked position. It is usually best to set this setting to True to prevent
the robot from going into Protective stop when moving away from markers.
The robot cannot undock from L-markers automatically—see Markers on
page 98. You must use a Relative move action.
In the advanced settings, you can adjust the parameters for docking to markers. This can be
useful in case of docking issues. To see the advanced docking settings, select Show
advanced settings.
Features
In the Features section, you can disable and enable robot features.
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Figure 9.25. Disable and enable robot features in the Features section.
Shelf enables the shelf feature. Enable this feature if the robot is used to pick up and place
shelves.
Hook enables the hook feature. Enable this feature if your top module is a MiR Hook. This
will enable the Hook menu in the robot interface.
Email address enables an action for sending emails from missions. You can configure the
email account that the robot sends the emails from under System > Settings > Email
Configuration.
PLC registers enables actions for setting PLC registers from missions and monitoring PLC
registers in the robot interface. When enabled, you can access the page
System > PLC registers to set up the registers.
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Universal Robots Interface enables an action for running Universal Robots programs from
missions. Enable this feature if the robot drives with an application from Universal Robots.
Fleet makes the robot visible for MiR Fleet. Enable this feature if the robot is part of a fleet.
Modbus enables Modbus communications. When enabled, you can access the page System
> Triggers to set up the Modbus triggers.
Precision docking enables you to create precision docking markers on your map. Enable this
feature if the robot has been installed with MiR Precision Docking.
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10. Usage
In the following sections you will find practical examples of how missions can be tailored to
different tasks. The examples include:
• Setting markers and positions on the map.
• Creating a mission that uses a Prompt user action. The example mission is titled Prompt
user.
• Creating a mission that uses a Try/Catch action. The example mission is titled Try/Catch.
• Creating a mission that uses variables. The example mission is titled Variable footprint.
10.1 Creating markers
Before creating a marker, you must ensure that the robot is localized correctly on an active
map. If in doubt, you can check if the red lines representing the laser scanner view match
the black lines on the map, as shown in Figure 10.1.
Figure 10.1. The red lines represent the obstacles the laser scanners detect. The robot is localized correctly
when the red lines align with the black lines that represent walls.
Once the robot is localized, you can insert a marker on the map. In this example, we are
using a VL-marker .
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1. Place your physical marker where you want the robot to dock.
2. Manually drive the robot to the marker so the robot is facing the marker. The correct
distance from the marker differs depending on the marker type:
• For L-markers, the following values apply:
• A: 700 mm ±50 mm
B: 200 mm ±50 mm
For a forward docking, make the front of the robot face the marker, and
for a reverse docking, make the rear of the robot face the marker.
• For all other markers, the robot must be positioned approximately one meter directly
in front of the marker.
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3. Go to Setup > Maps, and select Edit
for the active map.
4. Within the editor, select Markers in the Object-type drop-down menu, and then select
Draw new marker in the editor tools.
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5. In the Create marker dialog box, name the marker. Under Type, select your marker type.
In this case, a VL-marker is used. Then select Detect marker.
The X, Y, and orientation values will automatically be filled out with the current position
of the robot.
• If the robot cannot detect the marker, verify that the robot is correctly positioned and
that the laser scanners can detect the marker in the active map by checking that red
lines are displayed on the map where the marker is.
• If you are trying to make the robot detect an L-marker but it keeps detecting other
objects with a 90° angle instead, shield the objects that the robot is not supposed to
detect with a flat plate.
• If you want the robot to dock straight to the marker, set the orientation offset to 0. If
you want the robot to reverse into the marker, set the Offset orientation to 180°.
Detecting the marker with the rear scanner will automatically set the
orientation offset to approximately 180° for a reverse docking.
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• To change where the robot stops relative to the marker, you can adjust the offsets.
These are valued in meters and are based on the centerpoint of the robot towards the
marker.
• The X-offset moves the robot closer to or further from the marker.
• The Y-offset moves the robot further to the left or right of the marker.
• The orientation offset changes the final orientation of the robot.
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6. Select OK to create the marker. The marker is now visible on the map.
You can make the robot dock to the marker by selecting it on the map and selecting Go to.
The marker can also be used in missions.
10.2 Creating positions
The following steps describe how to create a position on a map. In this example, we are
creating a Robot position .
1. In the robot interface, enter the map editor of the map where you want to create a
position. This is done by going to Setup > Maps and selecting Edit next to the map you
would like to work on.
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2. In the Object-type drop-down menu, select Positions, and then select Draw a new
position .
3. Select where on the map you want the position to be, and choose in which direction you
want it to face.
4. Name the position. Under Type, select which type of position you want to make. In this
example we are making a Robot position.
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5. Select OK to create the position. The position is now visible on the map.
You can send the robot to the position by selecting it on the map and selecting Go to. The
position can also be used in missions.
10.3 Creating the mission Prompt user
Prompt user actions are used for prompting the user with a question on how the robot
should proceed. Prompt user is an example mission that uses a Prompt user action that lets
you choose whether to send the robot to one position or another.
Before you create the mission Prompt user, it is assumed that you have completed the
following:
• Created two robot positions named p1 and p2 as described in Creating positions on
page 128.
• Defined a user group named Users.
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To create the mission, follow the steps below:
1. Go to Setup > Missions. Select Create Mission.
2. Name the mission Prompt user. Select the group and site you want it to belong to. Select
Create mission.
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3. Select the following actions:
• In the Logic menu, select Prompt user.
• In the Move menu, select Move.
• In the Move menu, select Move.
The following steps describe which parameters each action should be set to. To modify
the parameters, select the gearwheel at the right end of the action line to open the
action dialog box. When you have set the parameters, select Validate and close.
4. In the Prompt user action, set the parameters as follows:
• Question: Enter the question Go to position one?.
• User group: Select Users.
• Timeout: Set the timeout to 10 minutes.
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5. In the Prompt user action, drag a Move to action into the Yes box and a Move to action
into the No box.
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6. In the first Move to action, under Position, select p1.
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7. In the second Move to action, under Position, select p2.
The mission should look like this:
8. Select
Save to save the mission.
10.4 Creating the mission Try/Catch
Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you
can define what the robot should do if, at any point, it fails to execute its main mission. This
prevents the robot from going into an error state and stopping in the middle of a mission by
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providing an alternative course of action if the main mission fails.
Try/Catch is a mission example where the robot runs the mission Prompt user created in
Creating the mission Prompt user on page 130, and if the robot for some reason fails to
complete the mission, the robot plays a sound.
To create the mission Try/Catch, it is assumed you have completed the following:
• Created the mission Prompt user as described in Creating the mission Prompt user on
page 130.
To create the Try/Catch mission, follow the steps below:
1. Go to Setup > Missions. Select Create Mission.
2. Name the mission Try/Catch. Select the group and site you want it to belong to. Select
Create mission.
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3. Select the following actions:
• In the Error handling menu, select Try/Catch.
• Select the Prompt user mission you have made.
The mission menu you have saved the mission under will figure as a
menu in the mission editor. The menus contain both missions and
actions.
Missions have this icon and actions have this icon .
In this example, the mission is saved under the Logic menu that also
includes the Prompt user action . Be sure to select the Prompt user
mission .
• In the Sound/Light menu, select Play sound.
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The following steps describe which parameters each action should be set to. To modify
the parameters, select the gearwheel at the right end of the action line to open the
action dialog box. When you have set the parameters, select Validate and close.
4. Drag the Prompt user mission into the Try box under Try/Catch.
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5. Drag the Play sound action under the Catch box under Try/Catch.
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6. In the Play sound action, set the parameters as follows:
• Sound: Select Beep.
• Volume: Enter the value 80. This is approximately 64 dB.
• Mode: Select Custom length so you can enter the duration of time the sound is
played.
• Duration: Set the duration to two minutes.
The mission should look like this:
7. Select
Save to save the mission.
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10.5 Creating the mission Variable footprint
All mission actions that require the user to specify the value of a parameter when they
choose to use the mission have the option of defining a variable. If you use a variable in a
mission, then when you add the mission to the mission queue or embed it inside another
mission, you must select a value for the parameter where the variable is used. This allows
you to reuse the same mission for different but still similar tasks.
Variable footprint is a mission example that enables you to select which footprint the robot
should use each time the mission is run.
To create the mission, follow the steps below:
1. Go to Setup > Missions. Select Create Mission.
2. Name the mission Variable footprint. Select the group and site you want it to belong to.
Select Create mission.
3. Select the following actions:
• In the Move menu, select Set footprint.
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The following steps describe which parameters each action should be set to. To modify
the parameters, select the gearwheel at the right end of the action line to open the
action dialog box. When you have set the parameters, select Validate and close.
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4. In the Select footprint action, make the parameter Footprint a variable that can be set
each time you use the mission. The following steps describe how to create a variable:
• Under Footprint, select Variables .
• Select Create variable in the upper-right corner.
• Name the variable Use default footprint or narrow footprint?. Select OK.
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The mission should look like this:
5. Select
Save to save the mission.
10.6 Testing a mission
After you create a mission, always run the mission to test that the robot executes it
correctly.
NOTICE
Always test missions without payload to minimize potential hazards.
To run a mission, follow these steps:
1. Go to Setup > Missions.
2. Select Queue mission next to the mission you want to run. The mission is now added to
the mission queue.
3. Select Continue to start the mission.
4. Watch the robot execute the mission, and verify that it performs as expected.
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We recommend running the mission 5-10 times to ensure that it runs
smoothly. If something interrupts the mission, use a Try/Catch action in that
step of the mission and decide what the robot has to do if a mission action
fails.
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11. Applications
11. Applications
You can install top modules on top of MiR200 for specific applications. For more information
about top modules, see the MiR website.
Top modules from MiR are delivered with Operating guides with instructions on how to
mount them on and operate them with the robot.
For detailed instructions on how to mount top modules and accessories, contact your
distributor.
11.1 Mounting a top module
Top modules must be fastened using the self-tightening conically shaped mounting holes in
each corner of the robot and should be mounted with a tightening torque of 47 Nm.
Figure 11.1. Top modules are fastened through the mounting holes in the top cover.
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11. Applications
CAUTION
Personnel operating the robot risk injury if they cannot stop the robot in an
emergency situation.
• If a top module prevents you from connecting the Emergency stop button
delivered with your robot, make sure to install a new button on the top
module, and to perform a risk assessment according to standard ISO 12100.
CAUTION
Certain top modules may lead to new hazards and increased risks that cannot
be eliminated or reduced by the risk reduction measures applied by Mobile
Industrial Robots.
• Perform a risk assessment according to standard ISO 12100 when mounting
a top module—see Risk assessment on page 86
CAUTION
MiR200 may tip over if weight and payload specifications are not met, risking
damage to equipment or injury to nearby personnel.
• Stay within the specifications for weight and the total payload’s center of
gravity—see Payload specifications on page 156.
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12. Maintenance
12. Maintenance
The following maintenance schedules give an overview of regular cleaning and parts
replacement procedures.
It is the responsibility of the operator to perform all maintenance tasks on the robot.
The stated intervals are meant as guidelines and depend on the operating
environment and frequency of usage of the robot.
It is recommended to make a maintenance plan to make sure that all
maintenance tasks are done and that the responsible(s) are aware of their
tasks.
NOTICE
Only use approved spare parts. Contact your distributor for the list of spare
parts and the appropriate how-to guides.
Mobile Industrial Robots disclaims any and all liability if unapproved spare
parts are used. Mobile Industrial Robots cannot be held responsible for any
damages caused to the robot, accessories, or any other equipment due to use
of unapproved spare parts.
12.1 Regular weekly checks and maintenance
tasks
Once a week, carry out the maintenance tasks in Table 12.1.
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12. Maintenance
Table 12.1.
Regular weekly checks and maintenance tasks
Parts
Maintenance tasks
Robot cover and
sides
Clean the robot on the outside with a damp cloth.
Laser scanners
Clean the optics covers of the scanners for optimum
performance. Avoid aggressive or abrasive cleaning agents.
Do not use compressed air to clean the robot.
In the robot interface under Monitoring > Hardware health >
Emergency stop, see if Front scanner cover and Back scanner
cover is Clean.
NOTICE
Static charges cause dust particles to be attracted to the
optics cover. You can diminish this effect by using the antistatic plastic cleaner (SICK part no. 5600006) and the SICK
lens cloth (part no. 4003353). See the manufacturer’s own
documentation.
Swivel wheels (the
four corner wheels)
Remove dirt with a damp cloth, and make sure nothing is
entangled in the wheels.
Drive wheels (the
two middle wheels)
Remove dirt with a damp cloth, and make sure nothing is
entangled in the wheels.
Status lights
Check if the LED light band is intact. Ensure the light shows all
the way around the robot. Clean with a soft cloth to ensure even
lighting around the robot.
ESD-tail (if
mounted)
Remove dust and debris and check integrity. Ensure that the ESDtail is mounted securely.
12.2 Regular checks and replacements
Before starting replacement tasks that involve removal of the top cover:
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• Shut down the robot—see Shutting down the robot on page 45.
• Disconnect the battery—see Disconnecting the battery on page 48.
Table 12.2 contains the parts that you should check and how often you should do that.
Table 12.2.
Regular checks and replacements
Part
Robot cover
Maintenance
Check for cracks.
Check mounting. Does the cover
sit evenly on top of the robot with
all connections accessible?
Interval
Check monthly and replace as
needed.
Safety PLC
In the robot interface under
Monitoring > Hardware health
> Communication, see if the
robot is running with the correct
SICK configuration, or if the
warning The SICK Safety PLC is
running a non-standard
configuration is shown.
Check monthly and after
commissioning or if you make
any changes to the robot setup.
Robot
hardware
In the robot interface under
Monitoring > Hardware health,
check if there are any warnings
(marked with yellow).
Check monthly and after
commissioning or if you make
any changes to the robot setup.
Loudspeaker
Check that all auditory warnings
function.
Check monthly, and replace as
needed.
Swivel wheels
(the four
corner wheels)
Check bearings and tighten, and
check the wheels for wear and
tear.
Check weekly, and replace as
needed.
Drive wheels
(the two
middle-wheels)
Check wheel surfaces for wear.
Check every six months, and
replace as needed.
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12. Maintenance
Part
Maintenance
Interval
NOTICE
The robot must be
calibrated after
replacement of the wheels.
Safety laser
scanners
Check for visual defects, for
example cracks and scratches.
Replace as needed.
NOTICE
The robot must be
calibrated after
replacement of the
scanners.
Emergency
stop
Check that the Emergency stop
button works. Push down the red
button, and check that the
Emergency stop reset button
lights up and that the status lights
turns red.
Every three to four months /
according to EN/ISO 13850
Safety of machinery - Emergency
stop function.
Pad connectors
Push each charging pad to check
that each charging pad moves
freely up and down.
Check monthly, and replace as
needed
3D cameras
Check for visual defects, for
example cracks and scratches.
Check monthly, and replace as
needed.
Safety stickers
Check if the safety stickers, ID
Check every six months, and
Over time the pad
connectors may become
discolored due to corrosion.
This is merely a cosmetic
issue and has no effect on the
conductivity of the pad
connectors.
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12. Maintenance
Part
and nameplate
Maintenance
label, and nameplate on the
robot are still intact and visible.
Interval
replace as needed.
CAUTION
If the robot has been impacted it may be structurally damaged, causing a risk
of malfunction and injury to personnel.
• If you suspect the robot has suffered any damage, you need to conduct a
thorough inspection to ensure that the robot's strength and structure is not
compromised.
12.3 Battery maintenance
The battery is generally maintenance-free but should be cleaned if it gets very dirty. Before
cleaning, the battery must be removed from any power source. Only use a dry and soft cloth
to clean the housing of the battery, and do not use abrasives or solvents.
For storage of the battery, see Battery storage on page 50.
For disposal of the battery, see Battery disposal on page 50.
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13. Packing for transportation
13. Packing for transportation
This section describes how to pack the robot for transportation.
13.1 Original packaging
Use the original packaging materials when transporting the robot.
Figure 13.1. The packing materials.
The packaging materials are:
•
•
•
•
•
The bottom of the box (the pallet)
The lid of the box (the ramp)
The walls of the box
Protective foam blocks: Side blocks and the top layer
Protective corner braces. The braces prevent the robot from being damaged by the
transport straps
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13. Packing for transportation
13.2 Packing the robot for transportation
Before packing the robot for transportation:
• Shut down the robot—see Shutting down the robot on page 45.
• Disconnect the battery—see Disconnecting the battery on page 48.
To pack the robot, repeat the steps in Unpacking MiR200 on page 30 in the reverse order.
NOTICE
Pack and transport the robot in an upright position. Packing and transporting
the robot in any other position voids the warranty.
13.3 Battery
The lithium-ion battery is subject to transport regulations. Make sure that you follow the
safety precautions in this section and the instructions in Packing for transportation on the
previous page. Different regulations apply depending on the mode of transportation: land,
sea, or air.
Contact your distributor for more information.
CAUTION
Lithium-ion batteries are subject to special transportation regulations
according to United Nations Regulation of Dangerous Goods, UN 3171. Special
transport documentation is required to comply with these regulations. This
may influence both transport time and costs.
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14. Disposal of robot
14. Disposal of robot
MiR200 robots must be disposed of in accordance with the applicable national laws,
regulations, and standards.
Fee for disposal and handling of electronic waste of Mobile Industrial Robots A/S robots sold
on the Danish market is prepaid to DPA-system by Mobile Industrial Robots A/S. Importers in
countries covered by the European WEEE Directive 2012/19/EU must make their own
registration to the national WEEE register of their country. The fee is typically less than 1€
per robot. A list of national registers can be found here: https://www.ewrn.org/nationalregisters.
For battery disposal, see Battery disposal on page 50.
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15. Payload specifications
15. Payload specifications
The following drawings illustrate where the center of mass (CoM) of payloads must be
located for safe operation with different payloads.
CAUTION
Load placed directly on top of the robot cover may cause damage to the cover
of the robot.
• Ensure that the load is not placed directly on top of the robot cover.
WARNING
Load falling or robot overturning if the load on MiR200 is not positioned or
fastened correctly can cause damage to equipment and injury to personnel.
• Ensure that the load is positioned according to the specifications and is
fastened correctly.
CAUTION
Bumps and holes can cause payloads to fall off of the robot, causing damage
to equipment and injury to personnel.
• The floor the robot drives on must be even without bumps and holes for the
payload specifications to be valid. If bumps and holes are present, the
commissioner must take additional measures to ensure a safe operation.
The specifications apply to total payloads of up to 200 kg.
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15. Payload specifications
Payload: 50 kg
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15. Payload specifications
Payload: 75 kg
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15. Payload specifications
Payload: 100 kg
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15. Payload specifications
Payload: 125 kg
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15. Payload specifications
Payload: 150 kg
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15. Payload specifications
Payload: 175 kg
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15. Payload specifications
Payload: 200 kg
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16. Interface specifications
16. Interface specifications
This section describes the specifications of the top application interfaces.
NOTICE
Read Safety on page 19 before using the electrical interface.
16.1 Application interface
The application interface plug is a NEUTRIK XLR panel-mount connector with 4 contacts
(receptable).
Figure 16.1. Application interface.
Table 16.1.
Description of the pins in Figure 16.1.
Pin no.
1
Voltage
Battery voltage (24 V)
Max. current
3A
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Starts with the robot.
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16. Interface specifications
Pin no.
Voltage
Max. current
Description
2
Battery voltage (24 V)
3A
Starts with the robot.
3
Battery voltage (24 V)
10 A
Stops by Emergency stop.
4
GND
10 A
Ground.
16.2 Emergency stop
The emergency stop plug is a NEUTRIK XLR panel-mount connector with 10 contacts
(receptable).
Figure 16.2. Emergency stop interface.
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16. Interface specifications
Table 16.2.
Description of the pins in Figure 16.2.
Pin no.
Signal name
Description
1
GND 24 V
GND for lamp in Scanner reset button.
2
X1 SICK
Test output from the robot safety PLC.
3
X2 SICK
Test output from the robot safety PLC.
4
Emergency
stop, 1 GN
Safety input on robot safety PLC monitoring through
Emergency stop button.
5
Emergency
stop, GNWH/RD
Safety input on robot safety PLC monitoring through
Emergency stop button.
6
Reset button,
BWN-WH
Safety input on robot safety PLC monitoring state of
Scanner reset button used to release robot from
Emergency stop.
7
RESET LAMP
Safety output from the robot safety PLC used to turn the
lamp in the reset button On/Off.
8
I5
Connects to safety input I5 on robot safety PLC.
9
GND
24 V/1 A DC supply - NEG terminal. To be used as GND
for 24V supply from pin 10.
10
24 E-STOP
24 V/1 A DC supply - POS terminal. Can be used to power
small external units using up to 1 A such as tablets and
PLC interfaces.
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17. Error handling
17. Error handling
The robot enters an error state when it can't solve a problem on its own.
Errors include:
•
•
•
•
Hardware faults
Failed localization
Failure to reach destination
Unexpected events in the system
An error triggers a Protective stop. The robot is paused until a user acknowledges the error
and clears it.
17.1 Software errors
Software errors such as localization and failure to reach the goal destination can be
prevented with the proper setup of maps and missions:
• Always test your missions under full observation and normal work environment conditions
before leaving the robot to execute the missions autonomously—see Testing a mission on
page 144.
• Use Try/Catch actions to make the robot react in a specific way if it fails to execute
certain actions—see Creating the mission Try/Catch on page 135.
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17. Error handling
• Use Prompt user actions in missions that require intervention from users—see Creating
the mission Prompt user on page 130.
• Define forbidden areas with Forbidden or Unpreferred zones on the map—see Creating
and configuring maps on page 87.
• Remove noise from maps—see Creating and configuring maps on page 87.
• Create Directional or Preferred zones to guide the robot around areas that are difficult
for the robot to travel through—see Creating and configuring maps on page 87.
To clear an error, select the red warning indicator in the interface, and select Reset.
For more details on setting up missions and error handling, see MiR Robot Reference Guide
on the MiR website.
17.2 Hardware errors
If the error is a fault in the hardware, either you will not be able to clear it, or the error will
return until the fault is fixed. If this occurs, you can try to fix the issue with these actions:
• Turn your robot off and then on again. This resets the robot components and may resolve
the issue.
• Check that the Emergency stop button is released.
• Check your robot for any physical damage such as cracks, dents, or severe scratches or
contamination such as dust, dirt, and grease. Pay special attention to the 3D cameras,
safety laser scanners, and drive wheels.
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17. Error handling
• Sign in to the robot interface and go to Monitoring > Hardware health. The interface
displays which component is failing and often for what reason. This can help identify the
source of the error. If an internal component is failing, turn off the robot, disconnect the
battery, and have the commissioner or operator visually check the internal component for
obvious faults.
Figure 17.1. The interface in Hardware health displays which component is failing and often for what reason.
• For further troubleshooting, contact your distributor for specific MiR troubleshooting
guides or assistance from MiR Technical Support.
For a full list of MiR error codes, contact your distributor for the document
Error codes and solutions.
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Glossary
A
Autonomous mode
Mode in which the robot drives autonomously based on the missions you assign to it.
C
Cart
A cart can be towed by a MiR robot with a MiR hook mounted to it.
Commissioner
Commissioners have thorough knowledge of all aspects of commissioning, safety,
use, and maintenance of MiR200 and have the following main tasks: Commissioning
the product, including creating maps and restricting the user interface for other
users; making the risk assessment; determining the payload limit, weight
distribution, and safe methods of fastening of loads to MiR200; and ensuring the
safety of nearby personnel when a MiR robot is accelerating, braking, and
maneuvering.
D
Direct user
Direct users are familiar with the safety precautions in the user guide and have the
following main tasks: assigning missions to MiR200, and fastening loads to MiR200
properly.
Dynamic obstacle
Dynamic obstacles are obstacles that are moved around, such as pallets, crates, and
carts. These should not be included when creating a map.
E
Emergency stop
Emergency stop is a state the robot enters when an Emergency stop button has
physically been pressed. When the robot is in Emergency stop, the status light of the
robot turns red, and you are not able to move the robot or send it on missions until
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you bring the robot out of Emergency stop. To do this, you must release the
Emergency stop button and then press the Resume button.
G
Global path
The global path is the route the robot calculates that leads it to its goal position.
I
Identification label
The identification label is the label that is mounted to the product in production. The
label is used to identify the components in your MiR application. It identifies the
product model, the hardware version, and the product serial number.
L
Local path
The local path is the route the robot creates within its immediate vicinity that guides
it around obstacles while still following the global path.
Localization
The method used by the robot to determine its position on the map relative to where
it is in the work environment.
M
Manual mode
The mode in which you can drive the robot manually using the joystick in the robot
interface.
Marker
A marker of a physical entity that the robot can dock to. This enables the robot to
position itself accurately relative to the marker.
MiR application
A MiR application is either a single MiR product or a combination of MiR products
that is able to execute certain tasks. A MiR application is often a MiR base robot
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combined with a MiR top module. If a custom top module is used, the CE mark on
the nameplate of the base robot does not extend to the top module.
MiR robot interface
The MiR robot interface is the web-based interface that enables you to
communicate with your MiR robot. It is accessed by connecting to the robot's WiFi
and then going to the site mir.com or by entering the robot's IP address in a
browser.
N
Nameplate
The the nameplate is the label delivered with your MiR application that must be
mounted before you commission the robot. The nameplate identifies the MiR
application model, application number, mechanical and electrical specifications, and
includes the CE mark of your application.
Noise
With MiR robots, noise in maps refers to recorded data that originates from
interfering elements. This can be physical obstacles that make the robot record walls
where there are none or more subtle interferences that can make recorded walls
appear pixelated.
O
Operating hazard zone
Operating hazard zones are areas with inadequate clearance for personnel to work
close by the robot.
Operator
Operators have thorough knowledge of MiR200 and of the safety precautions
presented in the User guide of MiR200. Operators have the following main tasks:
servicing, maintaining, and creating and changing missions and map positions in the
robot interface.
P
Position
A position is a set of X-Y coordinates on the map that you can send the robot to.
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Protective stop
Protective stop is a state the robot enters automatically to ensure the safety of
nearby personnel. When the robot enters Protective stop, the status light of the
robot turns red, and you are not able to move the robot or send it on missions until it
is brought out of Protective stop. The robot goes into Protective stop in a number of
situations: if a safety laser scanner detects an object in its active protective field,
when the robot finishes the startup process, when the robot has switched between
Manual mode and Autonomous mode, if the safety system detects a fault, or if the
motor control system detects a discrepancy.
S
Static landmark
Static landmarks are obstacles that cannot be moved, such as walls, columns, and
fixed structures. These must be included on the map and are used by the robot to
localize itself.
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