October 2017 v.1.02017 v.1.

2
with MiR Robot Interface 2.0

User Guide
en

11/2017 v.1.0
Copyright and disclaimer

All rights reserved. No parts of this manual may be reproduced in any form without the express written
permission of Mobile Industrial Robots ApS (MiR). MiR makes no warranties, express or implied, in respect
of this document or its contents. In addition, the contents of the document is subject to change without
prior notice. Every precaution has been taken in the preparation of this manual. Nevertheless, MiR
assumes no responsibility for errors or omissions or any damages resulting from the use of the
information contained.
Copyright © 2017 by Mobile Industrial Robots

Contact the manufacturer:

Mobile Industrial Robots
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ

www.mir-robots.com
Phone: +45 20 377 577
E-mail: [email protected]

CVR: 35251235

For more material,

go to our website
Table of contents

1 About this manual .............................................................................................................3

1.1 Overview......................................................................................................................3
1.2 Document history ........................................................................................................3
1.3 Further information.....................................................................................................3
2 Safety .................................................................................................................................4
2.1 Overview......................................................................................................................4
2.2 Safety concept .............................................................................................................4
2.3 General safety instructions..........................................................................................5
2.3 1 Warning notes ..................................................................................................5
2.3 2 Caution notes....................................................................................................6
2.3 3 Notices ..............................................................................................................7
2.4 Lithium battery ............................................................................................................7
2.5 Safety circuit ................................................................................................................8
2.6 Applied standards........................................................................................................8
3 Getting started...................................................................................................................9
3.1 In the box.....................................................................................................................9
3.2 Unpacking the MiR200™............................................................................................10
3.2 1 Unboxing.........................................................................................................10
3.2 2 Powering up....................................................................................................11
3.3 Getting connected .....................................................................................................14
3.4 Charging the robot.....................................................................................................15
3.5 Testing the robot .......................................................................................................16
3.6 Shutting down the robot ...........................................................................................17
4 Product presentation.......................................................................................................19
4.1 About the MiR200™...................................................................................................19
4.2 Identification label.....................................................................................................19
4.3 MiR200™ Outer parts ................................................................................................20
4.4 MiR200™ Inner parts .................................................................................................21
4.5 Sensor systems ..........................................................................................................22
4.6 Light indicators ..........................................................................................................22
4.7 Main features of the MiR200™..................................................................................23
5 Accessories ......................................................................................................................24
5.1 Overview....................................................................................................................24
5.2 Placing the top module..............................................................................................24
6 Technical specifications ...................................................................................................25
6.1 Main specifications ....................................................................................................25
6.2 Dimension drawing....................................................................................................27
7 Maintenance....................................................................................................................28
7.1 Overview....................................................................................................................28
7.1 1 Regular cleaning .............................................................................................28
7.1 2 Regular checks and replacements ..................................................................29
8 Troubleshooting ..............................................................................................................30
9 Repacking for transport...................................................................................................32
9.1 Preparations ..............................................................................................................32
9.2 Packing the robot for transportation.........................................................................32

Appendices
Payload specifications ......................................................................................................... 33
Declaration of conformity ................................................................................................... 36
Neutrik connector ............................................................................................................... 38
1 About this manual
••••••

1.1 Overview
This User Guide contains all essential information about how to start up and operate a MiR200™
robot. It also includes necessary information about safe handling of the robot, technical
specifications, troubleshooting and guidelines for proper maintenance of the robot. The User Guide
is intended for Mobile Industrial Robots’ distributors as well as end users responsible for the daily
operation of the MiR200™ robot.
This user guide describes the MiR200 with Robot Interface 2.0. There is a corresponding user guide
for the MiR200 with Web Interface 1.0.

1.2 Document history

This table shows latest and previous versions of this document and their interrelation with product
software releases.

Doc version Release date Description SW rel HW rel

1.0 2017-11-24 First edition 2.0 1.0

1.3 Further information

You can download all manuals from the MiR website where you will also find training videos,
product pictures and technical specifications.
• Manuals and more: www.mobile-industrial-robots.com/products

Your MiR distributor is your first point of contact for all service queries. Find distributor contact on
our website.
• Distributor contact info: www.mobile-industrial-robots.com/distributors.

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2 Safety
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2.1 Overview
This manual contains notices you have to observe to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the
manual by a safety alert symbol. The notices shown below are graded by signal words to indicate
degree of danger.

2.2 Safety concept

Indicates an immanently hazardous situation that will result in death or severe personal injury if proper
precautions are not taken.

Indicates a potentially hazardous situation that could result in death or severe personal injury if proper
precautions are not taken.

Indicates a situation that could result in minor personal injury or damage to the equipment if proper
precautions are not taken.

Indicates a situation that could result in property damage if proper precautions are not taken.

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Safety

2.3 General safety instructions

This section contains general safety notes. Some safety notes are repeated or further specified in
other sections of the manual and further safety notes are present throughout the manual.

2.3.1 Warning notes

• Ensure proper mounting of loads during transport
Danger of personal injury from overturning robot or falling load.

All accessories and loads mounted on top of the robot should be fastened correctly and meet specifications.
See on page 33.

• Avoid leakage of fluid during transport

Danger of personal injury from leaking fluid.

Make sure that loads containing fluids do not leak during transport.

• Use only the original charger

Danger of personal injury and/or damage to the robot.

Use of other charger than the one supplied by the manufacturer can ruin the battery and may cause fire.

• Update maps to avoid hazards on the route

Danger of personal injury and/or damage to the robot.

Make sure to update maps with areas without drive surfaces such as stairways.

• Update maps to avoid hazards on the route

Danger of personal injury and/or damage to the robot.

Make sure to update maps to avoid driving in hazardous zones such as close to stairways.

• Do not drive vehicle irresponsibly

Danger of personal injury and/or damage to the robot.

The robot should not be driven over edges or in other ways operated irresponsibly.

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Safety

2.3.2 Caution notes

• Do not use the robot to transport people
Risk of personal injury and/or damage to the robot.

The robot should never be used to transport people. This will revoke compliance with the standard EN 1525
Safety for unmanned trucks.

• Avoid gradients above 5% on the route

Risk of personal injury and/or damage to the robot.

The surface grade (ramps etc.) cannot exceed 5% as this may cause the robot to skid.

• Only drive on even and dry surface

Risk of personal injury and/or damage to the robot.

Wet and uneven surfaces may cause the robot to skid.

• Do not overload the robot

Risk of personal injury and/or damage to the robot.

The maximum payload for the load on top of the robot is 200 kg 440 lbs kg. If exceeded, it may cause
overturning, falling load and damage to the robot. See also Appendix .

• Do not use robot on board ships

Risk of personal injury and/or damage to the robot.

Unstable surface caused by moving vessel may cause the robot to skid.

• Turn off the main power immediately after removal of the top cover
Risk of personal injury and/or damage to the robot.

Turn off main power relay to avoid short circuit. See Product presentation on page 19

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Safety

2.3.3 Notices
• Indoor use only
Risk of damage to the robot.

The robot is made for indoor use only and should never be used outdoor.

• Avoid small objects on the floor in the robot’s area

Risk of property damage and/or minor damage to the robot.

The robot cannot detect obstacles lower than 50 mm and may overrun smaller objects.

• Remove unwanted objects from the floor in the robot’s area

Risk of inefficient execution of orders.

The robot will go around objects that are not parts of the map, but this may influence the efficiency of the
planned route.

• Avoid overheating of components

Risk of damage to the robot or robot components.

The ambient temperature in the robot’s environment must not exceed 50° C - 122° F.

• Avoid exposure of the robot to excessively humid or dry environment

Risk of damage to the robot or robot components.

The ambient humidity in the robot’s environment must be within the specifications, see Technical
specifications on page 25.

2.4 Lithium battery

Lithium batteries are primary power sources with high energy content designed to represent the
highest possible degree of safety.

Potential hazard

Lithium battery packs may get hot, explode or ignite and cause serious injury if they are abused
electrically or mechanically.

Observe the following precautions handling and using lithium batteries:

• Shut off the battery when not in use.

• Do not short-circuit, recharge or connect with false polarity.

• Do not expose to temperature beyond the specified temperature range or incinerate the battery.

• Do not crush, puncture or disassemble the battery. The battery contains safety and protection devices, which,
if damaged, may cause the battery to generate heat, explode or ignite.

• Do not allow the battery to get wet.

• In the event the battery leaks and the fluid gets into one’s eye, do not rub the eye. Rinse well with water and
immediately seek medical care. If left untreated, the battery fluid could cause damage to the eye.

• Use only the original charger and always follow the instructions from the battery manufacturer.

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Safety

2.5 Safety circuit

If a person or other moving object enters the safety zones of the robot where the planner due to
response time, errors etc. does not respond, the safety circuit will force the robot into emergency
stop, and the robot stops immediately. When the person or object is out of the safety zone again,
the robot will automatically reset the emergency stop.
MiR200™ is designed with total redundant electrical safety circuit including Sick Safety components.
If any internal errors in the safety circuit occur, the robot will immediately go into emergency stop
which means that all moving parts will be voltage free by mechanical disconnection. Only when the
redundancy is provided, it is possible to reset the emergency stop and continue.

2.6 Applied standards

The MiR200™ fulfills all relevant provisions of the following EU directives or regulations:

Ref. no. Title

2006/42/EC Directive 2006/42/EC of the European Parliament and of the Council of 17 May
2006 on machinery, and amending Directive 95/16/EC (recast) (1).

Reference to the harmonized standards used, as referred to in Article 7(2):

Ref. no. Title

EN 60204-1:2206/A1:2009 Safety of machinery – Electrical equipment of machines – Part 1: General

requirements

EN ISO 12100:2010-11 Safety of machinery – General principles for design – Risk assessment and risk
reduction (ISO 12100:2010)

EN ISO 13849-1:2015 Safety of machinery – Safety related parts of control systems – Part 1: General
principles for design (ISO 13849-1:2015)

EN ISO 13849-2:2012 Safety of machinery – Safety related parts of control systems – Part 2: Validation
(ISO 13849-2:2012)

EN ISO 13850:2015 Safety of machinery – Emergency stop function – Principles for design (ISO
13850:2015)

EN 60204-1:2006-6 Safety of machinery – Electrical equipment of machines – Part 1: General

requirements

EN 1175-1:1998+A1:2010 Safety of industrial trucks – Electrical requirements – Part 1: General

requirements for battery powered trucks

Reference of the other technical standards and specifications used:

Ref. no. Title

EN 1525:1997-09 Safety of industrial trucks – Driverless trucks and their systems

See also signed copy of Declaration of conformity in Declaration of conformity on page 40.

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3 Getting started
••••••

3.1 In the box

Figure 3.1. The shipment

1. The robot

2 MiR200 Kit
• Emergency stop box, external antenna and 4 pcs. M10x40 bolts
• Charging cable
3. MiR folder containing:
• Printed documents: Quick start, CE declaration of conformity, mounting instructions for emergency stop

• USB flash drive: Getting started video, MiR200™ User Guide, CE declaration of conformity, other manuals

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3.2 Unpacking the MiR200™

3.2.1 Unboxing
Step Action

1 Remove pallet lid and take out folder with printed documents, USB flash and ESD kit.

2 Remove the top foam, foam blocks on the sides and the pallet frames.

3 Place the pallet cover as a ramp at the robot’s rear end.

Keep the packaging for any future transportation of the robot.

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3.2.2 Powering up
Follow these steps to power up the MiR200™

Step Action
1 Grab the two rounded corners and carefully lift
off the cover.

2 Connect the battery cable to the plug on top of Switch on the four relays placed in the corner by
the battery box. the front laser scanner. Start with 32A main power,
i.e. from the outer frame in.

3 Before putting the cover back on, connect the

two ESD cables that are attached to the robot
frame, next to the loudspeaker, and inside the
cover.

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 Step Action
4 Carefully fit the cover correctly over the Mount and connect the emergency stop box on
connector openings. top of the robot cover.

If a top module is going to be mounted on top of the robot, the emergency stop must
be placed in a position where it is easy to reach. See Placing the top module on
page 24.
5 Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the
connector before fixing the antenna.

The antenna can be lowered and rotated in all directions to fit under a top module.

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 Step Action
6 Turn on the power switch. Press the reset button on the emergency stop
when it has lit up.

The robot lights up with a yellow running light

for a short moment, then enters emergency
stop mode indicated by a constant red light. The robot light now switches to yellow constant
light, indicating that the robot is paused and ready
to operate.

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3.3 Getting connected
Step Action
1 On a PC or tablet, go to the WiFi
menu, find the name of your robot
and connect to it. Password:
mirex4you

Open a browser and go to mir.com.

Log in to the MiR Robot interface
using the default username
Distributor and password
distributor.

2 When logged in, press Manual

control on the joystick icon to put
the robot in manual driving mode,
and use the joystick to drive the
robot down the ramp

The robot light switches

to blue, indicating that
the robot is in manual
mode and can be
controlled by the
joystick.

3 It is recommended to reverse the robot down the ramp.

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3.4 Charging the robot
The robot arrives with a charged battery and can drive for up to three hours before recharging is
required. Follow these steps to charge the robot using the enclosed charging cable:

Step Action
1 Turn off the robot on the button in the To avoid fast discharging, it is
robot’s front left-hand corner. recommended to turn off the robot
while charging.

Use only the original charging cable.

2 Pull off the rear corner cover, and connect To avoid damage to the charging
the charging cable to the charging socket. socket, it is important that the cable be
connected to the robot’s charging
socket before it is connected to power.

After recharging, the cable must be

disconnected from power before it is
removed from the robot.

Then connect the other end of the cable to a

power socket to start the charging
3 After a maximum of three hours, the robot is fully charged. The robot emits a green light when the
battery is charged.
4 Disconnect the charging cable.

To avoid over-voltage surge

and potential damage to the
robot, first remove the cable
from the power socket, then
from the robot.

To remove the cable from the robot. turn it

slightly to the left and pull.
Slide the rear corner cover back on.

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3.5 Testing the robot
Before using the robot, you are recommended to check that all components and processes
inside the robot work as intended.
1. Log on to the MiR Robot interface, see Getting connected on page 14.
2. Go to Monitoring > Hardware health.
3. When all components in a group are OK, it is marked with a green dot. If one or more
components in a group are not in perfect condition, the group will be marked with a yellow
or red dot and you can expand the group by clicking on the green arrow and see which
components are not functioning correctly and why.

Figure 3.1. Extract of Hardware Health menu. Message: OK indicates that the components of the group are OK.

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3.6 Shutting down the robot
Follow these steps to shut down the robot correctly.

Step Action
1 Press the red emergency stop button. This will
turn off the power to the motors

2 Turn off the power switch. Wait for the light on the robot to turn
off. This means that there is no more
power going to the robot.

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4 Product presentation
••••••

4.1 About the MiR200™

The MiR200™ is an automatic vehicle that can transport materials internally within production
facilities, hospitals, warehouses, and a host of other industrial locations.
The user provides the destination of product delivery via a web-based user interface. MiR200™ can
be set up to run a fixed route, be called on demand or perform more complex operations (missions).
It can also operate as part of a fleet of MiR robots, centrally controlled from a single web based user
interface.
The MiR200™ operates via a map which can be created the first time the vehicle is used. While
operating, the safety scanners ensure that the robot avoids obstacles (people, furniture) that are not
mapped. The internal map contains defined locations (office, product delivery, John's room, etc.)
that are used for logistical planning.
With a MiRCharge™ charging station the robot handles moving to a charging station automatically.
All it takes is the definition of a charging mission and a charing position in the map.
The robot is controlled from a website (HTML5), which is accessed via a browser on a PC,
smartphone or tablet. Each vehicle has its own network. See separate setup sheet.

4.2 Identification label

The identification label of the MiR200™ is placed on back of the battery box.

Figure 4.1. Example of MiR200™ CE marking and identification label

• CE Mobile Industrial Robots ApS declares that the MiR200™ meets the
requirements of the applicable EC directives. See Declaration of
conformity on page 37

• Serial number The 15-digit serial number is a unique identifier of the robot. The last four
digits form part of the original name of the robot, e.g. MiR S136.

• MiR200 1.0 Product name and hardware version

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Product presentation

4.3 MiR200™ Outer parts

Figure 4.2. MiR200™ Outer parts

1. Top cover 11. Emergency stop connector

2. Caster wheel - all four corner wheels 12. USB port “service port” - connects to the robot’s
PC

3. Drive wheel - differential control 13. Antenna socket

4. On/Off button and scanner reset button (yellow) 14. Neutrik FCS FDL1-B connector - for connection to
hardware such as hook - see pin number layout in
Appendix C, Neutrik connector on page 42

5. HDMI port - behind the front corner cover 15. RJ45 Ethernet connection

6. USB port “service port” - connects to the robot’s PC 16. Mooring hole - one in each corner for top modules

7. Ultrasonic sensors 17. Rear laser scanner

8. Pad connectors - for connection to charging poles on 18. Rear skirt

MiRCharge charging station

9. 3D depth camera 19. Charging port - behind the rear corner cover

10. Front laser scanner 20. Side skirt

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Product presentation

4.4 MiR200™ Inner parts

Figure 4.3. MiR200™ Inner parts

1. Battery charger - internal 110/230 V charger for charging 9. Optocoupler - communication for emergency stop
of the battery

2. Breaker - automatic fuse between batteries and 10. Space for extra battery
components

3. Motor controller - manages the two motor drives 11. MiR board - interface board for gyroscope,
accelerometer, ultrasound and light

4. Brake relay - ensures immediate power cutoff in case of 12. 24/24 V switch mode power supply - provides
power outage safety components. Ensures stable voltage

5. Redundant drive - relays controlled by SICK modules 13. 5V power supply - power to the MiR board
supplying the motor controller

6. Router - local network 14. Loud speaker

7. Battery with connector - main power to the robot 15. 12 V power supply - power to NUC and router

8. SICK safety modules - communication between sensor 16. NUC PC

signals and control of the robot.

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Product presentation

4.5 Sensor systems

The MiR200™ has a number of internal and external safety sensors to secure safe operation among
people and equipment.

External sensors Internal sensors

(see MiR200™ Outer parts on page 20) (see MiR200™ Outer parts on page 20)

• 3D camera Gyro

• Laser scanners Motor encoder

• Ultrasonic scanners Detection of transparent objects

The camera records 3D point cloud data only; it is not filming.

4.6 Light indicators

The light indicators on the MiR200™ indicate current operational state. Colors may be adapted to
individual user needs, but the robot is delivered with the following setup.

Figure 4.4. MiR200™ light indicators

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Product presentation

4.7 Main features of the MiR200™

• Driving in a populated workspace
The robot is designed to operate among people.
• Overall route planning and local adjustments
The robot plans a general route to its target destinations. When the robot encounters obstacles
which are not in the map (like people and objects), adjustments are made to the route.
• Sound and light signals
The robot continuously signals with light and sounds indicating its current mode, for example
waiting for job, driving to destination, destination reached or alert mode.
• Planning of driving and receiving a package
A web interface, accessed from a PC, tablet or smartphone, gives easy access to operation and
monitoring of the robot.
• Alert for ‘lost’
If the robot enters a situation where it is unable to find a safe path to its destination, it stops,
turns on the yellow-purple running error light and a customer defined ‘catch’ action may be
used to alert people or take other actions.
• Automatic deceleration for objects
The built-in sensors slow down the robot when obstacles are detected in front of it.
• Optimal surface operations
The robot is made to run on a level, dry floor with a maximum grade of 5%. The sensors detect
and avoid objects from 50 mm above floor level.
• Internal map
The MiR200™ uses an internal map for route planning. The robot can either use a floor plan
from a CAD system or create a map by manual navigation around the entire area in which
the robot is going to operate. When mapping, the robot’s sensors detect walls, doors,
furniture and then creates a map based on this input. After creation of the map, positions
and other features can be added in the map editor.
• MiRHook
A hook may be mounted on the MiR200™ enabling it to tow carts with a payload of up to 500 kg.

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5 Accessories
••••••

5.1 Overview
The MiR200™ can be equipped with a range of applications to suit the specific purpose the robot
will be used for. Some are user-provided and others are purchased directly from Mobile Industrial
Robots.
For instructions on how to mount an application, for example a top camera, please refer to the
relevant application manual found on Mobile Industrial Robot’s website or contact your distributor.
In the following, you can read the general rules for how to mount a top module.

5.2 Placing the top module

Top modules must be fastened using the self-tightening conically shaped mooring holes in each
corner of the robot and tightening torque: 47 Nm.

Figure 5.1. Top modules are fastened through the mooring holes in the top cover.

Before adding the to module, the emergency stop box must be removed and remounted
on the top module in a position where it is easy to reach. The correct position must be
assessed in each individual case taking into account potential risks. Requirements of the
harmonized standard EN ISO 13850 should be followed.

Stay within the specifications for weight and the payload’s center of gravity, see Payload
specifications on page 33.

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6 Technical specifications
••••••

6.1 Main specifications

Dimensions

Length 890 mm

Width 580 mm

Height 352 mm

Height above floor 35 mm

Weight (without load) 62.5 kg

Load surface 600 x 800 mm

Color Iron gray:RAL 7011

Payload

Robot payload 200 kg (maximum 5% incline)

Towing capacity 500 kg

Speed and performance

Running time 10 hours or 15 km

Maximum speed Forwards: 1.1 m/s (4 km/h)

Backwards: 0.3 m/s (1 km/h)

Turning radius 520 mm around center of robot

Positioning accuracy +/- 50 mm of position, +/- 10 mm to docking marker

Traversable gap and sill tolerance 20 mm

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Technical specifications

Power

Battery Li-NMC, 24 V, 40 Ah; charging time: up to 3 hours (0-80% in 2

hours)

See safety notes for the battery in “Lithium battery”

on page 7.

See also requirements for battery transportation in

“Repacking for transport” on page 32.

Internal charger Input: 100-230 V ac, 50-60 Hz / Output: 24 V, max 15 A

Environment

Ambient temperature range +5° C to 50°C (humidity 10-95% non-condensing)

IP class IP 20

Communication

WiFi Dual-band wireless AC/G/N/B

Bluetooth 4.0 LE, range: 10-20 m

I/Os USB and Ethernet

Safety sensors

SICK laser scanners S300 (2 pcs) 360° visual protection around robot

3D camera Intel RealSense™ Detection of objects ahead 50-500 mm above floor

Ultrasonic scanners (4 pcs) Detection of transparent objects ahead, e.g. glass doors

Safety compliance and approvals

Compliance with EN 1525, PLd cat. 3, ESD approved and CE certified

Top module

Max height from floor to top 1800 mm

Center of gravity Lower than 900 mm above the floor

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Technical specifications

6.2 Dimension drawing

Figure 6.1. Dimensions of the MiR200

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7 Maintenance
••••••

7.1 Overview
The following maintenance schedules give an overview of regular cleaning and parts replacement
procedures.

The stated intervals are indicative and depend on the operating environment and frequency
of usage of the robot.

7.1.1 Regular cleaning

This table gives an overview of maintenance tasks for the MiR200.

Part Maintenance Interval

Robot Clean the robot on the outside with a damp as needed

cloth.

Do not use compressed air.

Wheels Remove dirt with a cloth, and make sure 2-3 weeks / as needed
nothing is entangled in the wheels.
Laser scanners Clean the optics covers of the scanners for Weekly / as needed
optimum performance. Avoid aggressive or
abrasive cleaning agents.

Static charges cause dust

particles to be attracted to the
optics cover. You can diminish
this effect by using the anti-
static plastic cleaner (SICK part no.
5600006) and the SICK lens cloth (part no.
4003353). See the manufacturer’s own
documentation.

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Maintenance

7.1.2 Regular checks and replacements

Before starting replacement tasks that involve removal of the shield:
• Turn off the robot, see Shutting down the robot on page 18
• Remove the shield and unplug the ESD cable if applied, see Getting connected on
page 15
• Turn off relays and unplug the battery, see Powering up on page 12

Part Maintenance Interval

Caster wheels (the four Check bearings and tighten. Replace as needed.
corner wheels)
Drive wheels (the two Check wheel surfaces for wear. Replace as needed.
middle wheels)
The robot must be
calibrated after
replacement of the
wheels.
Emergency stop To check that the emergency stop works, 3-4 months / according to EN/
push down the red button and check ISO 13850 Safety of machinery -
that the emergency reset button lights Emergency stop function
up.
LED light band Check if the LED light band is intact. Does Every 3-4 months
the light show all the way around the
robot?
Laser scanners Check for visual defects Replace as needed.

The robot must be

calibrated after
replacement of the
wheels.
Battery Check if it discharges to fast Replace every two years or after
1000 cycles

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8 Troubleshooting
••••••

If the robot experiences an emergency stop and cannot be restarted by pressing

Continue in the MiR200 user interface, then pull it to an unobstructed area.

Error/Situation Remedy

The robot stops on its way to a • Check if the destination is blocked.

destination
• Make sure the robot’s destination corresponds with its position in the map.
• Check that the camera is unobstructed.
• Check that the wheels are unobstructed and not tangled up in anything.
• Check that the status is OK: in the MiR user interface, go to Monitoring >
Hardware Health. Tap to open the group Sensors and check that 3D Camera
(Floor) is on.

If it shows Not started, then go to the Processes menu to turn it on: System>
Procceses. Find Sensors & cameras> Floor camera and turn on the camera.

The robot is turned on, but it • Check that the robot is not in emergency stop mode - showing red light. If so,
will not start a mission. make sure there is no obstacles in front of the robot, and push the blue lighted
button on the emergency stop box.

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9 Repacking for transport
••••••

9.1 Preparations
Packaging Use the original packaging when transporting the robot.

Figure 9.1. The original packing material consists of pallet bottom and top plates, pallet frames,
foam blocks and foam top layer.

Battery The lithium battery is subject to transport regulations, see Caution below. If the robot is to be sent
back for service and repair, it is recommended to remove the battery and send the robot without it.

Lithium batteries are subject to special transportation regulations according to United

Nations Regulation of Dangerous Goods, UN 3481. Special transport documentation is
required to observe these regulations. This may influence both transport time and costs.
Contact your distributor for more information.

9.2 Packing the robot for transportation

To pack the robot, reverse the steps of the unpacking procedure, see “Unpacking the MiR200™” on
page 10.

The robot must always be packed and transported in an upright position. Packing and
transporting the robot in any other position will void the warranty.

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A Payload specifications
••••••

The following drawings illustrate the center of mass (CoM) specifications for safe operation at
different payloads.
The specifications apply to payloads of:
• 50 kg
• 75 kg
• 100 kg
• 125 kg
• 150 kg
• 175 kg
• 200 kg

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
50kg payload

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Payload specifications

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
75kg payload

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Payload specifications

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
100 kg payload

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Payload specifications

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
125kg payload

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Payload specifications

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
150kg payload

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Payload specifications

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
175kg payload

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Payload specifications

1400 1400

1200 1200

1000 1000

800 800

600 600

400 400

200 200

0 200
200 400 600
400 800 600
1000 0 200
200 400 600
400 800 600
1000

Units: mm
200kg payload

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B Declaration of conformity
••••••

EU declaration of Conformity
according to the EU Machinery Directive 2006/42/EC, Annex II 1.A

Manufacturer Person established in the Community

Mobile Industrial Robots ApS authorized to compile the technical file
Emil Neckelmanns Vej 15 F Flemming Thinggaard
DK-5220 Odense SØ Mobile Industrial Robots ApS
Emil Neckelmanns Vej 15F
DK - 5220 Odense SØ
Description and identification of the machinery
Product MiR200 1.0 - Serial no. 170200011000001 and higher
Commercial name MiR200
Function MiR200: self-propelled vehicle (battery)
MiR200 is an automatic vehicle that can transport materials internally within factories, warehouses, hospitals and a
host of other industrial locations.
The user provides the destination of product delivery via a web interface. MiR200 can be set up to run a fixed route or
be called on demand besides more special operations.
MiR200 has a map that can be programmed the first time the vehicle is used. While operating, the MiR200
automatically avoids obstacles (people, furniture) that are not mapped.
MiR200’s internal map contains specific locations (office, hall, John’s room etc.) which can be used for logistical
planning.
Each vehicle has its own network.
The vehicle is controlled from a website (HTML5), which is accessed via a browser on a PC, tablet or smartphone.

It is expressly declared that the machinery fulfills all relevant provisions of the following EU Directives or
Regulations:
2006/42/EC Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on machinery, and
amending Directive 95/16/EC (recast) (1)

Reference to the harmonized standards used, as referred to in Article 7 (2):

EN 60204-1:2006/A1:2009 Safety of machinery – Electrical equipment of machines – Part 1: General requirements
EN ISO 12100:2010-11 Safety of machinery – General principles for design – Risk assessment and risk reduction (ISO
12100:2010)
EN ISO 13849-1:2015 Safety of machinery – Safety related parts of control systems – Part 1: General principles for design
(ISO 13849-1:2015)
EN ISO 13849-2:2012 Safety of machinery – Safety related parts of control systems – Part 1: Validation (ISO 13849-
2:2012)
EN ISO 13850:2015 Safety of machinery – Emergency stop function – Principles for design (ISO 13850:2015)
EN 60204-1:2006-6 Safety of machinery – Electrical equipment of machines – Part 1: General requirements
EN 1175-1:1998+A1:2010 Safety of industrial trucks – Electrical requirements – Part 2: General requirements for battery
powered trucks

Reference of the other technical standards and specifications used:

EN 1525:1997-09 Safety of industrial trucks – Driverless trucks and their systems

Odense SØ, 23 May, 2017

Signature
Niels Jul Jaco
cco
ob
bssen
Jacobsen
CTO

page 1/1

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Declaration of conformity

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C Neutrik connector
••••••

PIN number Signal name Max. current Remarks

1 Battery voltage 3A Always on

2 Battery voltage 3A Starts with the robot

3 Battery voltage 10A Stops by emergency stop

4 GND 10A Ground

Figure C.1. Neutrik FC4 FDL1-B

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Neutrik connector

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