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10. Safety system

MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.

112

Safety contactors

There are two safety contactors inside the top module. These contactors are used to cut the
power to the carrier pin lifting mechanism. The safety PLC controls the contactors to ensure
that power is only delivered to the lifting mechanism when it is safe for the carrier pins to
change positions. There is also a feedback circuit through the safety contactors which the
safety PLC monitors to make sure that the contactors are working correctly.

10.7 Safety stop

There are two pairs of contactors used to stop MiR250 Shelf Carrier: the STO (Safe Torque
Off) contactors and the SS1 (Safe Stop 1) contactors. These are controlled by the safety PLC
and are used when the robot goes into Protective or Emergency stop. The following
processes occur to stop the robot safely:

1.

The safety PLC first turns off the STO contactors so power is cut from the motors.

To ensure that the STO contactors switch states as expected, there is a
feedback circuit that connects to the safety PLC to verify that the
contactors switch to the correct state. When the robot is starting up, the
feedback circuit and STO contactors are checked before allowing the robot
to be operated.

2.

The safety PLC turns off the SS1 contactors to activate the dynamic brake function in the
motors.

3.

The safety PLC monitors data from the motor encoders to determine whether the robot
has stopped within the expected amount of time.

4.

Once the robot has stopped, the mechanical brakes are engaged to keep the robot in
place, similar to the parking brake in a car.

The mechanical brakes are only intended to engage when the robot has stopped. Only when
the dynamic brake function does not stop the robot within the expected amount of time are
the mechanical brakes engaged to stop the robot while it is in motion. This is considered an
emergency situation where the dynamic brakes have failed, and an error is reported in the
robot interface. This can occur, for example, if the robot drives on surfaces that are not
within specifications or the load on the robot does not fulfill the payload specifications—see

Payload distribution on page 229

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Summary of Contents for 250 Shelf Carrier

Page 1: ...User Guide en Date 03 2021 Revision v 1 4 ...

Page 2: ...r 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 2020 2021 by Mobile Industrial Robots A S Contact the manufacturer Mobile Industrial Robo...

Page 3: ... Shelf Carrier 11 2 2 External parts 13 2 3 Internal parts 21 2 4 How MiR Shelf Carrier 250 works 30 3 Warranty 31 4 Safety 32 4 1 Safety message types 32 4 2 General safety precautions 33 4 3 Intended use 38 4 4 Users 39 4 5 Foreseeable misuse 40 4 6 Warning label 41 4 7 Residual risks 41 5 Accessing the internal parts 43 5 1 Front compartment 44 5 2 Rear compartment 45 5 3 Side compartments 46 5...

Page 4: ...6 8 Checking the hardware status 64 6 9 Mounting the nameplate 65 6 10 Enable the MiR250 Shelf Carrier feature 67 6 11 Testing the top module 69 6 12 Shutting down the robot 71 7 Battery and charging 73 7 1 Charging the robot 73 7 2 Disconnecting the battery 74 7 3 Enabling fast swap 75 7 4 Swapping out the lithium ion battery 77 7 5 Battery storage 79 7 6 Battery disposal 80 8 IT security 82 8 1 ...

Page 5: ...m 99 10 1 System overview 99 10 2 Personnel detection 104 10 3 Overspeed avoidance 108 10 4 Stability 109 10 5 Emergency stop buttons 109 10 6 MiR Shelf Carrier 250 safety functions 110 10 7 Safety stop 112 10 8 Light indicators and speakers 113 11 Commissioning 117 11 1 Analysis of the work environment 117 11 2 Risk assessment 119 11 3 Shelf specifications 120 11 4 Creating and configuring maps 1...

Page 6: ...166 12 1 Creating markers 166 12 2 Creating positions 172 12 3 Creating a marker type 174 12 4 Creating the mission Prompt user 177 12 5 Creating the mission Try Catch 182 12 6 Creating the mission Variable docking 188 12 7 Creating the mission 80 cm doorway 196 12 8 Creating the mission Pick up and place shelf 203 12 9 Creating the mission Place shelf at VL marker 208 12 10 Testing a mission 213 ...

Page 7: ...aging 226 15 2 Packing the robot for transportation 227 15 3 Battery 227 16 Disposal of robot 228 17 Payload distribution 229 17 1 Side view 230 17 2 Front view 232 17 3 Top view 234 18 Interface specifications 236 18 1 Left side interfaces 236 18 2 Right side interfaces 238 19 Error handling 243 19 1 Software errors 243 19 2 Hardware errors 244 ...

Page 8: ...guages User guides provide all the information you need to operate and maintain MiR robots and how to set up and use top modules and accessories such as charging stations hooks shelf lifts and pallet lifts User guides are available in multiple languages Commissioning guides describe how to commission your robot safely and prepare it to operate in the workplace Operating guides describe how to set ...

Page 9: ...0 1 1 2020 07 01 General improvements throughout the document 1 0 1 2 2020 07 08 Update section Operating hazard zones General improvements throughout the document 1 0 1 3 2020 11 30 Added sections Warranty Markers and Positions Updated section Battery storage with Power save mode and Deep sleep mode General improvements throughout the document 1 0 1 4 2021 03 31 Added sections Enabling fast swap ...

Page 10: ... or perform more complex missions The robot interface of MiR250 Shelf Carrier can be accessed via Google Chrome Google Chromium Apple Safari Mozilla Firefox and Microsoft Edge browsers The robot uses a map of its work area to navigate and can move to any position on the map see Navigation and control system on page 84 The map can be created or imported the first time the robot is used While operat...

Page 11: ...icles Efficient transportation of shelves The robot is designed to automate transportation of loaded shelves with a weight of up to 300 kg Sound and light signals The robot continuously signals with light and sounds indicating where it will drive and its current status for example waiting for a mission driving to a destination or destination reached User friendly and flexible The web based user in...

Page 12: ...l 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 i...

Page 13: ...e on the outside Figure 2 1 MiR250 Shelf Carrier external parts Pos Description Pos Description 1 Corner bumper four pcs one on each corner 2 Front cover opens to front compartment see Internal parts on page 21 3 Swivel wheel with foot guard four pcs one in each corner 4 3D depth camera two pcs both in the front see Obstacle detection on page 89 Table 2 1 Identification of the external parts in Fi...

Page 14: ...trol panel on page 16 9 Manual brake release switch see Control panel on page 16 10 Rear cover opens to rear compartment see Internal parts on page 21 11 Signal light eight pcs two on each corner see Light indicators and speakers on page 113 12 Proximity sensor eight pcs two in each corner behind corner covers see Obstacle detection on page 89 13 Emergency stop button 14 Rear carrier pin 15 Front ...

Page 15: ...identification label of MiR250 is located on the rear cover next to the battery Figure 2 2 Placement of the MiR250 identification label The identification label of MiR Shelf Carrier 250 is located on the left side of the shelf carrier beneath its cover Figure 2 3 Placement of the MiR Shelf Carrier 250 identification label ...

Page 16: ...ier identifies the application model and serial number and includes the CE mark the technical specifications and the address of Mobile Industrial Robots The nameplate identifies the complete MiR application for example a robot with a top module It is the responsibility of the commissioner to mount the nameplate on the application see Mounting the nameplate on page 65 Figure 2 5 Example of a MiR250...

Page 17: ... panel Pos Description Pos Description 1 Manual stop button 2 Resume button 3 Power button 4 Operating mode key Table 2 2 Identification of items on the control panel in Figure 2 6 Manual stop Pressing this button stops the robot After pressing this button you must press the Resume button to let the robot continue operating Color indication Red It is possible to engage the Manual stop ...

Page 18: ...ing blue The robot is waiting for a user action clear the Emergency stop state acknowledge the change of operating mode Power Pressing this button for three seconds turns the robot on or shuts it off Color indication Blue The robot is off Blinking green The robot is starting up Green Normal operation Blinking red The battery level is too low to start without additional charging or the robot is shu...

Page 19: ... or drive the robot manually Right position Manual mode Puts the robot in Manual mode For more information on operating modes see Operating modes on the next page Manual brake release switch The Manual brake release switch is located below the control panel and releases the mechanical brakes on MiR250 Shelf Carrier You release the robot s mechanical brakes by turning the Manual brake release switc...

Page 20: ...wn due to low battery percentage there is still enough power to release the brakes for approximately a week after When driving in Autonomous mode the robot engages and releases the mechanical brakes automatically The robot cannot operate while the mechanical brakes are released manually Operating modes MiR250 Shelf Carrier has two operating modes Manual mode and Autonomous mode Manual mode In this...

Page 21: ... Most internal parts of MiR250 Shelf Carrier are accessed through covers that open to different compartments Front compartment Rear compartment Side compartments Top compartments To access the compartments correctly see Accessing the internal parts on page 43 WARNING Removing covers from the robot exposes parts connected to the power supply risking damage to the robot from a short circuit and elec...

Page 22: ...t components are listed in Table 2 3 Figure 2 8 Internal parts of the front compartment Pos Description Pos Description 1 Loudspeaker 2 Carrier board with motor controller controlling the left side drivetrain 3 Carrier board with motor controller controlling the right side drivetrain 4 Robot computer 5 Charging pads under robot and broom for keeping dirt away from the charging pads Table 2 3 Ident...

Page 23: ...LC The battery and Battery disconnect lever can be accessed without the use of tools The other components in the rear compartment are only accessible via use of tools To open the rear compartment see Accessing the internal parts on page 43 NOTICE The unique nameplate of your robot is to be mounted on the rear compartment cover see Mounting the nameplate on page 65 Make sure you do not swap the cov...

Page 24: ...s Description 1 Battery disconnect lever 2 Battery connector 3 Battery 4 Cable charging interface 5 Power board for motor controller robot computer and safety PLC 6 Safety PLC Table 2 4 Identification of internal parts in Figure 2 9 Side compartments The side compartments contain the bogies and drive wheels To access a side compartment see Accessing the internal parts on page 43 Side compartment c...

Page 25: ...tion Pos Description 1 Safe Stop 1 SS1 contactor 2 Safe Torque Off STO contactor 3 Bogie and drivetrain consisting of motor gearbox encoder brake drive wheel and assembly parts 4 Safe Torque Off STO contactor Table 2 5 Identification of internal parts in Figure 2 10 The right side compartment components are listed in Table 2 6 Figure 2 11 Internal parts of the right side compartment ...

Page 26: ...r 3 Bogie and drivetrain consisting of motor gearbox encoder brake drive wheel and assembly parts Table 2 6 Identification of internal parts in Figure 2 11 Top compartments The two top compartments contain electrical interfaces that can be connected to top modules The top compartments are only accessible after the top module has been removed see Unmounting the top module on page 215 ...

Page 27: ...e IndustrialRobots A S 27 Figure 2 12 The top compartments on the robot Top compartment components The top compartments interfaces are listed in Table 2 7 For detailed information on electrical interfaces see Interface specifications on page 236 Figure 2 13 Interfaces in the top compartments ...

Page 28: ...ry safety functions I Os Table 2 7 Identification of interfaces in Figure 2 13 MiR Shelf Carrier 250 Within the shelf carrier top module there is an actuator and a lifting device to raise and lower the pins sensor switches and safety contactors To access the internal parts of MiR Shelf Carrier 250 see Accessing the internal parts on page 43 MiR Shelf Carrier 250 components The components of MiR Sh...

Page 29: ... MiR Shelf Carrier 250 Pos Description Pos Description 1 Front Emergency stop button 2 Carrier pins 3 Position switches 4 GPIO connectors 5 Auxiliary safety IO connectors 6 Safety contactors K1 and K2 7 Rear Emergency stop button 8 Lifting mechanism and actuator 9 Emergency stop connector Table 2 8 Identification of internal parts in Figure 2 14 ...

Page 30: ...l the position of MiR Shelf Carrier 250 and the inputs are used to signal the current position of the MiR Shelf Carrier 250 see Testing the top module on page 69 To see the menu options for the I O modules under Setup IO modules you must enable them first see Enable the MiR250 Shelf Carrier feature on page 67 Output Function 2 Lowers the carrier pins when active 3 Raises the carrier pins when acti...

Page 31: ...butor to see the terms and extend of product coverage NOTICE Mobile Industrial Robots disclaims any and all liability if MiR250 Shelf Carrier or its accessories are damaged changed or modified in any way Mobile Industrial Robots cannot be held responsible for any damages caused to MiR250 Shelf Carrier accessories or any other equipment due to programming errors or malfunctioning of MiR250 Shelf Ca...

Page 32: ...to MiR250 Shelf Carrier accessories or any other equipment due to programming errors or malfunctioning of MiR250 Shelf Carrier 4 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 po...

Page 33: ...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 see Pers...

Page 34: ...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 On...

Page 35: ...e fluid gets into one s eye do not rub the eye Rinse well with water and immediately seek medical care If left untreated the battery fluid could cause damage to the eye Use only an original MiR charger cable charger or charging station and always follow the instructions from the battery manufacturer Do not touch damaged batteries with bare hands Only personnel using suitable Personal Protection Eq...

Page 36: ... tape or similar marking and that all personnel are instructed not to stand in the hazard zone when the robot is docking WARNING The robot risks damage and mechanical failure if it is used to transport pallets or anything other than safely commissioned shelves Nearby equipment and personnel risk damage or injury if payloads fall from the robot Only use the robot to transport safely commissioned sh...

Page 37: ...ay push the shelf The shelf may collide with personnel or equipment resulting in injury or damage Ensure that docking positions are clearly marked as operating hazard zones with visible tape or similar marking and that all personnel are instructed not to stand close to the robot when it is docking WARNING If the robot does not attach to the shelf correctly due to pins being offset from their corre...

Page 38: ... 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...

Page 39: ...0 with a mounted MiR Shelf Carrier 250 The application is CE marked as long as it is not modified or altered However a CE marked application does not guarantee a CE marked setup It is the responsibility of the commissioner to commission MiR250 Shelf Carrier safely NOTICE A safe machine does not guarantee a safe system Follow the guidelines in Commissioning on page 117 to ensure a safe system 4 4 U...

Page 40: ...ct users are familiar with the safety precautions in this user guide and have the following main tasks Assigning missions to MiR250 Shelf Carrier Fastening loads to MiR250 Shelf Carrier securely Loading and unloading from a paused robot All other persons in the vicinity of MiR250 Shelf Carrier are considered indirect users and must know how to act when they are close to the robot For example they ...

Page 41: ...he label must be placed on the robot or top module so that it is clearly visible Figure 4 1 The warning label must be placed on the robot or top module 4 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 MiR250 Shelf Carrier You risk being run over drawn in trap...

Page 42: ...d between the robot and a shelf while the carrier is picking up a shelf 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 82 NOTICE Other significant hazards may be present i...

Page 43: ...artments Top compartments For more information on how to remove the covers on MiR250 see the video How to remove and attach the covers on MiR250 on MiR Academy at the MiR website Contact your distributor for access to MiR Academy 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 Befo...

Page 44: ... Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 44 5 1 Front compartment To open the front compartment follow these steps 1 Unscrew the two screws holding the front cover with a T30 Torx screwdriver 2 Pull the front cover off of the robot ...

Page 45: ...2021 Mobile IndustrialRobots A S 45 5 2 Rear compartment To open the rear compartment follow these steps 1 Push the two white buttons at the same time 2 Loosen the cover by first loosening the bottom corners one at the time then the two top corners Pull down and then out on each top corner ...

Page 46: ...pyright 2021 Mobile IndustrialRobots A S 46 3 Pull off the cover 5 3 Side compartments The front and rear covers have to be removed before you can remove the side covers To open a side compartment follow these steps 1 Turn the two screws counterclockwise with a T30 Torx screwdriver ...

Page 47: ...021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 47 2 Pull the cover off 5 4 MiR Shelf Carrier 250 To access the internal parts of MiR Shelf Carrier 250 remove the top plate of the shelf carrier by unscrewing all 14 screws from the top plate and lifting off the plate ...

Page 48: ...th MiR250 Shelf Carrier NOTICE To be able to use MiR250 Shelf Carrier your robot must be running software version 2 9 0 or higher NOTICE Read Safety on page 32 before powering up MiR250 Shelf Carrier In some images in this section the robot is shown without a MiR Shelf Carrier 250 top module 6 1 In the box This section describes the contents of the MiR250 Shelf Carrier box ...

Page 49: ...nd the following printed documents MiR250 Shelf Carrier Quick Start The CE Declaration of Conformity for your robot The CE Declaration of Conformity for your application Getting the robot online Passwords The unique nameplate for your application The USB flash drive in the document folder has the following content MiR250 Shelf Carrier User Guide MiR250 Shelf Carrier Quick Start MiR Network and WiF...

Page 50: ...how to unpack the robot Keep the original packaging for future transportation of MiR250 Shelf Carrier To unpack the robot follow these steps 1 Place the box with the robot so that there is at least three meters of free space at the front or the back of the box This is necessary as the robot drives out of the box on a ramp 2 Cut the protective straps surrounding the box ...

Page 51: ...arted MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 51 3 Remove the lid from the box 4 Take the folder with the printed documents and the USB flash drive out of the box ...

Page 52: ...ide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 52 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 Align the lid so that it is flush with the base of the box ...

Page 53: ...to the robot you need to open the rear compartment see Accessing the internal parts on page 43 To connect the battery to the robot follow these steps 1 Turn the battery lever lock clockwise to unlock the battery lever 2 Pull up the lever to connect the battery connector to the battery Then turn the battery lever lock counterclockwise to secure the battery lever ...

Page 54: ...021 Mobile IndustrialRobots A S 54 3 Reattach the rear cover by tilting it slightly so that the bottom point forward and insert it into the two attachment sockets Press the two white buttons while attaching the cover to the robot 4 Click the cover in place one corner at the time ...

Page 55: ...6 Getting started MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 55 6 4 Powering up the robot To power up the robot follow these steps ...

Page 56: ...arrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 56 1 Press the Power button for three seconds to turn on the robot The status lights waver yellow and the robot starts the software initialization process ...

Page 57: ... User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 57 When the initialization process ends the robot goes into Protective stop 2 Press the Resume button to clear the Protective stop The robot is now ready for operation ...

Page 58: ...nal 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 To connect to the robot interface follow these steps 1 Using your PC tablet or phone connect to the WiFi access point of the robot using the unique password for the WiFi access ...

Page 59: ...robot in Manual mode it is possible to mute the Protective fields and drive the robot into Forbidden zones and Unpreferred zones on the map This means that the robot will only stop when it is very close to an obstacle and will not respond to zones on the map This can result in injury to personnel or damage to equipment if the robot is not driven carefully Drive carefully to avoid collisions with a...

Page 60: ...v 1 4 Copyright 2021 Mobile IndustrialRobots A S 60 To drive the robot in Manual mode follow these steps 1 On the robot turn the Operating mode key to Manual mode turn it to the right 2 In the robot interface select the joystick icon The joystick control appears ...

Page 61: ...t Manual control The Resume button on the robot starts blinking 4 On the robot press the Resume button The status lights turn blue indicating that the robot is in Manual mode 5 Drive the robot off the ramp using the joystick Place your foot in front of the ramp while the robot drives on it to keep the ramp from slipping ...

Page 62: ... for example the robot gets stuck near an obstacle and cannot be moved by manual control it is possible to do so Before moving the robot by hand make sure the mechanical brakes are released To release the brakes the robot must be turned on see Connecting the battery on page 53 When the robot shuts down due to low battery there is still enough power to use the manual brake release for a week or mor...

Page 63: ...ke release switch located below the control panel clockwise Figure 6 2 The Manual brake release switch is located below the control panel To move the robot by hand either push or pull it When pushing or pulling the robot grip the MiR Shelf Carrier 250 top module You can also pull the robot using the designated pull handles beneath the front and rear covers ...

Page 64: ... or pull the robot sideways and do not use the covers for pushing or pulling Only use the designated pull handles or the top module 6 8 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 58 2 Go to Monitoring Hardware health ...

Page 65: ...left For more information see Hardware health in MiR Robot Reference Guide on the MiR website 6 9 Mounting the nameplate Before using MiR250 Shelf Carrier you must mount its unique nameplate to it The nameplate contains information specific to your MiR application see Nameplate on page 16 NOTICE The nameplate must be mounted as described in the following steps If mounted incorrectly the CE mark is...

Page 66: ...1 4 Copyright 2021 Mobile IndustrialRobots A S 66 To mount the nameplate correctly follow these steps 1 Locate the rear cover see External parts on page 13 2 Clean the area marked in the image below with a degreasing agent 3 Mount the nameplate on the cleaned area ...

Page 67: ...strialRobots A S 67 6 10 Enable the MiR250 Shelf Carrier feature To access the MiR250 Shelf Carrier settings and mission menus the MiR250 Shelf Carrier features must be enabled To check that they are enabled follow these steps 1 Sign in to the robot interface and go to System Settings Features ...

Page 68: ... Copyright 2021 Mobile IndustrialRobots A S 68 2 Under ShelfPallet Lift and Shelf select True 3 Under I O modules select True The MiR Shelf Carrier 250 top module communicates with the robot through I O modules so they must be activated for the shelf carrier to work ...

Page 69: ... 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 69 6 11 Testing the top module To test that the top module of MiR250 Shelf Carrier is configured and connected correctly follow these steps 1 Sign in to the robot interface and go to Setup I O modules ...

Page 70: ... 2 Under MiR internal I Os complete the following sequence and verify that the robot executes the expected action a Under Outputs select 3 Verify that the carrier pins rise up b Once the pins are raised verify that 3 under Inputs is green c Under Outputs select 2 Verify that the carrier pins lower into the robot ...

Page 71: ...eived MiR Shelf Carrier 250 is correctly installed If MiR Shelf Carrier 250 did not operate correctly verify that you have enabled the feature as described in Enable the MiR250 Shelf Carrier feature on page 67 If MiR Shelf Carrier 250 continues to fail contact your distributor 6 12 Shutting down the robot To shut down MiR250 Shelf Carrier follow these steps 1 Ensure that the robot is not moving or...

Page 72: ...hutdown process The status lights waver yellow and the Power button blinks red 4 When the robot finishes the shutdown process the status and the signal lights go off and the Power button turns blue When you shut down the robot for transportation service or repair the battery must be disconnected see Disconnecting the battery on page 74 ...

Page 73: ...cribes how to charge MiR250 Shelf Carrier using a MiR cable charger A MiR cable charger is not part of the MiR250 Shelf Carrier standard delivery Contact your distributor for more information The robot is delivered 40 60 charged The rear compartment holds the robot s battery To access the rear compartment see Accessing the internal parts on page 43 To charge MiR250 Shelf Carrier using the cable ch...

Page 74: ... connector for 30 seconds and then reconnect it and wait 30 seconds before turning on the robot or connect a MiR cable charger to the robot For information about the charging time see specifications on the MiR website 7 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 The rear compart...

Page 75: ...wise to lock it 7 3 Enabling fast swap If you wish to enable the fast swap option on the robot you must modify the battery disconnect assembly The levers holding the battery in place are fastened with screws from the factory to ensure that the battery stays disconnected during transportation The rear compartment holds the robot s battery To access the rear compartment see Accessing the internal pa...

Page 76: ... fast swap option on the robot follow these steps 1 Disconnect the battery see Disconnecting the battery on page 74 2 Unscrew the screw shown in the image below with a T20 Torx screwdriver Do this on both sides of the lever 3 Unscrew the screw shown in the image below with a 10 mm Hex screwdriver Do this on both sides of the lever ...

Page 77: ...wo levers to the lever controlling the connector 7 4 Swapping out the lithium ion battery MiR250 Shelf Carrier is supplied with a removable lithium ion battery The battery can be charged inside the robot with a MiR cable charger The robot is delivered with one lithium ion battery Contact your distributor if you need more batteries ...

Page 78: ... option in your robot see Enabling fast swap on page 75 The rear compartment holds the robot s battery To access the rear compartment see Accessing the internal parts on page 43 To swap out the battery follow these steps 1 Disconnect the battery see Disconnecting the battery 2 Pull out the battery You can now replace the battery 3 Do these steps in reverse when putting in the battery ...

Page 79: ...t before storing the robot Power save mode If the battery is not used for a period of time it enters Power save mode When the battery is in Power save mode it will not power the robot until the battery is activated again To activate the battery after it has been in Power save mode disconnect it from the robot for 30 seconds reconnect it to the robot wait 30 seconds and then turn on the robot If th...

Page 80: ... and the battery cells may begin to take damage When you connect the battery to a charger it should be brought out of Deep sleep mode but if not apply the same method as when it goes into Power save mode 7 6 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 ...

Page 81: ...7 Battery and charging MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 81 Figure 7 1 Battery disposal symbols ...

Page 82: ...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 MiR250 Shelf Carrier does not enforce any password rules nor expire the password Create new user groups if more levels of a...

Page 83: ...leases 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 N...

Page 84: ...mining 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 proxi...

Page 85: ...bile IndustrialRobots A S 85 Figure 9 1 Flow chart of the navigation and control 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 ...

Page 86: ...the map This usually only needs to be provided when a new map is activated Figure 9 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 destina...

Page 87: ...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 9 4 The dotted line from the start position of ...

Page 88: ...he 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 fro...

Page 89: ...nce 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 97 9 5 Obstacle detection The robot detects obstacles continuously while driving This enables the robot to use the local planner to dri...

Page 90: ...nner data The scanners only detect the four legs of the chair 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 Table 9 1 Description of how the robot sees obstacles with its sensors Safety laser scanners Two safety laser scanners diagonally placed on one front and one rear corner of the robot scan their surroundi...

Page 91: ...ive 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 124 Walls on the map that the robot cannot detect will confuse the robot s navigation system 3D cameras Two 3...

Page 92: ...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 9 8 The two 3D cameras can see objects up to 1800 mm above floor height at a distance of 1200 mm in front of the robot and have a horizontal field of view of 114 ...

Page 93: ... they are exposed to strong direct light Proximity sensors Proximity sensors placed in all four corners of the robot detect objects close to the floor that cannot be detected by the safety laser scanners Using infrared light the proximity sensors point downwards and make sure that the robot does not run into low objects such as pallets and forklift forks They have a range between 5 20 cm around th...

Page 94: ... 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 combinat...

Page 95: ...map When the robot can localize itself it determines a cluster of likely positions indicated in the images above as blue dots 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 t...

Page 96: ...ure 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 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 a...

Page 97: ...t the robot reports a localization error 9 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 9 8 Brakes Once the approximated position of the robot determined from local...

Page 98: ...se brakes are used to keep the robot in place once it has stopped You can compare the mechanical brakes with the parking brake or hand brake in a car The mechanical brakes are only used to stop the robot when it is in motion in emergency situations triggered by the safety system The mechanical brakes are automatically released again when the robot receives a new order requiring it to move ...

Page 99: ...faces involved with ensuring the safety of personnel working nearby the robot If a safety function is triggered the robot uses its STO Safe Torque Off contactors to bring the robot to a category 0 stop stopping by immediate removal of power to the machine actuators according to IEC 60204 1 followed by a controlled brake using an SS1 Safe Stop 1 function This is known as bringing the robot into Eme...

Page 100: ...t out of Protective stop Switching between Manual mode and Autonomous mode After turning the Operating mode key to switch operating modes the robot enters Protective stop and the Resume button flashes Press the Resume button 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...

Page 101: ...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 220 Use the robot interface to stop the robot ...

Page 102: ...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 maxim...

Page 103: ...n the following sections The diagram in Figure 10 3 shows the inputs to these functions and how they are all connected and monitored in the safety PLC The safety PLC is able to switch the safety 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 ro...

Page 104: ...n 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 safety function 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 Protectiv...

Page 105: ... 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 o...

Page 106: ...lors and cases in Table 10 1 correspond to the field set shown in Figure 10 5 Case Speed Protective field range Comments 1 0 0 to 0 10 m s 0 80 mm When pivoting 2 0 10 to 0 30 m s 0 180 mm 3 0 30 to 0 50 m s 0 360 mm 4 0 50 to 0 90 m s 0 780 mm 5 0 90 to 1 30 m s 0 1350 mm 6 1 30 to 1 70 m s 0 2100 mm 7 1 70 to 2 10 m s 0 2850 mm Forward at max speed Table 10 1 Ranges of the robot s Protective fie...

Page 107: ...0 to 0 30 m s 0 180 mm 3 0 30 to 0 50 m s 0 360 mm 4 0 50 to 0 90 m s 0 780 mm 5 0 90 to 1 00 m s 0 1350 mm Backward at max speed Table 10 2 Ranges of the robot s Protective fields within its backward speed interval cases Figure 10 6 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 f...

Page 108: ...s the yellow signal lights You can also mute the Protective fields using the robot interface 1 Put the robot into Manual mode see Driving the robot in Manual mode on page 59 2 In the robot interface select Muted Protective fields in the joystick control 3 In the dialog box select Yes to acknowledge the muting of the Protective fields The status and the signal lights start flashing yellow and the r...

Page 109: ...p This ensures that the robot cannot drive if it has lost control of the speed of each drive wheel 10 5 Emergency stop buttons There are two Emergency stop buttons on MiR250 Shelf Carrier When one of the buttons is pressed it breaks the Emergency stop circuit triggering an Emergency stop The Emergency stop circuit runs through both of the Emergency stop buttons and connects to the safety PLC throu...

Page 110: ... are reduced due to the legs of the shelf creating blind spots To accommodate this the robot can drive with a maximum speed of 1 2 m s while carrying a shelf and the Protective field sets are changed automatically to a set that is specifically used when the robot carries shelves These Protective field sets have the following changes compared to the sets used when the robot drives without a shelf T...

Page 111: ...afety system recertified see Personnel detection on page 104 Motion monitoring when picking up or placing shelves When the safety PLC registers that the carrier pins are about to be raised or lowered it is assumed that the robot is either picking up or placing a shelf It changes into a state where the safety PLC only allows very slow driving This prevents the robot from driving too fast in case th...

Page 112: ...ors switch states as expected there is a feedback circuit that connects to the safety PLC to verify that the contactors switch to the correct state When the robot is starting up the feedback circuit and STO contactors are checked before allowing the robot to be operated 2 The safety PLC turns off the SS1 contactors to activate the dynamic brake function in the motors 3 The safety PLC monitors data...

Page 113: ...l lights The signal lights at the front and back of the robot show if the robot is about to turn a corner or go backward Front lights are white and rear lights are red Right and left turns are indicated by blinking Figure 10 9 Indicator lights on MiR250 Shelf Carrier Pos Description Pos Description 1 Status lights 2 Signal lights Table 10 5 Identification of indicator lights in Figure 10 9 Status ...

Page 114: ...Yellow fade Shutting down robot Yellow blinking Relative move ignoring obstacles Purple yellow General error for example hardware localization Blue Manual drive Blue wavering Mapping Contracting white Charging at charging station White wavering Prompt user Waiting for user s response Cyan wavering robots connected to MiR Fleet only Waiting for MiR Fleet resource Table 10 6 Status light colors When...

Page 115: ...y blinking When the robot drives with muted Protective fields for example when docking to a marker all signal lights blink yellow 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 positi...

Page 116: ...le IndustrialRobots A S 116 Figure 10 10 In the Safety system settings you can modify the sounds the robot plays when the robot mutes its Protective fields CAUTION It is the responsibility of the commissioner to ensure that the warning sounds are audible in the robot s work environment ...

Page 117: ...t s footprint or create new footprints depending on the top module or loads of the robot Create operating hazard zones Make a brake test Create user groups and users Create dashboards Update robot software Change the relevant system settings 11 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 Th...

Page 118: ... on the MiR website This is especially relevant for the robot s battery see Battery storage on page 79 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 ...

Page 119: ...d in This is the responsibility of the commissioner The risk assessment must cover both MiR250 Shelf Carrier 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 I...

Page 120: ...f Carrier is intended to be used with shelves with asymmetric legs MiR has described safety and residual risks according to intended use and has tested the docking procedure with this application MiR only provides standard configurations for the safety laser scanners for shelves with asymmetric legs The shelves must have a set of at least four wheels that enable MiR250 Shelf Carrier to transport t...

Page 121: ...s Description A Shelf length maximum 790 mm B Distance between centers of pins 450 mm 1 C Pin height when raised 36 4 mm D Pin height when lowered 6 5 mm E Distance from ground to upper boundary of scanner view 222 mm 5 0 F Distance from ground to lower boundary of scanner view 152 mm 0 5 G Shelf width maximum 800 mm H Pin hole diameter 30 9 mm 0 1 I Leg height 383 mm 3 0 J Pin hole height from gr...

Page 122: ...ansports meet the shelf specifications provided in this section Leg dimensions and positions MiR supports only shelves made with four asymmetrical legs Each leg must be 20 mm in diameter 1 0 and positioned as shown in Figure 11 2 If the legs are placed outside the described positions the safety system will trigger a Protective stop each time it tries to drive with the shelf The robot uses the legs...

Page 123: ...he zone at the defined positions Pos Description Pos Description L Distance between legs on side 550 mm M Displacement from robot s center 350 mm N Displacement from robot s center 200 mm O Distance between legs on opposite sides 765 mm P Leg diameter 20 mm 1 0 Table 11 2 Dimensions for shelf leg positions To enable the robot to dock to a shelf you must define a marker type for the shelf in the ro...

Page 124: ...nd 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 11 3 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 ...

Page 125: ...arge 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...

Page 126: ...n 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 ...

Page 127: ... S 127 Cleaning up a map The robot navigates best when using a clean map with as little noise as possible Figure 11 5 is an example of what a map can look like after the mapping process but where it still needs further editing Figure 11 5 Example of a map that includes too much noise and dynamic obstacles ...

Page 128: ...ve 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...

Page 129: ...d 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 or when you use a Relative move action except when using Relative move actions in Limit robots zones Examples of when and how to ...

Page 130: ...ap 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 ...

Page 131: ... 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 three meters of distance between them and mark them as walls on the map Remov...

Page 132: ... 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 Fig...

Page 133: ...eplanning 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 11 8 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 gla...

Page 134: ...r 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 ...

Page 135: ...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 11 10 The entry position is automatically created approximately one meter in front of ...

Page 136: ...ables the robot to dock more accurately than V markers 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 11 12 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 pos...

Page 137: ...arker 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 11 14 The icon used for Bar markers in the interface and an illustration of how robo...

Page 138: ...positions or as waypoints on a route that you want to use in missions With positions 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 t...

Page 139: ...ariables 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 acti...

Page 140: ...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 11 16 Figure 11 16 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 ei...

Page 141: ...age 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 miss...

Page 142: ...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 Contact your distributor for access to MiR Academy 11 8 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...

Page 143: ...e 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 whe...

Page 144: ...odule 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 Personnel detection on page 104 For a more thorough guide to creating footprints con...

Page 145: ...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 11 9 Using operating hazard zones Operating hazard zones are areas that must be visibly marked to comply with safety standards in EN 1525 and ISO 3691 4 Personnel must be instructed to stay clear of operating hazard zones when ...

Page 146: ...und and light zones can be used to add acoustic and visual warnings when the robot drives into the zones For more information about zones see the MiR Robot Reference Guide Docking to a marker If the robot needs to dock very close to a marker or another object you can choose to make the robot mute its Protective fields temporarily see Creating the mission Variable docking on page 188 This prevents ...

Page 147: ...illustrated in Figure 11 19 where the robot is docking to a shelf Multiple shelves When you have multiple shelves placed next to each other they are part of the same operating hazard zone The zone must be large enough to ensure that the edge of the zone is at least one meter from the shelves and the robot when it is at the entry position to any shelf You must also ensure that there are sufficient ...

Page 148: ...and 2 1 m high There must always be an escape route on either side of the robot also in operating hazard zones When you use markers the distances between shelves can be reduced enough that you must make sure that there is enough space for escape routes in case of an emergency situation The following sections describe two setups with VL markers that include the necessary escape routes ...

Page 149: ...tting up markers against a wall or other fixed structures there must be escape routes between the markers To fulfill the safety requirements place the markers so there is 0 5 m of space between every second shelf This ensures there is always an escape route on at least one side of each shelf Figure 11 20 Shelf placement so there are escape routes between the shelves ...

Page 150: ... the safety requirements there must be at least 0 5 m of free space behind the shelves and 0 5 m of free space on the side of one of the shelves leading out of the operating hazard zone The 0 5 m behind the shelves can either be between the shelves and VL marker or behind the VL marker Figure 11 21 Shelf placement so there in an escape route behind the shelves 11 10 Making a brake test It is the r...

Page 151: ...ors 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 the protective field sets on MiR250 11 11 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 a...

Page 152: ...ds 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 Figure 11 22 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 ...

Page 153: ...up 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 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 syste...

Page 154: ...g missions Operator Adjusting warning sounds Commissioner Creating new user groups Commissioner Assigning missions Direct user Changing system settings Commissioner Table 11 3 Examples of which users MiR recommends should be able to edit which features 11 12 Creating dashboards To make the user experience as easy and simple as possible you can build a unique dashboard for each user Dashboards are ...

Page 155: ...umber 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 11 25 and users with access rights to create dashboards can create an unlimited number of additional customized dashboards Figure 11 25 The default dashboard includes the robot information a j...

Page 156: ...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 11 13 Updating MiR250 Shelf Carrier software MiR con...

Page 157: ... 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 11 15 System settings This section descr...

Page 158: ...here 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 86 and Local planner on page 88 ...

Page 159: ...gher 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...

Page 160: ...anner 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...

Page 161: ...he 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 a mission or Speed zone 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...

Page 162: ...g 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 135 You must use a Relative move action see Creating the mission Variable docking on page 188 In the advanced settings you can adjust the parameters for docking to markers ...

Page 163: ...tective fields sound to change the warning sound that is played when the robot drives with muted Protective fields Select Muted protective fields volume to set the volume in decibel for the warning sound that is played when the robot drives with muted Protective fields CAUTION Driving with muted Protective fields without audible warning sound risks damage to personnel and voids the CE marking of t...

Page 164: ...s 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 Universal Robots Interface enables an action for running Universa...

Page 165: ...he page System Triggers to set up the Modbus triggers I O modules adds actions for communicating with I O modules This can be used for setting PLC registers and trigger missions Enable this feature if the robot uses I O modules for example when any MiR top module is mounted to the robot Mute protective fields enables an action to mute the robot s Protective fields from missions ...

Page 166: ...is titled Try Catch Creating a mission that uses variables The example mission is titled Variable docking Creating a mission that makes the robot drive through an 80 cm doorway The example mission is titled 80 cm doorway Creating a shelf position and integrating it with a VL marker for higher precision and closer placement of shelves The example mission is titled Place shelf at VL marker Creating ...

Page 167: ... en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 167 Figure 12 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 ...

Page 168: ...e a marker follow these steps 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 all other markers the robot must be positioned approximately one meter directly in f...

Page 169: ...e en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 169 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 ...

Page 170: ...d 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 ori...

Page 171: ...ker 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 in meters The Y offset moves the robot further to the left or right of the marker in meters The orientation offset changes the final orientation of the robot in degrees ...

Page 172: ...er by selecting it on the map and selecting Go to The marker can also be used in missions 12 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 ...

Page 173: ...he 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 ...

Page 174: ...e used in missions 12 3 Creating a marker type Before creating missions with shelves you need to define the different marker types that your robot will be docking to Marker types are used to define what type of shelf is located on a shelf position and how the robot docks to it ensuring that the robot picks up the shelf correctly If you are using a shelf that has dimensions supported by MiR see She...

Page 175: ...elf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 175 To create a new marker type follow these steps 1 To create a new marker type go to Setup Marker types and select Create marker type ...

Page 176: ...described below Name Identifies the shelf type when using it in mission actions The marker type name must be unique Shelf type Identifies the type of shelf that is going to be used Bar shelf markers are for MiR100 and MiR200 robots and Leg shelf markers are for MiR250 MiR500 and MiR1000 robots Bar length in meters Defines the distance between a set of legs parallel with the robot ...

Page 177: ...e robot will move more forward and a negative value will move it backward Offset Y in meters Adjusts how far to either side the robot goes under the shelf when picking it up By default the robot should dock to the center With a positive Y offset the robot will dock more the left side and a negative value will make the robot dock more to the right Leg asymmetry in meters Defines the offset between ...

Page 178: ...hat you have completed the following Created two robot positions as described in Creating positions on page 172 and named them p1 and p2 Defined a user group named Users 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 ...

Page 179: ...lect 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...

Page 180: ...sage MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 180 5 In the Prompt user action drag a Move to action under the Yes box and a Move to action under the No box ...

Page 181: ...12 Usage MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 181 6 In the first Move to action under Position select p1 ...

Page 182: ...ion should look like this 8 Select Save to save the mission 12 5 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 ...

Page 183: ...rompt user on page 177 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 177 To create the Try Catch mission follow the steps below 1 Go to Setup Missions Select Create Mission 2 Name the mission...

Page 184: ...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 ...

Page 185: ...e 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 ...

Page 186: ...12 Usage MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 186 5 Drag the Play sound action under the Catch box under Try Catch ...

Page 187: ... 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 ...

Page 188: ...r 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 When the robot docks to a marker it often has to drive very close to an obstacle for example the marker itself To prevent the robot from triggering a Protective stop when it drives too close to the obstacle you can make it mute its Protectiv...

Page 189: ...21 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 189 To create the mission follow these steps 1 Go to Setup Missions Select Create Mission 2 Name the mission Variable docking Select the group and site you want it to belong to Select Create mission ...

Page 190: ...em menu select Mute protective fields In the Move menu select Docking In the Logic menu select Wait In the Move menu select Relative 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 ...

Page 191: ...Robots A S 191 4 In the Move action make the parameter Position a variable that can be set each time you use the mission The following steps describe how to create a variable Under Position select Variables Select Create variable in the upper right corner Name the variable Marker Select OK ...

Page 192: ...ght 2021 Mobile IndustrialRobots A S 192 Under Position type select Entry This will make the robot move to the entry position of the marker If the parameter Position type does not show up at first select Validate and close and then open the action dialog box again ...

Page 193: ...lt Front Create a variable titled Mute fields Rear Create a variable titled Mute fields Sides Create a variable titled Mute fields MiR250 Shelf Carrier cannot mute specific Protective fields you can either mute all or none of the fields Otherwise the robot reports an error If you use a variable with the same name in all parameters you ensure that you apply the same parameter setting to all ...

Page 194: ...ute protective fields action and under Marker position create another variable titled Marker If two variables share the same name the value you select for that variable will be applied both places In this case by using the variable Markers in two places you ensure that the robot docks to the same marker that it moved to in the first action ...

Page 195: ...Robots A S 195 7 Drag the Wait action into the Mute protective fields action and under Time create another variable titled Time 8 Drag the Relative move action into the Mute protective fields action and under X enter 2 This will make the robot move two meters back to undock from the marker ...

Page 196: ... robot drive through a doorway that is 80 cm wide in one direction To do this the robot does the following actions 1 Moves to a position in front of the 80 cm wide doorway the narrowest possible for MiR250 Shelf Carrier 2 Adjusts its localization 3 Sets a defined narrow footprint 4 Mutes its Protective fields so it can traverse the doorway 5 Goes through the doorway to a position on the other side...

Page 197: ...ke the doorway approximately one meter wide in the map by deleting some of the walls on each side of the doorway You may need to delete more of the wall if the robot will not go through the doorway Placed a robot position on each side of the doorway where the first position is named pos 1 and the second pos 2 The positions must be placed in front of and directly in the middle of the doorway and th...

Page 198: ...1 Mobile IndustrialRobots A S 198 Enabled the muting of Protective fields Go to System Settings Features and set Mute protective fields to True Enabled the use of dynamic footprints Go to System Settings Planner Show advanced settings and set Use dynamic footprint to True ...

Page 199: ...ting a footprint on page 142 The robot must be centered in the middle of the footprint This mission only drives the robot through the doorway in one direction If you want the robot to go both ways you need to make a new set of positions facing the opposite direction and a new mission using these positions To create the mission follow these steps 1 Go to Setup Missions Select Create Mission ...

Page 200: ...u select Adjust localization In the Move menu select Set footprint In the Safety system menu select Mute protective fields In the Move menu select Move to and drag it into the Mute protective fields action In the Move menu select Set footprint 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...

Page 201: ...2 Usage MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 201 4 In the Move action under Position select pos 1 5 In the Set footprint action select Narrow doorway ...

Page 202: ...bile IndustrialRobots A S 202 6 In the Mute protective fields action set the parameters as follows Sound Select Beep Volume Enter the value 60 This is 48 dB approximately Front Select Muted Rear Select Muted Sides Select Muted 7 In the Move action under Position select pos 2 ...

Page 203: ...s In the Pick up and place shelf mission MiR250 Shelf Carrier drives to a shelf position to pick up a shelf and transports the shelf to another position and places it there using template missions To create the mission it is assumed you have completed the following Created two shelf positions named Shelf pos A and Shelf pos B see Markers on page 135 Placed a physical shelf at shelf position Shelf ...

Page 204: ... Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 204 1 Go to Setup Missions and select Create mission 2 Name the mission Pick up and place shelf Select the group and site you want it to belong to Select Create mission ...

Page 205: ...lect MiR250 Pins Up In the Move menu select Set footprint In the Move menu select Move In the Shelf menu select MiR250 Pins Down In the Move menu select Set footprint In the Move menu select Relative move The following steps describe which parameters each action should be set to To modify the parameters select the gearwheel of the action in question to open the dialog of that action ...

Page 206: ...21 Mobile IndustrialRobots A S 206 4 For the Docking action set the parameters as follows Position Select Shelf pos A Marker type Select MiR250 Shelf Retries and Maximum linear speed Leave these at the default value 5 For the Set footprint action select the MiR250 Shelf ...

Page 207: ...50Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 207 6 For the Move action select Shelf pos B under Position 7 For the Set footprint action select the robot s default footprint ...

Page 208: ...acles or other shelves you can do so by creating shelf positions in front of markers We recommend using VL markers to place shelves but you can also use other types of markers if preferred To use a marker with a shelf position correctly you must make the robot dock to the marker when placing a shelf and make the robot dock to the shelf when picking it up Place shelf at VL marker is an example miss...

Page 209: ...oup titled Missions To create the mission follow these steps 1 Go to the map editor of the active map 2 Create a shelf position directly in front of the VL marker you created see Markers on page 135 3 Select the shelf position on the map Then select Show entry position Two entry positions are displayed They indicate where the robot will go to first when docking to the position The entry position f...

Page 210: ...y position Note the X and Y coordinates of the entry position 5 Select the VL marker on the map Then select Show entry position 6 Select the VL marker s entry position and insert the same X and Y coordinates of the shelf position s entry position 7 Repeat the previous steps with all other markers where you want the robot to place shelves accurately ...

Page 211: ...ker and select Missions under Mission group 10 Select the following actions In the Move menu select Docking In the Shelf menu select MiR250 Pins Down 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 ...

Page 212: ...ion make the parameter Marker position a variable that can be set each time you use the mission The following steps describe how to create a variable a Under Marker position select Variables b Select Create variable in the upper right corner c Name the variable Marker and set the Shelf VL marker as the Default value Select OK ...

Page 213: ...u can now select this mission from the Missions menu and select any type of marker to make the robot place a shelf in front of it Make sure you have modified the entry point of the marker as described in the first steps 12 10 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 load to minimize potentia...

Page 214: ...ng 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 WARNING If the robot is docking to a shelf and has partly muted the Protective field sets personnel positioned between the shelf and robot risk being trapped or crushed Ensure that docking positions are clearly marked as operating hazard zones with visible tape...

Page 215: ...ooting issues or replacing robot components WARNING Removing covers from the robot exposes parts connected to the power supply risking damage to the robot from a short circuit and electrical shock to personnel Before removing any covers turn off the robot and disconnect the battery see Disconnecting the battery on page 74 To unmount the top module follow these steps 1 Unscrew the six screws at the...

Page 216: ...r Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 216 2 Unscrew the six screws on the sides of the top module s top plate with a TX20 Torx screwdriver 3 Unscrew the two center screws next to the carrier pins with a TX20 Torx screwdriver ...

Page 217: ... 1 4 Copyright 2021 Mobile IndustrialRobots A S 217 4 Remove the top plate from MiR Shelf Carrier 250 and disconnect the cables connecting the top application interface of the robot 5 Unscrew the four screws mounting the top module to the robot with a TX45 Torx screwdriver ...

Page 218: ...red by its top plate After you have finished completing the maintenance that required you to remove MiR Shelf Carrier 250 you can mount the top module again by following the above instructions in the reverse order NOTICE When mounting the top module to the robot make sure that no cables are pinched beneath the top module This may damage the cables and prevent the top module from working correctly ...

Page 219: ...2021 Mobile IndustrialRobots A S 219 NOTICE When screwing in the large screws that mount MiR Shelf Carrier 250 to the robot tighten the screws to a torque of 15 Nm When screwing in the small screws that mount the top plate to MiR Shelf Carrier 250 tighten the screws to a torque of 2 5 Nm ...

Page 220: ...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 ...

Page 221: ...inish this effect by using the anti static 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 li...

Page 222: ...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 Front rear and side compartment covers Check mounting Ensure the...

Page 223: ...ttons on the control panel function Every three to four months Charging pads broom Disconnect the battery on the robot Using your hands ensure that each pad moves up and down freely Check if the charging pads are dirty or dusty and if the broom is intact Clean the broom Check monthly and replace as needed 3D cameras Check for visual defects for example cracks and scratches Check monthly and replac...

Page 224: ...hat the Emergency stop buttons work push a button and check that the status light turns red and that the robot continues to be in Emergency stop until you press the Resume button Every three to four months according to EN ISO 13850 Safety of machinery Emergency stop function CAUTION If the robot has been impacted it may be structurally damaged causing a risk of malfunction and injury to personnel ...

Page 225: ...14 Maintenance MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 225 For disposal of the battery see Battery disposal on page 80 ...

Page 226: ...ion This section describes how to pack the robot for transportation 15 1 Original packaging Use the original packaging materials when transporting the robot Figure 15 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 ...

Page 227: ...module from the robot NOTICE Pack and transport the robot in an upright position Packing and transporting the robot in any other position voids the warranty 15 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 depen...

Page 228: ...andling 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 w...

Page 229: ...s positioned according to the specifications and is fastened correctly CAUTION Bumps and holes can cause loads 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 operati...

Page 230: ...r User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 230 The specifications apply to total payloads of up to 250 kg 17 1 Side view At 1 2 m s with no incline Figure 17 1 The center of mass CoM of payloads seen from the side ...

Page 231: ...yload distribution MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 231 At 2 0 m s with no incline Figure 17 2 The center of mass CoM of payloads seen from the side ...

Page 232: ...stribution MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 232 17 2 Front view At 1 2 m s with no incline Figure 17 3 The center of mass CoM of payloads seen from the front ...

Page 233: ...yload distribution MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 233 At 2 0 m s with no incline Figure 17 4 The center of mass CoM of payloads seen from the front ...

Page 234: ...distribution MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 234 17 3 Top view At 1 2 m s with no incline Figure 17 5 The center of mass CoM of payloads seen from the top ...

Page 235: ...ayload distribution MiR250Shelf Carrier User Guide en 03 2021 v 1 4 Copyright 2021 Mobile IndustrialRobots A S 235 At 2 0 m s with no incline Figure 17 6 The center of mass CoM of payloads seen from the top ...

Page 236: ...o communicate with MiR Shelf Carrier 250 Robot s left side Emergency stop Robot s right side GPIO A GPIO B Auxiliary Safety Functions A Auxiliary Safety Functions B To see the locations of the electrical interfaces on the robot see Internal parts on page 21 18 1 Left side interfaces This section describes the general purpose interfaces that are used to interface to the top module on the left side ...

Page 237: ... output 1 Connects to pin 5 through the Emergency stop buttons 3 Test output 2 Output Safety output 2 Connects to pin 4 through the Emergency stop buttons 4 E stop 1 Input Safety input 1 Connects to pin 3 through the Emergency stop buttons 5 E stop 2 Input Safety input 2 Connects to pin 2 through the Emergency stop buttons 6 Restart Input Safety input 3 7 RST_ Output 24 V output for powering the l...

Page 238: ...to the top module on the right side of the robot GPIO A and B The GPIO interfaces have the following pins Four inputs for use with 24 V but robust against 48 V Four outputs for use with 24 V In the robot interface under Setup I O modules MiR internal I Os you can indirectly control the GPIO pins see what the internal I Os in the robot interface do in How MiR Shelf Carrier 250 works on page 30 Note...

Page 239: ...ated to ensure the pins are not moving 2 Output pin 7 is activated to activate the safety STO relay in the shelf carrier 3 Output pin 1 is activated to provide power to the shelf carrier actuator 4 Output pin 3 or 5 is activated to raise or lower the pins respectively Figure 18 3 The pins of the GPIO interfaces Pin no Signal name Type Description 1 OUT1 Output Output 1 Is active when the carrier p...

Page 240: ...r 250 is able to move the carrier pins This is only permitted when the robot s speed is below 0 3 m s 8 GND Ground Protected return Pin no Signal name Type Description 1 IN1 Input Input 1 Is active when the carrier pins are lowered 2 24V Output 24 V output 3 IN2 Input Input 2 Is active when the carrier pins are raised 4 24V Output 24 V output 5 IN3 Input Input 3 Unassigned 6 24V Output 24 V output...

Page 241: ... other safety functions see Safety system on page 99 Figure 18 4 The pins of the Auxiliary safety functions interfaces Safety A Pin no Signal name Type Description 1 Test output 1 Output 24 V test signal Sends test pulses not on constantly 2 STO feedback 1 Input Feedback from top module safety relay 1 3 Pins down Input Indicates when the carrier pins are lowered Table 18 4 Description of the pins ...

Page 242: ...ier pins are lowered 6 NC Unassigned Safety B Pin no Signal name Type Description 1 Test output 2 Output 24 V out test signal Sends test pulses not on constantly 2 STO feedback 2 Input Feedback from top module safety relay 2 3 Pins up Input Indicates when the carrier pins are raised 4 NC Input Not used 5 STO activation Output Signals when to activate the safety relays 6 Pins up out Output Indicate...

Page 243: ...ion 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 19 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 envi...

Page 244: ...e difficult for the robot to travel through see Creating and configuring maps on page 124 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 19 2 Hardware errors If the error is a fault in the hardware either you will not be able to clear it or the error wil...

Page 245: ... 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 19 2 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...

Page 246: ...ty 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 MiR250 Shelf Carrier and fastening loads to MiR250 Shelf Carrier properly Dynamic obstacle Dynamic obstacles are obstacles that are moved around such as pallets crates and carts ...

Page 247: ...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 ac...

Page 248: ...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...

Page 249: ...ective 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 ...

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