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10. Safety system

MiR1000 Shelf Lift User Guide (en) 12/2020 - v.2.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

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Narrow symmetric shelf

Wide symmetric shelf

Figure 10.9. The illustrations shows the blind spots around the shelf legs in the Protective fields when the robot
is carrying a symmetric shelf. The blind spots are larger when using symmetric shelves than those shown in

with asymmetric shelves.

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Summary of Contents for 1000 Shelf Lift

Page 1: ...User Guide en Date 12 2020 Revision v 2 1 ...

Page 2: ... or its contents In addition the contents of the document are subject to change without prior notice Every precaution has been taken in the preparation of this document Nevertheless MiR assumes no responsibility for errors or omissions or any damages resulting from the use of the information contained Copyright 2019 2020 by Mobile Industrial Robots A S Contact the manufacturer Mobile Industrial Ro...

Page 3: ...00 Shelf Lift 12 2 2 External parts 14 2 3 Internal parts 20 2 4 Manual brake release switch 28 2 5 How MiR Shelf Lift works 28 3 Warranty 31 4 Accessing the internal parts 32 4 1 Front compartment 32 4 2 Rear compartment 34 4 3 Side compartments 34 4 4 Top compartments 35 4 5 MiR Shelf Lift 36 5 Safety 37 5 1 Safety message types 37 5 2 General safety precautions 38 5 3 Intended use 43 5 4 Users ...

Page 4: ...ual mode 56 6 7 Checking the hardware status 58 6 8 Mounting the nameplate 59 6 9 Enable the MiR1000 Shelf Lift feature 61 6 10 Testing the top module 63 6 11 Shutting down the robot 65 7 Battery and charging 67 7 1 Charging the robot 67 7 2 Disconnecting the battery 68 7 3 Battery storage 68 7 4 Battery disposal 69 8 IT security 70 8 1 Managing users and passwords 70 8 2 Software security patches...

Page 5: ...tion 93 10 3 Overspeed avoidance 98 10 4 Stability 98 10 5 Emergency stop buttons 99 10 6 MiR Shelf Lift safety functions 101 10 7 Safety stop 104 10 8 Light indicators and speakers 105 11 Commissioning 109 11 1 Analysis of the work environment 109 11 2 Risk assessment 111 11 3 Shelf specifications 112 11 4 Adjusting the Protective field sets 117 11 5 Lift modifications 119 11 6 Creating and confi...

Page 6: ...4 12 1 Creating markers 164 12 2 Creating positions 169 12 3 Creating a marker type 171 12 4 Creating the mission Prompt user 174 12 5 Creating the mission Try Catch 179 12 6 Creating the mission Variable docking 185 12 7 Creating the mission Pick up and place shelf 193 12 8 Creating the mission Place shelf at VL marker 199 12 9 Testing a mission 207 13 Unmounting the top module 209 14 Maintenance...

Page 7: ...ging 221 15 2 Packing the robot for transportation 222 15 3 Battery 222 16 Payload distribution 223 17 Disposal of robot 224 18 Interface specifications 225 18 1 General purpose interfaces 225 18 2 Safety interfaces 229 19 Error handling 236 19 1 Software errors 236 19 2 Hardware errors 237 19 3 Troubleshooting 238 ...

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

Page 9: ...ructure New sections Warning label Mounting the nameplate Accessing the internal parts Battery and charging IT security Navigation and control system Safety system Usage Disposal of robot Error handling and Glossary The MiR1000 User Guide has been merged with the MiR Shelf Lift Operating Guide to provide a complete application manual As a result the version histories have been aligned and the revi...

Page 10: ...ew sections Create mission Mission editor Lift modifications Updated section Status lights 1 0 1 2 2019 10 08 New section Updating MiR1000 software 1 0 1 3 2020 06 11 New section IT Security Added new information about payload 1 0 MiR Shelf Lift Revision Release date Description HW 1 0 2019 10 20 First edition 1 0 1 1 2020 06 18 Added new information about payload General improvements throughout t...

Page 11: ...to run a fixed route be called on demand or perform more complex missions The robot interface of MiR1000 Shelf Lift 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 72 The map can be created or imported the fir...

Page 12: ...iR Shelf Lift top module and the shelf Sound and light signals The robot continuously signals with light and sounds indicating where it will drive and its current status for example waiting for a mission driving to a destination or destination reached User friendly and flexible The web based user interface accessed from a PC tablet or smartphone gives easy access to operation and monitoring of the...

Page 13: ... map can be created by manually driving the robot around the entire site in which the robot is going to operate When the robot is mapping the robot s sensors detect walls doors furniture and other obstacles and the robot then creates a map based on these input After you ve finished mapping you can add positions and other features in the map editor see Creating and configuring maps on page 121 ...

Page 14: ...Lift external parts Pos Description Pos Description 1 Lift plate 2 Lift frame 3 Emergency stop button four buttons two on each side see Emergency stop buttons on page 99 4 Status light on all four sides of the robot see Obstacle detection on page 77 5 Left side maintenance hatch opens to the left side compartment see Internal 6 Front safety laser scanner see Obstacle detection on page 77 Table 2 1...

Page 15: ... on page 77 10 Right side maintenance hatch opens to the right side compartment see Internal parts on page 20 11 Rear safety laser scanner see Obstacle detection on page 77 12 Rear maintenance hatch opens to the rear compartment see Internal parts on page 20 13 Signal light eight pcs two on each corner see Light indicators and speakers on page 105 Identification label MiR1000 Shelf Lift is deliver...

Page 16: ...s A S 16 Figure 2 2 Placement of the MiR1000 identification label The identification label of MiR Shelf Lift is located on rear of the lift and can only be accessed when the lift is raised Figure 2 3 Placement of the MiR Shelf Lift identification label Figure 2 4 Example of a MiR Shelf Lift identification label ...

Page 17: ...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 59 Figure 2 5 Example of a MiR1000 Shelf Lift nameplate Control ...

Page 18: ...on 3 Power button 4 Operating mode key Table 2 1 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 Resume Pressing this button Clears the Emergency stop state Lets the robot continue o...

Page 19: ...linking green The robot is starting up Green Normal operation Blinking red The battery level is too low to start without additional charging or the robot is shutting down The Operating mode key The Operating mode key lets you switch between operating modes Left position Autonomous mode Puts the robot in Autonomous mode Middle position Locked Locks the robot The robot blocks the wheels you cannot s...

Page 20: ...issions After switching the key to this mode you can remove the key and the robot will continue driving autonomously In Autonomous mode the joystick is disabled in the robot interface 2 3 Internal parts Most internal parts of MiR1000 Shelf Lift are accessed through maintenance hatches that open to different compartments Front compartment Rear compartment Side compartments Top compartments To acces...

Page 21: ...t see Accessing the internal parts on page 32 Front compartment components The front compartment components are listed in Table 2 1 Figure 2 7 Internal parts of the front compartment Pos Description Pos Description 1 Cable chain contains a group of cables that connect with robot components outside of the front compartment 2 Safe Torque Off contactors cuts power to the robot s motor when the robot ...

Page 22: ...ogrammed in missions 6 Power board controls the power distribution for the motor controller robot computer and safety PLC 7 Motor controller carrier board contains the motor controllers and the controller for proximity sensors and light indicators 8 Safety PLC controls the safety system see Safety system on page 88 Rear compartment The rear compartment holds the robot s battery Battery disconnect ...

Page 23: ...om the robot Shown in the Off position where the battery is disconnected 3 Connector for the status light band 4 Manual brake release switch releases the brakes so the robot can be pushed manually Shown in the Off position where the robot engages and releases the brakes automatically see Manual brake release switch on page 28 5 Charging connection interface for external MiR cable charger 6 Battery...

Page 24: ...s contain the bogies and drive wheels To access a side compartment see Accessing the internal parts on page 32 NOTICE The unique nameplate of your robot is to be mounted on the right side compartment hatch see Mounting the nameplate on page 59 Make sure you do not swap the hatch with hatches from other robots Side compartment components The left and right side compartment components are listed in ...

Page 25: ... 2 9 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 209 Figure 2 10 The top compartments on the robot Top compartment components The top compartments interfaces are listed in Table 2 4 For detailed information on electric...

Page 26: ...r 4 Auxiliary Emergency stop 5 Auxiliary safety functions Table 2 4 Identification of interfaces in Figure 2 11 MiR Shelf Lift Within the lift top module there is a lift controller connected to four actuators to raise and lower the lift To check the current position of the lift two switches are also implemented that are pressed when the lift is lowered To access the internal parts of MiR Shelf Lif...

Page 27: ... Shelf Lift components The components of MiR Shelf Lift are listed in Table 2 5 Figure 2 12 Internal parts of MiR Shelf Lift Pos Description Pos Description 1 Rear lift mechanisms 2 Rear lift actuators 3 Lift controller 4 Front lift actuators 5 Front lift mechanisms Table 2 5 Identification of internal parts in Figure 2 12 ...

Page 28: ...obot is without power the mechanical brakes cannot be released 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 2 5 How MiR Shelf Lift works When MiR1000 Shelf Lift docks to a shelf the lift can be elevated to pick up the shelf and lowered to place the shelf at a shelf posit...

Page 29: ...ontrol the lift Input Function 0 Indicates that there is an error from the lift controller 1 Lift is moving up or down 2 Lift is either lowered or stopped but not raised 3 Lift is raised Table 2 2 Descriptions of what the internal inputs signal regarding the lift s status Resetting the lift after turning on the robot To avoid unexpected movement each time you turn the robot on you must reset MiR10...

Page 30: ...20 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 30 3 Wait for the lift to reset It takes approximately 13 seconds and can be monitored in Monitoring System log Consider recreating these steps as a mission that you can run every time you turn on the lift ...

Page 31: ...stributor to see the terms and extend of product coverage NOTICE Mobile Industrial Robots disclaims any and all liability if MiR1000 Shelf Lift or its accessories are damaged changed or modified in any way Mobile Industrial Robots cannot be held responsible for any damages caused to MiR1000 Shelf Lift accessories or any other equipment due to programming errors or malfunctioning of MiR1000 Shelf L...

Page 32: ...Front compartment Rear compartment Side compartments Top compartments WARNING Opening or removing hatches 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 68 4 1 Front compartment To open the fron...

Page 33: ...nternal parts MiR1000Shelf Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 33 2 Turn the two levers 180 3 Pull out the compartment drawer while holding underneath it and lifting slightly ...

Page 34: ...pyright 2019 2020 Mobile IndustrialRobots A S 34 4 2 Rear compartment To open the rear compartment push the two white buttons at the same time and pull the hatch 4 3 Side compartments To open a side hatch turn the two screws 90 with a flat head screwdriver and pull open the hatch ...

Page 35: ... 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 35 4 4 Top compartments To open a top compartment remove the four screws and lift off the top cover The top compartments are only accessible after the top module has been removed see Unmounting the top module on page 209 ...

Page 36: ... Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 36 4 5 MiR Shelf Lift To access the top module unscrew the twenty screws in the lift cover with a size 4 Hex key and carefully remove the cover using suction cups ...

Page 37: ...d to MiR1000 Shelf Lift accessories or any other equipment due to programming errors or malfunctioning of MiR1000 Shelf Lift 5 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 pote...

Page 38: ...e 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 Pe...

Page 39: ...t 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 ...

Page 40: ... the fluid gets into one s eye do not rub the eye Rinse well with water and immediately seek medical care If left untreated the battery fluid could cause damage to the eye Use only an original MiR charger cable charger or charging station and always follow the instructions from the battery manufacturer Do not touch damaged batteries with bare hands Only personnel using suitable Personal Protection...

Page 41: ...rsonnel are instructed not to stand in the hazard zone when the robot is docking WARNING Personnel risk their feet or hands being crushed beneath a shelf if they are placed beneath the shelf when the robot lowers it 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 wh...

Page 42: ... personnel are instructed not to stand close to the robot when it is pivoting Inform personnel that the signal lights indicate when the robot is intending to turn or pivot see Light indicators and speakers on page 105 WARNING If a load is positioned incorrectly on a shelf the load may fall off Nearby personnel or equipment risk injury or damage Ensure that each load is positioned correctly on the ...

Page 43: ...nnel if robots malfunction or if personnel enter operating hazard zones Personnel operating near the robot must be informed on how to engage the robot s Emergency stop function in emergency situations 5 3 Intended use MiR1000 Shelf Lift is intended to be commissioned and used in indoor industrial environments where access for the public is restricted For details about the environmental conditions ...

Page 44: ...ning on page 109 to ensure a safe system 5 4 Users MiR1000 Shelf Lift is only intended to be used by personnel that have received training in their required tasks There are three types of intended users for MiR1000 Shelf Lift commissioners operators and direct users Commissioners Commissioners have thorough knowledge of all aspects of commissioning safety use and maintenance of MiR1000 Shelf Lift ...

Page 45: ...rs and must know how to act when they are close to the robot For example they must be aware that visibly marked operating hazard zones must be respected 5 5 Foreseeable misuse Any use of MiR1000 Shelf Lift deviating from the intended use is deemed as misuse This includes but is not limited to Using the robot to transport people Using the robot on steep surface grades such as ramps Using the robot ...

Page 46: ...s driving in reverse The robot only drives in reverse when undocking from a marker such as a charging station or load transfer station You risk being crushed or trapped if you touch the robot while it is in motion You risk being run over drawn in trapped or struck if you stand in the path of the robot or walk towards it while it is docking to a shelf You risk being crushed or trapped between the r...

Page 47: ...ted with MiR1000 Shelf Lift NOTICE To be able to use MiR1000 Shelf Lift your robot must be running software version 2 8 0 or higher NOTICE Read Safety on page 37 before powering up MiR1000 Shelf Lift In some images in this section the robot is shown with a MiR EU Pallet Lift 1000 top module 6 1 In the box This section describes the contents of the MiR1000 Shelf Lift box ...

Page 48: ...Shelf Lift document folder containing a USB flash drive and the following printed documents MiR1000 Shelf Lift Quick Start 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 MiR1000 Shelf Lift User Guide MiR1000 Shelf Lift Quick Start MiR Network and ...

Page 49: ...bot Keep the original packaging for future transportation of MiR1000 Shelf Lift 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 Remove the screws that attach the walls of the box to the box lid and the base of the box ...

Page 50: ...de en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 50 3 Remove the lid from the box 4 Take the folder with the printed documents and the USB flash drive out of the box 5 Remove the walls of the box and the protective foam blocks ...

Page 51: ...d 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 7 Remove the wheel stop board from the pallet to let the robot drive on the ramp 6 3 Connecting the battery To connect the battery to the robot you need to open the rear compartment see Accessing the internal parts on page 32 ...

Page 52: ...the rear compartment turn the Battery disconnect switch to the On position The battery is now connected and you can close the rear maintenance hatch 6 4 Powering up the robot To power up the robot follow these steps 1 Ensure that all six Emergency stop buttons are in the released state Turn an Emergency stop button clockwise to release it ...

Page 53: ...v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 53 2 Press the Power button for five seconds The robot turns on the red signal lights and starts the software initialization process When the initialization process ends the robot goes into Protective stop ...

Page 54: ...bot interface When the robot is turned on it enables the connection to its WiFi access point The name of the access point appears in the list of available connections on your PC tablet or phone NOTICE The original username and password for the robot s web interface are in the document Getting the robot online The unique password for the WiFi access point is in the Passwords document Both documents...

Page 55: ...nnect to the WiFi access point of the robot using the unique password for the WiFi access point The access point name has the following format MiR_20XXXXXXX The access point name is derived from the robot application s model serial number 2 In a browser go to the address mir com and sign in 3 Switch to Manual mode and drive the robot down the ramp see Driving the robot in Manual mode on the next p...

Page 56: ...an result in injury to personnel or damage to equipment if the robot is not driven carefully Drive carefully to avoid collisions with any personnel or objects when driving the robot in Manual mode Avoid driving the robot manually without a clear visual of the robot 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 ...

Page 57: ...ight 2019 2020 Mobile IndustrialRobots A S 57 4 In the robot interface select the joystick icon The joystick control appears 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 58: ...right 2019 2020 Mobile IndustrialRobots A S 58 6 7 Checking the hardware status To check that all hardware components work as intended follow these steps 1 Sign in to the robot interface see Connecting to the robot interface on page 54 2 Go to Monitoring Hardware health ...

Page 59: ...e left For more information see Hardware health in MiR Robot Reference Guide on the MiR website 6 8 Mounting the nameplate Before using MiR1000 Shelf Lift you must mount its unique nameplate to it The nameplate contains information specific to your MiR application see Nameplate on page 17 NOTICE The nameplate must be mounted as described in the following steps If mounted incorrectly the CE mark is...

Page 60: ...yright 2019 2020 Mobile IndustrialRobots A S 60 To mount the nameplate correctly follow these steps 1 Locate the right side hatch see External parts on page 14 2 Clean the area marked in the image below with a degreasing agent 3 Mount the nameplate on the cleaned area ...

Page 61: ... IndustrialRobots A S 61 6 9 Enable the MiR1000 Shelf Lift feature To access the MiR1000 Shelf Lift settings and mission menus the MiR1000 Shelf Lift 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 62: ...2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 62 2 Under Pallet Lift and Shelf select True 3 Under I O modules select True MiR1000 Shelf Lift communicates with the robot through I O modules so they must be activated for the shelf lift to work ...

Page 63: ...020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 63 6 10 Testing the top module To test that the top module of MiR1000 Shelf Lift is configured and connected correctly follow these steps 1 Sign in to the robot interface and go to Setup I O modules ...

Page 64: ...the following sequence and verify that the robot executes the expected action a Under Outputs select 0 and wait for clicking sounds This is the initialization of the calibration process b Under Outputs select 3 Verify that the lift rises c Once the lift is raised verify that 3 under Inputs is green d Under Outputs select 2 Verify that the lift lowers ...

Page 65: ...alled If MiR Shelf Lift did not operate correctly verify that you have enabled the feature as described in Enable the MiR1000 Shelf Lift feature on page 61 If MiR Shelf Lift continues to fail contact your distributor 6 11 Shutting down the robot To shut down MiR1000 Shelf Lift follow these steps 1 Ensure that the robot is not moving or executing an action 2 Press the Power button for three seconds...

Page 66: ...bile IndustrialRobots A S 66 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 68 ...

Page 67: ...ction describes how to charge MiR1000 Shelf Lift using a MiR cable charger A MiR cable charger is not part of the MiR1000 Shelf Lift 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 32 To charge MiR1000 Shelf Lift using the cable...

Page 68: ...battery The rear compartment holds the robot s battery To access the rear compartment see Accessing the internal parts on page 32 To disconnect the battery turn the Battery disconnect switch in the rear compartment to the Off position 7 3 Battery storage The battery should be stored in an area at room temperature with a non condensing relative air humidity see specifications on the MiR website Tem...

Page 69: ...tutory regulations A crossed out wheeled bin indicates that the product needs to be disposed separately and not as municipal waste see Figure 7 1 You are legally obliged to return used batteries and rechargeable batteries Disposing used batteries in the household waste is prohibited Batteries containing hazardous substances are marked with the crossed out wheeled bin The symbol indicates that it i...

Page 70: ... 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 MiR1000 Shelf Lift does not enforce any password rules nor expire the password Create new user groups if more levels of ac...

Page 71: ...t the entire robot software Minor releases often include new features and smaller changes that only affect parts of the software Patch releases focus on fixing small issues in the software and introducing quality improvements Hot fix releases are only created when a patch release has introduced a critical issue that needs to be fixed immediately Security patch policy MiR applies the following poli...

Page 72: ...rmining 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 prox...

Page 73: ...obile IndustrialRobots A S 73 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 74: ...n 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 desti...

Page 75: ...t 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 o...

Page 76: ... the map The local path is indicated with the blue arrow showing the robot driving around a dynamic obstacle Whereas the global planner creates a single path from start to finish the local planner continues to create new paths that adapt to the current position of the robot and the obstacles around it The local planner only processes the area that is immediately surrounding the robot using input f...

Page 77: ...Once the local path is determined the robot computer derives the desired rotational velocity of each drive wheel to make the robot follow the local path and sends the desired velocities for each motor to the motor controllers see Motor controller and motors on page 86 9 5 Obstacle detection The robot detects obstacles continuously while driving This enables the robot to use the local planner to dr...

Page 78: ...anner 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 surround...

Page 79: ...itations They can only detect objects that intersect a plane at 200 mm height from the floor They do not detect transparent obstacles well The scanner data can be inaccurate when detecting reflective obstacles The laser scanners may detect phantom obstacles if they are exposed to strong direct light If you are using the robot in an area with walls made of glass or reflective material mark the wall...

Page 80: ...ameras detect objects Vertically up to 1700 mm at a distance of 950 mm in front of the robot Horizontally in an angle of 114 and 250 mm to the first view of ground The 3D cameras are only used for navigation They are not part of the robot s safety system The camera readouts are used as 3D point cloud data They are not recording recognizable objects or people Figure 9 8 The two 3D cameras can see o...

Page 81: ...S 81 Figure 9 9 The two 3D cameras have a horizontal field of view of 114 The 3D cameras have the following limitations They can only detect objects in front of the robot unlike the full 360 view of the laser scanners They do not detect transparent or reflective obstacles well They do not detect holes or decending stairways ...

Page 82: ...ke 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 the robot Because of the proximity sensor s limited range the data from them is only useful when the robot is standing still or moving at reduced speeds for example when the robot it pivoting or docking Figure 9 10 The proximity sensors in the corners of the robot detect...

Page 83: ...mine the most likely position of the robot on the map IMU and motor encoders Both the data from the IMU Inertial Measurement Unit and motor encoders is used to derive where and how fast the robot has traveled over time from its initial position The combination of both sets of data makes the derived position more accurate If the drive wheels are worn down significantly see Maintenance on page 215 o...

Page 84: ... 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 ...

Page 85: ...sure there are not too many dynamic obstacles around the robot so that it cannot detect any static landmarks Cannot detect any static landmarks Can detect enough static landmarks 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 ...

Page 86: ...it 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 loca...

Page 87: ...hese 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 88: ...king 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 Emergency stop or Protective stop depending on the function...

Page 89: ...ctive Protective field see Personnel detection on page 93 The robot will resume its operating state after two seconds The robot finishes the startup process The Resume button will flash after startup Press the flashing Resume button to bring the robot out of Protective stop Switching between Manual mode and Autonomous mode After turning the Operating mode key to switch operating modes the robot en...

Page 90: ...00 Shelf Lift has six Emergency stop buttons two on each side and one in the front and rear of the robot CAUTION Emergency stop buttons are not designed for frequent use If a button has been used too many times it may fail to stop the robot in an emergency situation and nearby personnel may be injured by electrical hazards or collision with moving parts Only press Emergency stop buttons in emergen...

Page 91: ... 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 maxi...

Page 92: ... status for errors that may indicate that the lift is not working correctly These functions are described in further detail in 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 Pr...

Page 93: ...en a safety function is triggered the safety PLC switches the STO and brake contactors so the brakes motors and power supply to the top module no longer receive power 10 2 Personnel detection The Personnel detection safety function prevents the robot from colliding with personnel or obstacles by stopping it before it collides with any detected obstacles It does this using the safety laser scanners...

Page 94: ...e 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 Protective stop until the Protective field is cleared of obstacles for at least two seconds The tables in the following se...

Page 95: ... 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 96: ...re 10 5 Case Speed Protective field range Comments 1 0 0 to 0 10 m s 0 350 mm When pivoting 2 0 10 to 0 30 m s 0 400 mm 3 0 30 to 0 60 m s 0 600 mm 4 0 60 to 0 90 m s 0 850 mm 5 0 90 to 1 30 m s 0 1350 mm Forward at max speed Table 10 1 Range of the robot s Protective fields within its forward speed interval cases Figure 10 5 The illustration shows the field set contours when the robot drives forw...

Page 97: ... 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 front scanner reduces its Protective field to a minimum when the robot moves backward NOTICE Scanners measure distances to diffuse reflections which means that a tolerance is added to the Protective field sets to secure a safe detec...

Page 98: ...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 robot is ready to drive with muted Protective fields 10 3 Overspeed avoidance The overspeed avoidance function prevents the robot from driving if the motor encoders measure that the robot is driving faster than the predefined safet...

Page 99: ... stop buttons There are six Emergency stop buttons on MiR1000 Shelf Lift When one of the buttons is pressed it breaks the Emergency stop circuit triggering an Emergency stop The Emergency stop circuit runs all of the Emergency stop buttons and connects to the safety PLC through the Auxiliary emergency stop interface see Figure 10 7 The Auxiliary emergency stop interface connects to the Emergency s...

Page 100: ...2 Auxiliary emergency stop interface connects to the circuit in the lift see Figure 10 8 3 Rear right Emergency stop button 4 Rear left Emergency stop button 5 Safety PLC 6 Front left Emergency stop button 7 Auxiliary emergency stop interface connects to the circuit in the robot see Figure 10 7 8 Front shelf lift Emergency stop button 9 Rear shelf lift Emergency stop button Table 10 1 Identificati...

Page 101: ...t is raised it is assumed that the robot is carrying a shelf When the robot is carrying a shelf its detection means are reduced due to the legs of the shelf creating blind spots To accommodate this the Protective field sets are changed automatically to a set that is specifically used when the robot carries shelves These Protective field sets include blind spots in the positions where legs of the s...

Page 102: ...A S 102 Narrow symmetric shelf Wide symmetric shelf Figure 10 9 The illustrations shows the blind spots around the shelf legs in the Protective fields when the robot is carrying a symmetric shelf The blind spots are larger when using symmetric shelves than those shown in Figure 10 10 with asymmetric shelves ...

Page 103: ...at are not supported by MiR s design guidelines the Protective field sets must be changed and the safety system recertified see Adjusting the Protective field sets on page 117 Shelves with symmetric legs create significantly larger blind spots for the robot than shelves with asymmetric legs because the legs interfere more with the field of view of the laser scanners The lift uses input pins 11 and...

Page 104: ...nt with the controller A Limit switch error will also occur if the lift cover is not correctly positioned 10 7 Safety stop There are two pairs of contactors used to stop MiR1000 Shelf Lift the STO Safe Torque Off contactors and the dynamic brake 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...

Page 105: ...e 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 223 10 8 Light indicators and speakers The robot uses two types of light indicators to let people in the environment know what the robot is currently doing or planning to do Status light...

Page 106: ...s may also be used as part of missions but as standard status lights indicate the statuses described in Table 10 2 Red Emergency stop Green Ready for job Cyan Drives to destination Purple Goal Path blocked White Planning Calculating Yellow Mission paused Yellow wavering Startup signal before PC is active Yellow fade Shutting down robot Yellow blinking Relative move ignoring obstacles Purple yellow...

Page 107: ...ns by signaling forwards backwards braking and left right turns The signal lights work similarly to lights used on cars white at the front red at the back and indicating a left or right turn by 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 vo...

Page 108: ...cause the robot to not comply with safety standards Do not disable the sound in the safety system Figure 10 12 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 109: ...bot 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 ...

Page 110: ...ns on the MiR website This is especially relevant for the robot s battery see Battery storage on page 68 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 th...

Page 111: ...ity of the commissioner The risk assessment must cover both MiR1000 Shelf Lift itself and also take into account potential load transfer stations work cells and the work environment NOTICE Mobile Industrial Robots takes no responsibility for the creation and performance of the risk assessment but we provide information and guidelines that may be used in this section For more guidelines see the gui...

Page 112: ...ide shelf with symmetric legs MiR1000 Shelf Lift 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 Shelves with symmetric legs create significantly larger blin...

Page 113: ...ilizer slope 1180 mm 2 C Lift frame length 1304 mm D Permitted extension of shelf over the front of the lift maximum 22 mm E Distance from ground to upper boundary of scanner view 270 mm 5 0 F Distance from ground to lower boundary of scanner view 100 mm 0 5 G Angle of permitted extension of shelf over the front of the lift minimum 77 H Lift frame width 910 mm I Distance between bottoms of stabili...

Page 114: ...section Leg dimensions and positions MiR supports only shelves made with four asymmetrical legs Each leg must be 30 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 If you choose to make a shelf with symmetric legs MiR recommends that you place...

Page 115: ...rks the scanner zone For asymmetric shelves only the four legs indicated with circles marked N for narrow shelves and W for wide shelves can be placed in the zone at the defined positions Pos Description Pos Description N Positions of legs for narrow shelves Leg diameter 30 mm 1 0 O Distance between legs on the same side 650 mm P Displacement from robot s center 150 mm Q Displacement from robot s ...

Page 116: ...ly larger when lifting a symmetric shelf Risk of injury if MiR1000 Shelf Lift is used to transport a shelf with symmetric legs outside operating hazard zones see Using operating hazard zones on page 144 Only use MiR Shelf Lift in operating hazard zones when it is lifting shelves with symmetric legs Figure 11 3 Top view of the robot The red hatched area marks the scanner zone For symmetric shelves ...

Page 117: ...f in the robot interface see Creating a marker type on page 171 11 4 Adjusting the Protective field sets When MiR1000 Shelf Lift is driving with a shelf the legs of the shelf are located in the Protective field sets of the robot For MiR1000 Shelf Lift to drive with a shelf without going into Protective stop the Protective field sets need to be adjusted Safety laser scanner configurations From soft...

Page 118: ...ight 2019 2020 Mobile IndustrialRobots A S 118 MiR500 MiR1000 for MiR Shelf Lift to change the robot s safety laser scanners to comply with MiR1000 Shelf Lift The guide describes how to adjust the Protective field sets manually and how to apply a standard configuration ...

Page 119: ...when doing so NOTICE Modifying MiR Shelf Lift voids the warranty of the lift Top cover of the lift The top cover of the lift is a 3 mm steel S355 plate with a RAL 9005 powder coating The hatched red areas in Figure 11 4 indicate areas where you are not allowed to make modifications in the top cover Figure 11 4 Top view of the lift You are not allowed to make modifications such as drilling holes or...

Page 120: ...as in Figure 11 5 indicate areas where you are not allowed to make modifications in the bottom frame Figure 11 5 Top view of the lift You are not allowed to make modifications such as drilling holes or mounting accessories in red hatched areas All measurements are in millimeters NOTICE The drawings above only show where you can make minor modifications without damaging the product You should not u...

Page 121: ... and is the basis for the robot s ability to navigate its surroundings safely and efficiently The map illustrates the physical area in which the robot operates Figure 11 6 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 122: ... large if the robot takes a long time to plan its routes or often reports CPU errors In general we recommend that maps should not exceed an area of 300 x 300 meters You can connect smaller maps using map transitions see MiR Robot Reference Guide or ask your distributor for the guide How to set up transitions between maps If the robot must operate on different floors connected with ramps or elevato...

Page 123: ...on 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 124: ... A S 124 Cleaning up a map The robot navigates best when using a clean map with as little noise as possible Figure 11 8 is an example of what a map can look like after the mapping process but where it still needs further editing Figure 11 8 Example of a map that includes too much noise and dynamic obstacles ...

Page 125: ...ove 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 floo...

Page 126: ...ed 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 127: ...map will only confuse the robot as it will try to navigate from a wall that is not there Solution Mark staircases and areas surrounding staircases or holes in the floor as Forbidden zones on the map Low hanging fixtures Issue If a low hanging fixture is outside of the robot sensors range the robot may try to travel beneath it This can be dangerous if the robot is carrying a tall top module or load...

Page 128: ...g 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 Remo...

Page 129: ...s 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 Fi...

Page 130: ...replanning paths several times a day Issue The robot will only see shelves as dots on the map and believe that it can make a global plan underneath the shelves Solution Add a Forbidden zone red around the shelves Figure 11 11 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 g...

Page 131: ...or 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 132: ... 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 13 The entry position is automatically created approximately one meter in front of...

Page 133: ...enables 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 15 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 p...

Page 134: ...marker can be used for forward or reverse docking between two bars or plates similar to pallet racks or shelves Bar markers must be between 400 mm and 750 mm long and the distance between the bars must be between 750 mm and 1500 mm The distance between the bars must be larger than the footprint of your robot Figure 11 17 The icon used for Bar markers in the interface and an illustration of how rob...

Page 135: ...ypoints 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 the robot is indica...

Page 136: ...ype that describes the dimensions of the shelf the robot is docking to see Creating a marker type on page 171 If you need to place shelves with greater precision or have shelves placed close to obstacles or other shelves you can do so by creating Shelf positions in front of VL markers see Creating the mission Place shelf at VL marker on page 199 We recommend using VL markers to place shelves but y...

Page 137: ...te that require different parameter settings in the mission actions When you create a mission you can save it in the default Missions group or you can choose to save it in any of the available actions groups The actions groups are found in the top bar of the mission editor window and you can distinguish missions from actions by the small icons shown next to their names missions have a target icon ...

Page 138: ...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 19 Figure 11 19 You can use variables to make a mission where you can set a parameter in one of the actions each time you use the mission either when you add the mission to the mission queue or embed ...

Page 139: ...kage 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 mis...

Page 140: ...e 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 10 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 relat...

Page 141: ... can pass under only when it is not carrying certain loads or top modules you must define new footprints for the various heights that the robot and its load can have to ensure that they don t collide with the low hanging fixtures The top modules you use with your robot If a robot s top module exceeds the width or length of the robot you must define a new footprint for that top module If a top modu...

Page 142: ...acles The Personnel detection safety function see Personnel detection on page 93 still uses the same Protective field sets If your robot is carrying a load or top module that extends the footprint in front of or behind the robot it may collide with personnel or equipment Avoid extending the footprint in front of or behind the robot Mark all areas where the robot drives with an unsafe load as opera...

Page 143: ... IndustrialRobots A S 143 If you want to change the footprint in a mission use the Set footprint action found under the Move action group This is used to change the footprint when the robot picks up a load that extends the footprint or places a load and the footprint returns to the default ...

Page 144: ... 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 a robot is approaching Areas where the robot drives with muted Protective fields and areas with inadequate clearance must be marked as operating hazard zones with signal tape or similar marking material To ...

Page 145: ...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 185 This prevents the robot from entering Protective stop when it drives very close to an o...

Page 146: ...triped black and yellow line identifies the required operating hazard zone around the marker The robot is placed on the Entry position to the marker You must mark the floor area one meter around the docking marker and the robot when it is at the entry position This is illustrated in Figure 11 22 where the robot is docking to a shelf ...

Page 147: ...leared paths that are at least 0 5 m wide and 2 1 m high There must always be an escape route on either side of the robot also in operating hazard zones If the shelves are placed on Shelf positions alone the required free space around the shelf see MiR500 and MiR1000 Best Practice Space Requirements ensures that there are also sufficient escape routes If you use VL markers with the Shelf positions...

Page 148: ...a wall or other fixed structures there must be escape routes between the shelves To fulfill the safety requirements place the shelves 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 23 Shelf placement to there are escape routes between the shelves The blue areas indicate the escape routes ...

Page 149: ... 5 m of free space on the side of one of the shelves leading out of the operating hazard zone Figure 11 24 Shelf placement to there is an escape route behind the shelves The blue area indicates the escape route 11 12 Making a brake test It is the responsibility of the commissioner to perform an adequate test of the robot s braking capability The braking distance of MiR1000 Shelf Lift is particular...

Page 150: ...istributor for the guide How to adjust Protective field sets manually on MiR500 MiR1000 11 13 Creating user groups and users All users of the robot must have a user profile in the system Users are administered in the Users section where you set up edit and delete system users The user profiles are created during commissioning By default the robot has three user groups User Administrator and Distri...

Page 151: ...can create specific user groups with specific access to different parts of the robot interface Figure 11 25 You can create specific user groups Under Set permissions you can select the specific parts of the robot interface that the user group has access to Figure 11 26 You can select the specific parts of the robot interface that the user group has access to ...

Page 152: ... 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 system Figure 11 27 When you create a user you must fill out the fields shown in this image Feature User group Controlling the robot manually Operator Creating maps and positions Commissioner Creating and editing missions Operator ...

Page 153: ... are an easy way for different user groups to control the robot giving direct access to the individual groups key functions For more details on how to use and create dashboards see MiR Robot Reference Guide on the MiR website A dashboard is made up of a number of widgets each representing a feature in the system for example a particular mission the map the robot is operating on or the current miss...

Page 154: ... a mission that the robot often has to execute on demand you may want to add it to the dashboard Will each user or user group need a different dashboard If so what should be included in each Will some users need more than one dashboard Users that are responsible for both maintaining and operating the robot could have seperate dashboards for the maintenance routine and another dashboard for operati...

Page 155: ...ter to the robot you want to update and sign in to the robot interface 2 Go to System Software versions and select Upload software 3 Locate and select the downloaded software package It may take 10 20 minutes for the package to successfully upload depending on whether or not the software introduces new security patches 4 Once the software is uploaded turn the robot off and then on again 11 16 Crea...

Page 156: ...the website 11 17 System settings This section describes some of the commonly used system settings of MiR1000 Shelf Lift that the commissioner must be aware of Only the basic system settings are explained in this section see MiR Robot Reference Guide on the MiR website for more information In System Settings you can access the settings of the robot Access to the settings must be restricted by the ...

Page 157: ... 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 74 and Local planner on page 76 Figure 11 30 You set basic parameters for driving the robot in the Planner section ...

Page 158: ...tead enter the maximum amount of time in seconds that the robot can spend planning a path before it reports an error Path timeout defines the maximum time the robot s path can be blocked before it generates a new global path By default this value is 0 meaning the robot will not wait if its current global path is blocked by an obstacle it cannot navigate around using the local planner If you want t...

Page 159: ... the way Maximum allowed speed defines the overall speed limit of the robot The maximum allowed speed will never be exceeded no matter what is stated in 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 desir...

Page 160: ...arker before it starts moving from a docked position It is usually best to set this setting to True to prevent the robot from going into Protective stop when moving away from markers The robot cannot undock from L markers automatically see Markers on page 132 You must use a Relative move action In the advanced settings you can adjust the parameters for docking to markers This can be useful in case...

Page 161: ...rotective 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...

Page 162: ...ls 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 Univers...

Page 163: ...his feature if the robot has a pallet lift or shelf lift top module mounted to it This modifies how some of the pins in the electrical interfaces are used 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 protec...

Page 164: ... mission that uses a Try Catch action The example mission is titled Try Catch Creating a mission that uses variables The example mission is titled Variable docking 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 a mission where the robot picks up and places a shelf usi...

Page 165: ...ized you can insert a marker on the map In this example we are using a VL marker To create 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 1000 mm 50 mm B 200 mm 50 m...

Page 166: ... 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 166 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 167: ...ed 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 or...

Page 168: ...rker 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 169: ...ker 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 170: ... the Object type drop down menu select Positions and then select Draw a new position 3 Select where on the map you want the position to be and choose in which direction you want it to face 4 Name the position Under Type select which type of position you want to make In this example we are making a Robot position ...

Page 171: ...er 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 Shelf specifications on page 112 you can u...

Page 172: ...elf Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 172 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 173: ...s 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 174: ...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 the two front legs A zero value means the legs...

Page 175: ...ted two robot positions named p1 and p2 as described in Creating positions on page 169 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 176: ...elect 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 th...

Page 177: ...age MiR1000Shelf Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 177 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 178: ...12 Usage MiR1000Shelf Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 178 6 In the first Move to action under Position select p1 ...

Page 179: ...sion 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 180: ...Prompt user on page 174 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 174 To create the Try Catch mission follow the steps below 1 Go to Setup Missions Select Create Mission 2 Name the missio...

Page 181: ... 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 182: ...The following steps describe which parameters each action should be set to To modify the parameters select the gearwheel at the right end of the action line to open the action dialog box When you have set the parameters select Validate and close 4 Drag the Prompt user mission into the Try box under Try Catch ...

Page 183: ...12 Usage MiR1000Shelf Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 183 5 Drag the Play sound action under the Catch box under Try Catch ...

Page 184: ...he 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 185: ...ion for different but still similar tasks Variable docking is a mission example that enables you to select which marker the robot should dock to which Protective fields it should mute when docking and how long the robot should wait before undocking each time you use the mission When the robot docks to a marker it often has to drive very close to an obstacle for example the marker itself To prevent...

Page 186: ... 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 186 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 187: ...stem 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 188: ...alRobots A S 188 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 189: ... 2019 2020 Mobile IndustrialRobots A S 189 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 190: ...right 2019 2020 Mobile IndustrialRobots A S 190 5 In the Mute protective fields action set the parameters as follows Sound Select Default Front Create a variable titled Mute front Rear Create a variable titled Mute rear Sides Create a variable titled Mute sides ...

Page 191: ... Mute 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 192: ...alRobots A S 192 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 193: ...ission MiR1000 Shelf Lift 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 position 2 and Shelf 3 see Markers on page 132 Placed a physical shelf at shelf position Shelf position 2 Created a marker type fo...

Page 194: ... belong to Select Create mission 3 Select the following actions In the Move menu select Move In the Shelf menu select Pick up MiR500 1000 Shelf In the Move menu select Set footprint In the Move menu select Move In the Shelf menu select Place MiR500 1000 Shelf The following steps describe which parameters each action should be set to To modify the parameters select the gearwheel of the action in qu...

Page 195: ...dustrialRobots A S 195 4 For the Move action set the parameters as follows Position Select Shelf position 2 Position type Select Entry This makes the robot move to the entry position of the shelf position Retries Leave at the default value Distance threshold Leave at the default value ...

Page 196: ...helf position 2 Marker type Select wide asymmetric mir500 1000 shelf Shelf footprint Select wide MiR500 1000 shelf footprint Mute front Mute rear and Mute sides Select if you want the laser scanners to be muted on the front rear or sides while undocking This can be necessary if the shelf is located near other obstacles Undocking distance Enter 2 This will make the robot reverse two meters to undoc...

Page 197: ...ndustrialRobots A S 197 6 For the second move action set the parameters as follows Position Select Shelf 3 Position type Select Entry This makes the robot move to the entry position of the shelf position Retries Leave at the default value Distance threshold Leave at the default value ...

Page 198: ...ont or back of the robot This can be necessary if the shelf is located near other obstacles The laser scanners are muted to the sides by default in the place shelf template so the robot doesn t go into Protective stop when driving away from the shelf Footprint Select the default footprint of your robot Undocking distance Enter 2 This will make the robot reverse two meters to undock from the shelf ...

Page 199: ...s 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 mission that makes the robot place a shelf accurately on a shelf position by docking to a VL marker The mission uses a variable for the marker enabling you to reuse the mission f...

Page 200: ...hen docking to markers to 1 6 This will make the robot go to a position 1 6 m in front of the marker before docking The following steps describe how to create a mission that makes the robot dock to a marker and place a shelf 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 132 ...

Page 201: ...n 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 furthest from the shelf position is for MiR500 MiR1000 4 Select Edit if you want to adjust the entry position Note the X and Y coordinates of the entry position ...

Page 202: ... 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 8 Go to Setup Missions and select Create Mission 9 Name the mission Place shelf at VL marker and select Missions under Mission group ...

Page 203: ...ctions In the Move menu select Docking In the Shelf menu select Place MiR500 1000 Shelf 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 204: ...ction 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 205: ...t User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 205 d Leave the other parameters at their default values The Marker type is not used as long as you select a V VL or L marker when using the mission ...

Page 206: ...reverse two meters to undock from the shelf This mission will only work for markers where the robot docks forward To create a mission where the robot reverse docks to the markers invert the values in the three parameters in the template mission 13 The mission is now ready Select Save to save your mission When you are creating other missions in the mission editor you can now select this mission fro...

Page 207: ... Parameter for driving more straight during docking Set the parameter to 0 03 or lower 12 9 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 potential hazards To run a mission follow these steps 1 Go to Setup Missions 2 Select Queue mission next to the mission you want to run The mi...

Page 208: ...hing 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 ta...

Page 209: ...oting issues or replacing robot components WARNING Opening or removing hatches 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 68 To unmount the top module follow these steps 1 Unscrew the 20 scr...

Page 210: ...ift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 210 2 Remove the cover from the lifting device using suction cups 3 Unscrew the four bolts that fix the ends of each lifting device to the robot Use a size 8 Hex key ...

Page 211: ...e frame and screw in four M12x50 lifting eye bolts instead The eye bolts must be rated to lift 350 kg and have a standard 1 75 mm thread pitch incline 5 Mount a lifting device such as a crane to the eye bolts and raise the lift so it is elevated 10 20 cm from the robot Make sure you do not strain any of the cables between the robot and lift while raising it ...

Page 212: ...ough clearance between the lift and robot so you can reach in between 7 Unplug each of the cables from the robot s electrical interfaces in the top compartments a To disconnect the cables that connect to the robot s electrical interfaces twist the connectors to the left to unlock them from their sockets When you remount MiR Shelf Lift to the robot make sure to twist the connectors to their right t...

Page 213: ...rical interfaces Contact your distributor for more information After you have finished completing the maintenance that required you to remove MiR Shelf Lift you can mount the top module again by following the above instructions in the reverse order When mounting MiR Shelf Lift make sure to face the side with white Emergency stop cable to the right side of the robot NOTICE When mounting the top mod...

Page 214: ...3 Unmounting the top module MiR1000Shelf Lift User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 214 You can also contact your distributor for the mounting guide for your product ...

Page 215: ...e 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 canno...

Page 216: ...ect 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 lights Check if ...

Page 217: ...ion see if the robot is running with the correct SICK configuration or if the warning The SICK Safety PLC is running a non standard configuration is shown Check monthly and after commissioning or if you make any changes to the robot setup Robot hardware In the robot interface under Monitoring Hardware health check if there are any warnings marked with yellow Check monthly and after commissioning o...

Page 218: ...afety of machinery Emergency stop function ESD tail Check the ESD tail open the left hand side maintenance hatch and make sure that the tail has contact with the ground Check every six months and replace as needed 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 i...

Page 219: ... If slack or unusual noises start to occur replace the actuators with approved spare parts from MiR Actuators last for approximately 60 000 fully loaded lift cycles MiR Shelf Lift Emergency stop buttons To check that 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 th...

Page 220: ...enerally maintenance free but should be cleaned if it gets very dirty Before cleaning the battery must be removed from any power source Only use a dry and soft cloth to clean the housing of the battery and do not use abrasives or solvents For storage of the battery see Battery storage on page 68 For disposal of the battery see Battery disposal on page 69 ...

Page 221: ...t 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 Protective corner braces The braces prevent the robot from being damaged by the transport str...

Page 222: ...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 depending on the mode of transportation land sea or a...

Page 223: ...obile IndustrialRobots A S 223 16 Payload distribution The specifications for the position of the payload s center of mass for MiR1000 Shelf Lift are not available See the MiR1000 User Guide for an approximation of where the center of mass of the payload must be positioned for safe operation ...

Page 224: ...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 225: ...erface MiR1000 uses four electrical interfaces to communicate with MiR Shelf Lift They can be divided into two groups General purpose interfaces Power GPIO Safety interfaces Auxiliary emergency stop Auxiliary safety functions To see the locations of the electrical interfaces on the robot see Internal parts on page 20 18 1 General purpose interfaces This section describes how the general purpose in...

Page 226: ...he pins of the Power interface The maximum current across pins 1 and 3 combined is 20 A You cannot draw 20 A from both of them at the same time The voltage from pins 1 and 3 ranges between 41 8 53 8 V Pin number Signal name Max current Description 1 48V PWR 20 A Unassigned 2 GND Ground 3 48V SafePWR 20 A Supplies power to the lift controller and actuators The power to this pin is cut when the robo...

Page 227: ...ustrialRobots A S 227 Pin number Signal name Max current Description Protective or Emergency stop 4 GND Ground 5 24V 2 A Supplies power to the lift controller and actuators 6 GND Ground 7 Unassigned Unassigned GPIO Figure 18 2 Pin numbers male connector viewed from the front left and wiring diagram right ...

Page 228: ... used to receive signals from the top module The GPIO has the following features Four inputs for use with 24 V but robust against 48 V Four outputs for use with 24 V MiR1000 uses the GPIO interface to communicate to MiR Shelf Lift as described in How MiR Shelf Lift works on page 28 Table 18 2 contains the description of the pins of the GPIO interface Pin number Signal name Max current Description ...

Page 229: ...tive the lift rises 8 RTN Protected return 9 I0 Active when the lift reports an error 10 24V 1 A at 24 V Protected output 11 I1 Active when the lift is moving 12 24V 1 A at 24 V Protected output 13 I2 Active when the lift is lowered or moving but not raised 14 24V 1 A at 24 V Protected output 15 I3 Active when the lift is raised 16 24V 1 A at 24 V Protected output 17 Unassigned 18 2 Safety interfa...

Page 230: ...escription of the pins of the Auxiliary emergency stop interface Pin number Signal name Type Description Lift funct ion 1 Test output Output 24 V output signal from the safety PLC for the Emergency stop circuit Should connect to pin 3 Connects to pin 3 via the Emergency stop buttons on the lift 2 Test output Output 24 V output signal from the safety PLC for the Emergency stop circuit Should connec...

Page 231: ... pin 1 via the Emergency stop buttons on the lift 4 E stop 2 Input Input signal to the safety PLC for the Emergency stop circuit Must receive 24 V to prevent the robot from entering Emergency stop Should connect to pin 2 Connects to pin 2 via the Emergency stop buttons on the lift 5 Reset Input When active the robot resets Unused 6 Safe RTN Ground Safe return Unused 7 Reset lamp Output Active when...

Page 232: ... that can trigger a Protective stop see Safety system on page 88 Table 18 4 contains the description of the pins of the Auxiliary safety functions interface Pin number Signal name Type Description Lift function 1 Test output Output 24 V output Connects to pins 3 and 9 in a closed loop and pin 11 through one of the lift switches 2 Test output Output 24 V output Connects to pins 4 and 10 in a closed...

Page 233: ...the robot does not enter Protective stop 4 Safeguarded stop 2 Input When inactive the robot enters Protective stop If pins are unequally set for a period greater than three seconds the robot must be restarted Connects to the 24 V output pin 2 constantly ensuring that the robot does not enter Protective stop 5 Locomotion 1 Output Active when the robot is standing still Unused 6 Locomotion 2 Output ...

Page 234: ...nput When inactive the robot cannot drive faster than 0 3 m s When the lift is raised the lift switch breaks the connection to the 24 V output pin 1 and this input is inactive Instead of reducing the robot s speed this makes the robot use the shelf specific Protective field sets see MiR Shelf Lift safety functions on page 101 12 Reduced speed 2 Input When inactive the robot cannot drive faster tha...

Page 235: ...User Guide en 12 2020 v 2 1 Copyright 2019 2020 Mobile IndustrialRobots A S 235 Pin number Signal name Type Description Lift function 15 Safe RTN Ground Safe return Safe return 16 Unassigned Unassigned Unassigned 17 Unassigned Unassigned Unassigned ...

Page 236: ... 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 environment conditions before leaving the robot to execute the missions autonomously see Testing a mission o...

Page 237: ...ps on page 121 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 will return until the fault is fixed If this occurs you can try to fix the iss...

Page 238: ...r operator visually check the internal component for obvious faults Figure 19 1 The interface in Hardware health displays which component is failing and often for what reason For further troubleshooting contact your distributor for specific MiR troubleshooting guides or assistance from MiR Technical Support For a full list of MiR error codes contact your distributor for the document Error codes an...

Page 239: ...elf there may be an issue with the legs There are two common causes for the robot not being able to dock to a shelf correctly The legs are reflective or there are obstructions under the shelf Make sure the area under the shelf is clear and that the legs are not in a very high gloss material The laser scanner covers may need to be cleaned see Maintenance on page 215 Robot placing shelf imprecisely ...

Page 240: ...ety 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 MiR1000 Shelf Lift and fastening loads to MiR1000 Shelf Lift properly Dynamic obstacle Dynamic obstacles are obstacles that are moved around such as pallets crates and carts The...

Page 241: ...s 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 ...

Page 242: ...the robot The nameplate identifies the MiR application model application number mechanical and electrical specifications and includes the CE mark of your application Noise With MiR robots noise in maps refers to recorded data that originates from interfering elements This can be physical obstacles that make the robot record walls where there are none or more subtle interferences that can make reco...

Page 243: ...otective 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 objec...

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