Error codes and solutions

Troubleshooting guide (en)

Date: 01/2021
Revision: 1.3
Valid for: All MiR robots
Table of Contents
Error codes and solutions 3

Safety 4

How to check cable connections 5

MiR100 and MiR200 6

MiR250, MiR500, and MiR1000 34

MiR Fleet 58

Reference images 59

MiR100/MiR200 59

MiR Hook 100/MiR Hook 200 61

MiR500/MiR1000 62

Contacting Technical Support 68

Document history 70

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Error codes and solutions
This document lists all current error codes that MiR robots can report. The robot error codes are categorized
into the following groups:

• Mission errors are errors that require manual intervention to resolve or the implementation of a
Try/Catch action to provide the robot with an alternative action. Mission errors occur if the robot cannot
complete an action in its current mission. These errors can often be resolved by changing your mission or
modifying the robot's work environment, for example, by moving an obstacle.
• Hardware errors are internal errors that occur when the system detects discrepancies or unexpected
results from the robot components. These issues can sometimes resolve themselves, for example, if a
connection is reestablished. If the issue persists, you have to address the issue by determining the cause of
the issue. Often, the issue is caused by faulty cable connections or broken components. Before inspecting
the robot's internal parts, it is a good idea to see if restarting the robot resolves the issue automatically.
• Environmental errors are errors that continue to occur due to the environment the robot operates in and
cannot be remedied without changing the work environment. These are errors such as localization errors
or stall and slip detection errors. You cannot use Try/Catch actions to provide an alternative approach to
these errors since they indicate that the robot is operating in an unsuitable work environment or with
incorrect settings.

You can see short description of each error code and possible solutions for solving the error. If the suggested
solutions do not remove the error, you can try using the troubleshooting guides on the Distributor site to see if
the issue you are experiencing is described there. Otherwise, contact Technical Support for assistance with
your case.

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Safety
Before beginning this troubleshooting guide, refer to the safety chapter in your MiR product's user guide or
operating guide.

WARNING
To troubleshoot your robot effectively, you may need to investigate the internal or external
parts while the robot is turned on. You will be exposed to electrical and mechanical hazards.

• Only connect the battery in the steps where it is necessary for the robot to be active.
• Disconnect the battery in the steps where it is not necessary for the robot to be active.
• Only qualified personnel may perform the steps in this troubleshooting guide.

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How to check cable connections
Most faults in the connectivity across cables occur in the connectors. To determine where the fault is in a
cable, we therefore recommend to start by checking the connectors.

There are two steps in checking the connectors:

• Check that the cable is properly connected to its end connectors. If they are visible, verify that each wire is
connected to a connector pin by pulling each wire gently (approximately 10 N). Avoid pulling harder than
necessary, as this may damage the connection between the wire and connector. When checking a wire, it
should only be able to move 0.5 mm from its original position at most.

• If the cable and connector are securely fixed together, ensure that the connector is correctly plugged into
its socket. The connector is loose if it can be pulled out of the socket easily. To ensure that the connector is
correctly plugged in, gently push the connector into its socket. If a connector has a lock or screws, check
that you cannot unplug it without unlocking or unscrewing it.

Cables are occasionally labeled incorrectly or are missing labels. To locate the correct cable, it
is a good idea to refer to the images shown in the guide or the wiring diagrams found on the
Distributor site.

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MiR100 and MiR200
Code Message Type Description Solution

101 CPU load is too HIGH - Above Hardware An issue has Reboot the robot. If the
90% for more than 3 error. occurred in the problem persists, and you
minutes. robot software, have not updated to the
Can resolve
requiring latest software, it is
itself.
unusual recommended to update
amounts of your robot. this may solve
processing the issue.
power. If the issue occurred after a
software update to the
latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

201 Free Memory is VERY low. Hardware An issue has Reboot the robot. If the
error. occurred in the problem persists, and you
robot software. have not updated to the
Can resolve
latest software, it is
itself.
recommended to update
your robot. this may solve
the issue.
If the issue occurred after a
software update to the
latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

301 No ethernet adapter found. Hardware An issue has Reboot the robot. If this
error. occurred in the does not solve the issue,
robot contact Technical Support.
Can resolve
computer.
itself.

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 Code Message Type Description Solution

302 Ethernet is not connected. Hardware The connection Replace the Ethernet cable
error. between the from the robot computer
robot and the router with an
Can resolve
computer and Ethernet cable you are
itself.
the router is certain is functional.
faulty. If the issue persists, swap
the port the Ethernet cable
connects to in the router. If
a new error is shown,
replace the router. If the
error remains the same,
contact Technical Support
as described in Contacting
Technical Support on
page 68.

401 Very low free space on Hardware The hard drive Begin by deleting old
harddrive. error. memory is backups stored on the
almost filled robot. this can be done
Requires
up. through the robot interface
interaction.
under System > Backups.
If the issue persists,
execute a USB restore. See
the guide How to USB
restore MiR100/MiR200,
found on the Distributor
site.

501 Battery MIR 100/200: Hardware The robot has Recharge the robot.
Battery is TOO low. error. only 5% power
left.
Requires
interaction.

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 Code Message Type Description Solution

503 Battery MIR 100/200: Hardware The CAN bus If you are updating the
Missing charging status error. connection battery firmware, this error
message. from the may be reported while the
Can resolve
battery update is in progress. Wait
itself.
management for the update to finish.
system is If you are not updating the
faulty. firmware, check wire 194
that connects the MiR
board to the battery. If the
wire is correctly connected
and the issue persists,
replace the wire or the MiR
board.

504 Battery MIR 100/200: Unable Hardware There is an Reboot the robot. If the
to detect hardware error. error in the problem persists, and you
configuration. robot software have not updated to the
Can resolve
that prevents it latest software, it is
itself.
from recommended to update
determining your robot. this may solve
the hardware the issue.
configuration. If the issue occurred after a
software update to the
latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

If the issue persists,

execute a USB restore. See
the guide How to USB
restore MiR100/MiR200,
found on the Distributor
site.

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 Code Message Type Description Solution

661 Battery firmware does not Hardware The battery Restart the robot. If the
or match recommended error. firmware is not issue persists, contact MiR
671 version: Current the Technical Support as
Requires
installed: x.x. Recommended: recommended described in Contacting
interaction.
3.2. version. Technical Support on
page 68.

663 Firmware upgrade of the Hardware While trying to Restart the robot and wait
battery failed in bootloader error. update the five minutes. If the issue
state. Reboot the robot to battery persists, contact MiR
Requires
retry the upgrade. firmware, the Technical Support as
interaction.
battery failed described in Contacting
in bootloader Technical Support on
state. page 68.

665 Firmware upgrade of the Hardware While trying to Restart the robot and wait
battery failed in uploading error. update the five minutes. If the issue
parameters state. Reboot the battery persists, contact MiR
Requires
robot to retry the upgrade. firmware, the Technical Support as
interaction.
battery failed described in Contacting
in upload Technical Support on
parameters page 68.
state.

666 Skipped firmware upgrade Hardware The battery Charge the battery to
since the battery level is too error. firmware 100%, disconnect the
low. Charge the robot and update failed charger, and restart the
Requires
reboot to retry the upgrade. because the robot. If the issue persists,
interaction.
battery contact MiR Technical
percentage is Support as described in
below 50%. Contacting Technical
Support on page 68.

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 Code Message Type Description Solution

667 Firmware upgrade of the Hardware While trying to Restart the robot and wait
battery failed in file error. update the five minutes. If the issue
corrupted state. Reboot the battery persists, contact MiR
Requires
robot to retry the upgrade. firmware, the Technical Support as
interaction.
battery failed described in Contacting
in corrupted Technical Support on
state. page 68.

668 Skipped firmware upgrade Hardware The battery Disconnect any top
due to excessive current error. firmware modules or external
drawn. Please disconnect update failed devices connected to the
Requires
peripherals, make sure the because the robot, including cable
interaction.
robot is not charging and battery is chargers or charging
reboot. drawing too stations.
much current.

601 Teensy: Gyroscope data Hardware The MiR board Try rebooting the robot. If
timed out - Last Gyroscope error. is not receiving the issue persists, check
message received % data from the cable 110 that connects the
Can resolve
(seconds)d seconds ago. gyroscope. robot computer to the MiR
itself.
board (see Figure 1.1 and ).
If the cable is correctly
connected, try to replace
the cable or the MiR board.

602 Teensy: Gyroscope data is Hardware See error 601

jumping ALOT! error. above.

Can resolve
itself.

650 Unable to find Hardware The connection Try rebooting the robot. If
LightController MCU. error. from the robot the issue persists, check
computer to cable 110 that connects the
Can resolve
the MiR board robot computer to the MiR
itself.
is faulty. board (see Figure 1.1 and ).
If the cable is correctly
connected, try to replace
the cable or the MiR board.

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 Code Message Type Description Solution

650 Unable to get version of Hardware See the error

LightController MCU. error. above.

Can resolve
itself.

650 Connecting to Lightcontroller Hardware See the error

MCU failed. error. above.

Can resolve
itself.

650 No firmware available for Hardware The MiR board Reboot the robot. If the
this Lightcontroller MCU. error. is missing its problem persists, and you
software. have not updated to the
Can resolve
latest software, it is
itself.
recommended to update
your robot. this may solve
the issue.
If the issue occurred after a
software update to the
latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

If the issue persists,

execute a USB restore. See
the guide How to USB
restore MiR100/MiR200,
found on the Distributor
site.

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 Code Message Type Description Solution

650 Upgrading firmware failed. Hardware This error may Try rebooting the
error. occur if the robot. You can also try
MiR board upgrading the software
Can resolve
failed to again.
itself.
update during If the issue persists,
a software execute a USB restore. See
update. the guide How to USB
restore MiR100/MiR200,
found on the Distributor
site.

650 Multiple teensies found - this Hardware This error Disconnect any devices that
is not supported! error. should only have been connected
occur if you try directly to the robot
Requires
to connect computer or router.
interaction.
another
controller
board to the
robot
computer.

651 Teensy: Programming MiR Hardware This error may Wait at least ten minutes to
controller MCU... error. occur during a give the robot time to finish
software uploading. Otherwise, if the
Can resolve
update when uploading time seems
itself.
the software is excessive, cancel the
being uploaded upload and try to update
to the MiR the software again.
board.

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 Code Message Type Description Solution

701 MIR100/200 Motor Environmental The motors are This error can occur if the
Controller: Motor power error. using more wheels or axles are
usage above limit! power than blocked, the robot is pulling
Requires
expected. too heavy a load, the robot
interaction.
or its load is colliding with
Hardware an object that is not
error. detected by the scanners,
or the robot is traveling up
Requires too steep an incline relative
interaction. to its load.
If the issue persists, you can
also modify the threshold
for stall detection in the
robot interface under
System > Settings > Motor
controller> Advanced
settings.

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 Code Message Type Description Solution

710 MIR100/200 Motor Hardware The connection Verify that power is

Controller: Initialization error. between the delivered to the motor
failed! motor controller. There is a power
Can resolve
controller and LED light that will light
itself.
the robot green if both the 5V and
computer is 24V power is delivered (see
faulty. Figure 1.3). If either of
these lights is turned off,
you will need to inspect the
cables supplying the power
to the motor controller. For
the 24V supply, wire 041
begins the connection from
the controller to the
battery via relays and
fuses. For the 5V power
supply, wire 071 begins the
connection. Refer to the
MiR100/MiR200 wiring
diagram found on the
Distributor site.
If the motor controller is
receiving power, check the
wires 085, 086 and 088 that
connect from the motor
controller to the robot
computer.

711 MIR100/200 Motor Hardware See error 710

Controller: Unable to error. above.
connect to motor controller!
Can resolve
itself.

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 Code Message Type Description Solution

712 MIR100/200 Motor Hardware See error 710

Controller: Lost connection error. on the previous
to motor controller! page.
Can resolve
itself.

801 SICK S300: Lost connection to Hardware See error

scanner. error. 10202 on
page 31.
Can resolve
itself.

802 SICK S300: No data for >15 Hardware See error

sec. error. 10202 on
page 31.
Can resolve
itself.

803 SICK S300: Got xx failed Hardware See error

transmissions in the last xx error. 10202 on
seconds. page 31.
Can resolve
itself.

850 Waiting for reboot. Hardware This error This error only occurs after
error. occurs while you have uploaded a new
hook software software file to an attached
Can resolve
is being hook. Wait until the
itself.
updated. software has completely
finished uploading. This
may take a few minutes.

850 Uploading Firmware. Hardware See the error

error. above.

Can resolve
itself.

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 Code Message Type Description Solution

901 Camera (OpenNI): Waiting Hardware The connection Check the USB cables that
for connection is taking error. between at connect the robot
longer than expected! least one of the computer to the cameras.
Requires
cameras and These are two of the USB
interaction.
the robot cables that connect to the
computer is top of the robot computer.
faulty. Verify that they are
correctly plugged in and
that there are no obvious
signs of damage.
If no faults are found, try
hooking up the camera to
your computer via the USB
cable that connects to the
robot computer.
If you are unable to
connect to the camera, try
replacing the cable. If you
are still not able to connect
to the camera, replace the
camera.
If you were able to connect
to the camera, replace the
robot computer.

902 Camera (OpenNI): No Data Hardware See error 901

for xx seconds. error. above.

Requires
interaction.

910 Camera (realsense Hardware See error 5101

<R200/D435>): Lost error. on page 20.
connection to camera. No
Can resolve
data for xx seconds.
itself.

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 Code Message Type Description Solution

911 Camera (realsense Hardware This error may If the error occurred after
<R200/D435>): Unable to error. occur after a a software update, or you
connect to camera, however new camera or have replaced either one of
Can resolve
it seems to be available. robot the cameras or the robot
itself.
computer has computer, try rebooting the
been installed. robot.
Otherwise, verify that you
are using the latest
firmware (5.10.6) on the
camera . If the latest
firmware is being used and
the issue persists, refer to
the solution in error 901 on
the previous page..

911 Camera (realsense Hardware Both cameras In the robot interface, go to

<R200/D435>): Unable to error. have another System > Settings > 3D
detect camera with serial: serial number cameras. Change the serial
Requires
'xxxx. yyyy. zzzz', however xx than those the number of the cameras to
interaction.
other cameras are robot the last two serial numbers
connected with serial: xxxx. computer is reported in the error.
yyyy. zzzz. searching for. Select Save changes. If the
error does not disappear
within a minute, try
rebooting the robot.
If the robot does not
operate correctly,
especially during docking,
you may have swapped the
serial numbers between
the right and left side
camera. Go back to the 3D
camera setttings, and swap
the two serial numbers.

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 Code Message Type Description Solution

911 Camera (realsense Hardware One of the In the robot interface, go to

<R200/D435>): Unable to error. cameras has System > Settings > 3D
detect camera with serial: another serial cameras. Change the serial
Requires
'xxxx. yyyy. zzzz', however 1 number than number of the undetected
interaction.
other camera are connected the number the cameras to the last serial
with serial: xxxx. robot number reported in the
computer is error.
searching for. Select Save changes. If the
error does not disappear
within a minute, try
rebooting the robot.

911 Camera (realsense Hardware See error 5101

<R200/D435>): Unable to error. on page 20.
detect camera with serial:
Requires
'xxxx. yyyy. zzzz' and no other
interaction.
cameras available.

912 Camera (realsense Hardware The robot In the robot interface, go to

<R200/D435>): The serial error. computer does System > Settings > 3D
number is not configured for not have any cameras. Insert the correct
Requires
this camera! serial number serial number for the
interaction.
to search for. cameras that do not display
any serial numbers.

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 Code Message Type Description Solution

1001 SICK PLC (MIR100/200): Hardware The Replace the Ethernet cable
Receiving SICK Safety PLC error. communication from the safety PLC and the
data timed out. between the router with an Ethernet
Can resolve
safety PLC and cable you are certain is
itself.
the robot functional (see Figure 1.2).
computer is If the issue persists, swap
faulty. the port the Ethernet cable
connects to in the router. If
a new error is shown,
replace the router. If the
error remains the same, try
the same steps but with the
Ethernet cable that
connects the robot
computer to the router.

1004 Unsupported SICK program Hardware You have Download a new standard
version. error. modified the configuration file from the
SICK program robot interface and upload
Requires
on the safety it to the safety PLC. Refer
interaction.
PLC. If you are to the how-to guide How to
experiencing apply the default
errors in the configuration of the SICK
safety system, safety system on
we cannot MiR100/MiR200 found on
troubleshoot the Distributor site.
programs with
custom
modifications.

1005 Gear ratio configuration Hardware Either the Refer to the solution in
mismatch! Sick is configured error. safety PLC or error Error codes and
with: xxx and Robot software the robot solutions on page 3.
Requires
is configured with: yyy. computer is If the robot does not drive
interaction.
using the correctly after this, contact
wrong gear Technical Support for
ratio assistance with correcting
configuration. the gear ratio.

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 Code Message Type Description Solution

5101 Unable to connect to Hardware The robot See the solution in error
camera. error. computer is 901 on page 16.
not able to
Can resolve
communicate
itself.
to one of the
3D cameras.

5102 Missing data from camera: Hardware See error 5101

Time since last frame [s]. error. above.

Can resolve
itself.

5103 Lost connection to camera: Hardware See error 5101

Time since last frame [s]. error. above.

Can resolve
itself.

5001 Robot and hook is out of time Hardware The hook Wait approximately ten
sync! error. computer is minutes to see if the
still syncing computers begin to sync. If
Can resolve
with the robot not, reboot the robot. If the
itself.
computer. issue still persists, you can
manually sync the robot
and hook under System >
Settings > Time and date.

5210 Hook controller: Initialization Hardware The connection Remove the cover from the
failed! error. between the hook, and check the
hook's motor connections from the top
Can resolve
controllers and interface to the motor
itself.
the hook controllers. (see Figure 1.4)
computer is If the motor controllers are
faulty. receiving power, check the
connections from the hook
computer to the motor
controllers.

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 Code Message Type Description Solution

5211 Hook controller: Unable to Hardware See error 5210

connect to motor controller! error. on the previous
page.
Can resolve
itself.

5212, Hook controller: "Lost Hardware See error 5210

connection to motor error. on the previous
controller!" page.
Can resolve
itself.

5302 Hook brake failed: Moved Hardware The brake was There is likely a mechanical
too far! error. expected to error in the hook. Check
reach a current the various parts of the
Requires
limit for hook as described in the
interaction.
successful maintenance chapter in the
activation, but MiR Hook 100 and MiR
the motor Hook 200 Operating guide.
moved too You can also test the brake
many encoder by signing into the robot
ticks before the and going to Hook >
current limit Manual control and
was reached. selecting Activate and
Deactivate brake.

5302 Hook brake failed: Timeout! Hardware The brake was See the solution description
error. expected to above.
reach a current
Requires
limit for
interaction.
successful
activation of
the brake, but
the limit was
not reached
before timeout
(5 seconds).

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 Code Message Type Description Solution

5302 Hook brake failed: Fault flag Hardware The brake was Sign into the robot
active! error. expected to interface and go to
reach a current Monitoring > Hardware
Requires
limit for health and locate the
interaction.
successful error. Errors such as
activation of Undervoltage or Short
the brake, but circuit indicate issues due
a fault flag was to the wiring of the hook
raised by the brake. Otherwise, follow
motor the solution description in
controller error Error codes and
before solutions on page 3
activation.

5302 Hook brake release failed: Hardware The brake was See the solution description
Above ampere limit! error. expected to in error Error codes and
move a certain solutions on page 3.
Requires
number of
interaction.
encoder ticks
for successful
release of the
brake, but the
motor was
drawing too
much current.

5302 Hook brake release failed: Hardware The brake was See the solution description
Timeout! error. expected to in error Error codes and
move a certain solutions on page 3.
Requires
number of
interaction.
encoder ticks
for successful
release of the
brake, but this
was not
achieved
before timeout
(5 seconds).

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 Code Message Type Description Solution

5302 Hook brake release failed: Hardware The brake was See the solution description
Fault flag active! error. expected to in error Error codes and
move a certain solutions on page 3.
Requires
number of
interaction.
encoder ticks
for successful
release of the
brake, but a
fault flag was
raised by the
motor
controller
before release.

5302 Hook brake error: Missing Hardware Detection of Remove the cover from the
encoder signal. error. missing hook, and check the wiring
encoder signals from the encoders to the
Can resolve
from the brake motor controllers. Refer to
itself.
motor. No Figure 1.4.
encoder ticks
have been
detected while
motor power
has been
applied.

5302 Hook brake error: Stall Hardware Detection of See the solution description
detected. error. stall from the in error Error codes and
brake motor. solutions on page 3.
Can resolve
No encoder
itself.
ticks have been
detected while
a large amount
of motor
power has
been applied.

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 Code Message Type Description Solution

5302 Hook brake error: Reversed Hardware Detection of Remove the cover from the
encoder signal. error. reversed hook, and check the wiring
encoder signals from the encoders to the
Requires
for brake motor controllers. Refer to
interaction.
motor. The Figure 1.4.
encoder ticks
are moving in
the opposite
direction than
expected by
the motor
controller for
the power
applied.

5302 Hook brake error: Average Hardware The average See the solution description
current above limit. error. current drawn in error Error codes and
is too high for solutions on page 3.
Can resolve
the brake
itself.
motor. This
error may
happen if you
consecutively
activate and
deactivate the
brake due to
the duty cycle
of the brake
motor.

5310 Hook brake : Initialization Hardware Initialization of Check the connection

failed! error. the brake between the brake motor
motor failed. controller and the brakes
Can resolve
or the connection between
itself.
the brake motor controller
and the hook computer.
Refer to Figure 1.4.

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 Code Message Type Description Solution

5311 Hook brake : Unable to Hardware The Check the USB connection
connect to motor controller! error. communication from the hook computer to
between the the motor controllers. If
Can resolve
hook computer these seem fine, validate
itself.
and one of the the setup on the hook
motor configuration page. Refer
controllers is to Figure 1.4.
faulty.

5312 Hook brake : Lost connection Hardware The See the solution description
to motor controller! error. communication above.
between the
Can resolve
hook computer
itself.
and one of the
motor
controllers was
lost.

5401 Hook angle encoder: any Hardware An error has The encoder may need to
combination of error. been detected be re-calibrated for issues
['Acceleration error', from the hook related to signal amplitude
Can resolve
'Magnetic pattern error', angle encoder. or lost signal.
itself.
'System error', 'Power supply
error', 'Readhead
temperature is out of range',
'Signal lost. Readhead ',
'Signal amplitude low',
'Signal amplitude too high'].

5412, Hook angle encoder: Not Hardware The connection Remove the cover from the
connected to encoder! error. between the hook, and check the wiring
hook computer from the encoders to the
Can resolve
and the hook motor controllers. Refer to
itself.
encoders is Figure 1.4.
faulty.

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 Code Message Type Description Solution

9000 Missing - Last Message: Hardware The battery If the battery management
Firmware upgrade of the error. firmware system (BMS) was
battery failed in application failed to connected before updating
Requires
state. Reboot the robot to update due to the firmware, restart the
interaction.
retry the upgrade. a missing robot.
connection
If the BMS was not
between
connected before, check
battery and the
cable W194 that connects
MiR board.
the MiR board to the
battery. If the connectors
are securely connected, the
cable may be faulty and
needs to be replaced.

9000 Diagnostics monitoring: Stale Hardware The robot Depending on the

error (Expected diagnostics error. computer is description in the error
messages missing). expecting code, check various fields
Can resolve
diagnostics in Hardware Health to
itself.
messages that locate the exact error.
have not Browse the troubleshooting
arrived in time. guides on the Distributor
The error site to see if any of them
should describe describe the situation you
which are experiencing. If not,
diagnostics contact Technical Support.
message is
missing.

9030 Missing - Last Message: Hardware See error 901

Camera is OK error. on page 16.

Can resolve
itself.

9030 Missing - Last Message: Hardware See error 901

{"message": "Lost connection error. on page 16.
to camera. No data for
Can resolve
<duration> seconds.."
itself.

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 Code Message Type Description Solution

10101 <actionname> aborted - Mission error. An action in Review the mission you
<current action name> your mission tried to execute. Verify that
Requires
failed to start (<status>). cannot be the chosen actions are
interaction.
completed. The executable, such as
reason for the ensuring that positions are
failure is part of the active map.
described in Consider adding a
the error code Try/Catch action to provide
text. the robot with an
alternative action if the
attempted action failed.
This will prevent the error
from appearing in future
cases.

10110 Goal position '<position Mission error. The position If the robot must go to that
name>' is in forbidden area. you would like position, review your active
Requires
to move the map and remove the
interaction.
robot to is forbidden area, move the
inside a position to an accessible
forbidden area. area for the robot or use
the relative move action.
Consider adding a
Try/Catch action to provide
the robot with an
alternative action if the
attempted action failed.
This will prevent the error
from appearing in future
cases.

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 Code Message Type Description Solution

10111 Goal position '<position Mission error. The position Review your active map,
name>' is in obstacle. you would like and check that dynamic
Requires
to move the obstacles (objects in the
interaction.
robot to is area that are likely to
inside an move) are not included.
obstacle Only permanent obstacles,
defined in your such as walls and stationary
active map. machinery, should be
included in a map.
Consider adding a
Try/Catch action to provide
the robot with an
alternative action if the
attempted action failed.
This will prevent the error
from appearing in future
cases.

10112 Unable to drive Mission error. The robot has Manually make the robot
autonomously as an unknown been turned off release the cart through
Requires
cart is attached. and then the hook robot interface.
interaction.
turned on To reattach the cart, use a
again while a pick up cart action, and
cart is attached allow the robot to read the
to the hook. QR code to determine
which cart it is towing.

10120 Failed to reach goal position Mission error. The position Check that the area you
'<position name>. you would like would like to move the
Requires
the robot to robot to is clear. Consider
interaction.
move to is adding a Try/Catch action
blocked by an to provide the robot with
obstacle. an alternative action if the
attempted action failed.
This will prevent the error
from appearing in future
cases.

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 Code Message Type Description Solution

10198 Invalid action parameters. Mission error. One of the Review the failed mission.
Update mission list before parameters This can often happen if
Requires
running again. you have set in you choose to use a
interaction.
your mission is template mission where
invalid. one of the parameters has
not been edited to fit your
map or after a software
update, some action
requires more defined
parameters.
If you cannot find the issue,
open the mission editor and
save the mission again, or
save a copy of the mission
and run the copy instead.

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 Code Message Type Description Solution

10201 E_LOCALIZATION_FAILED. Environmental The robot is If the red scanner lines do

error. not able to not align enough with the
localize itself black wall lines in the
Requires
correctly . active map in the robot
interaction.
interface, it indicates that
the robot is not able to
localize itself.
This often occurs if the
active map does not
include enough landmarks,
includes dynamic obstacles
that are no longer there, or
if the set gear ratio in the
robot computer and the
safety PLC are both
incorrect. In the latter case,
you will experience that the
robot is able to correctly
localize itself at first, but as
soon as it begins to move,
the robot in the map moves
either faster or slower than
it does in reality, resulting
in the red scanner lines
being misaligned with the
walls.

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 Code Message Type Description Solution

10202 E_LOCALIZATION_FAILED_ Hardware The robot Check the connection from

NO_SCANNER_DATA. error. computer is the robot computer to the
not receiving laser scanners. This is the
Can resolve
scanner USB cable that leads
itself.
information directly from the laser
from the laser scanner to the robot
scanners. computer if your robot is
HW version 2.2 or lower for
MiR100 or HW version 1.3
or lower for MiR200. For
all other versions the
cables lead from the
scanners to a scanner
converter and then to the
robot computer. Refer to
the how-to guide How to
replace the Safety laser
scanner front and rear USB
cables for a description of
how the cables should be
installed and where they
connect.

10401 Robot detected skid Environmental The wheels on Check that the floor is
condition! error. the robot are clean, the robot wheels
turning, but the have traction with the
Requires
robot is not floor, and the robot is not
interaction.
moving. This excessively or unevenly
Hardware often occurs loaded.
error. during docking. If the issue persists, you can
also modify the threshold
Requires
for skid detection in the
interaction.
robot interface under
System > Settings > Error
handling > Advanced
settings.

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 Code Message Type Description Solution

10702 motor stall detected! Environmental See error Error

error. codes and
solutions on
Requires
page 3.
interaction.

Hardware
error.

Requires
interaction.

10701 Left motor encoder signal Hardware The motor Check the encoder cables
missing! error. controller is (see the section about
missing a checking encoder cables in
Can resolve
connection to the troubleshooting guide
itself.
the left side Troubleshoot MiR200 going
motor encoder. into Protective stop
randomly). If the cables and
the connectors are fine,
replace the motor as
described in the guide How
to replace the motor on
MiR100/MiR200.

10711 Right motor encoder signal Hardware The motor See 10701 above.
missing! error. controller is
missing a
Can resolve
connection to
itself.
the right side
motor encoder.

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 Code Message Type Description Solution

11001 The local planner failed Mission error. The robot This error may occur
repeatedly to follow new wasn't able to occasionally while the
May require
global plans! follow it's robot is operating without
interaction if
global path and any significant affect to the
you want to
has created a robot's operation.
prevent the
new path.
error from If the error keeps occurring
occurring in the same area, it
again. indicates that there is
something in this area that
is affecting the robot's
planning or obstacles
detection.

When the error occurs, the

robot automatically
generates an error log. To
determine the cause of the
issue, send this error log to
Technical Support for
analysis—see Contacting
Technical Support on
page 68.

13000 Precision docking Hardware The robot Check that the precision
disconnected: There is no error. computer has docking controller
communication with the lost connection (Raspberry Pi) is on and
Can resolve
Raspberry Pi of the precision to the receiving power. You can
itself.
docking. controller for tell that it is receiving
the precision power by checking that the
docking locking diodes on the board are lit.
mechanism.
If the controller in on, try to
replace the Ethernet cable
connecting the controller to
the robot computer.

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MiR250, MiR500, and MiR1000
Code Message Type Description Solution

101 CPU load is too HIGH - Above Hardware Reboot the robot. If the
90% for more than 3 error. An issue has problem persists, and you
minutes. occurred in have not updated to the
Can resolve
the robot latest software, it is
itself.
software, recommended to update
requiring your robot. this may solve
unusual the issue.
amounts of If the issue occurred after a
processing software update to the
power. latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

201 Free Memory is VERY low. Hardware An issue has Reboot the robot. If the
error. occurred in problem persists, and you
the robot have not updated to the
Can resolve
software. latest software, it is
itself.
recommended to update
your robot. this may solve
the issue.
If the issue occurred after a
software update to the
latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

301 No ethernet adapter found. Hardware An issue has Reboot the robot. If this
error. occurred in does not solve the issue,
the robot contact Technical Support.
Can resolve
computer.
itself.

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 Code Message Type Description Solution

302 Ethernet is not connected. Hardware The Replace the Ethernet cable
error. connection from the robot computer
between the and the router with an
Can resolve
robot Ethernet cable you are
itself.
computer and certain is functional.
the router Swap the port the Ethernet
may be faulty. cable connects to in the
router. If a new error is
shown, replace the router. If
the error remains the same,
contact Technical Support as
described in Contacting
Technical Support on
page 68.

401 Very low free space on Hardware The hard drive Begin by deleting old
harddrive. error. memory is backups stored on the
almost filled robot. this can be done
Can resolve
up. through the robot interface
itself.
under System > Backups.
If the issue persists, execute
a USB restore. See the guide
How to USB restore
MiR500/MiR1000, found on
the Distributor site.

501 Battery MIR 500/1000: Hardware The robot has Recharge the robot.
Battery is TOO low. error. only 5%
charge left.
Requires
interaction.

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 Code Message Type Description Solution

502 Battery MIR 500/1000: No Hardware The CAN bus Check CAB-30 (see Figure
BMS communication error. connection 1.5 and Figure 1.7), that
available. from the leads from the battery to
Can resolve
battery the power board. In the
itself.
management battery connector, the CAN
system is bus connection is across the
faulty. wires from pin P2, S1, and
S2 on the battery and J10-
64, J10-72, and J10-69 on
the power board connector.

503 Battery MIR 500/1000: Hardware The power If you are updating the
Missing charging status error. board is battery firmware, this error
message. expecting a may be reported while the
Can resolve
message update is in progress. Wait
itself.
regarding the for the update to finish.
charging
Reboot the robot. If the
status.
problem persists, and you
have not updated to the
latest software, it is
recommended to update
your robot. this may solve
the issue.
If the issue occurred after a
software update to the
latest version, try to roll
back to a functioning
software version and report
the issue to Technical
Support.

661 Battery firmware does not Hardware The battery Restart the robot. If the
or match recommended error. firmware is issue persists, contact MiR
671 version: Curren not the Technical Support as
Requires
installed: x.x. Recommended: recommended described in Contacting
interaction.
2.9. version. Technical Support on
page 68.

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 Code Message Type Description Solution

663 Firmware upgrade of the Hardware While trying Restart the robot and wait
battery failed in bootloader error. to update the five minutes. If the issue
state. Reboot the robot to battery persists, contact MiR
Requires
retry the upgrade. firmware, the Technical Support as
interaction.
battery failed described in Contacting
in bootloader Technical Support on
state. page 68.

665 Firmware upgrade of the Hardware While trying Restart the robot and wait
battery failed in uploading error. to update the five minutes. If the issue
parameters state. Reboot the battery persists, contact MiR
Requires
robot to retry the upgrade. firmware, the Technical Support as
interaction.
battery failed described in Contacting
in upload Technical Support on
parameters page 68.
state.

666 Skipped firmware upgrade Hardware The battery Charge the battery to 100%,
since the battery level is too error. firmware disconnect the charger, and
low. Charge the robot and update failed restart the robot. If the issue
Requires
reboot to retry the upgrade. because the persists, contact MiR
interaction.
battery Technical Support as
percentage is described in Contacting
below 50%. Technical Support on
page 68.

667 Firmware upgrade of the Hardware While trying Restart the robot and wait
battery failed in file error. to update the five minutes. If the issue
corrupted state. Reboot the battery persists, contact MiR
Requires
robot to retry the upgrade. firmware, the Technical Support as
interaction.
battery failed described in Contacting
in corrupted Technical Support on
state. page 68.

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 Code Message Type Description Solution

668 Skipped firmware upgrade Hardware The battery Disconnect any top modules
due to excessive current error. firmware or external devices
drawn. Please disconnect update failed connected to the robot,
Requires
peripherals, make sure the because the including cable chargers or
interaction.
robot is not charging and battery is charging stations.
reboot. drawing too
much current.

911 Camera (realsense D435): Hardware This error If the error occurred after a
Unable to connect to error. may occur software update or you have
camera, however it seems to after a new replaced either one of the
Can resolve
be available. camera or cameras or the robot
itself.
robot computer, try rebooting the
computer has robot.
been installed. Otherwise, verify that you
are using the latest
firmware (5.10.6) on the
camera. If the latest
firmware is being used and
the issue persists, refer to
the solution in error 5101 on
page 48.

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 Code Message Type Description Solution

911 Camera (realsense D435): Hardware Both cameras In the robot interface, go to
Unable to detect camera error. have another System > Settings > 3D
with serial: 'xxxx,yyyy,zzzz, serial number cameras. Change the serial
Requires
(etc)', however xx other than those the number of the cameras to
interaction.
cameras are connected with robot the last two serial numbers
serial: xxxx,yyyy,zzzz,(etc). computer is reported in the error.
searching for. Select Save changes. If the
error does not disappear
within a minute, try
rebooting the robot.
If the robot does not operate
correctly, especially during
docking, you may have
swapped the serial numbers
between the right and left
side camera. Go back to the
3D camera setttings, and
swap the two serial
numbers.

911 Camera (realsense D435): Hardware One of the In the robot interface, go to
Unable to detect camera error. cameras has System > Settings > 3D
with serial: 'xxxx,yyyy,zzzz, another serial cameras. Change the serial
Requires
(etc)', however 1 other number than number of the undetected
interaction.
camera are connected with the number cameras to the last serial
serial: xxxx. the robot number reported in the
computer is error.
searching for. Select Save changes. If the
error does not disappear
within a minute, try
rebooting the robot.

911 Camera (realsense D435): Hardware See error

Unable to detect camera error. 5101 on
with serial: 'xxxx,yyyy,zzzz, page 48.
Requires
(etc)' and no other cameras
interaction.
available.

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 Code Message Type Description Solution

912 Camera (realsense D435): Hardware The robot In the robot interface, go to
The serial number is not error. computer System > Settings > 3D
configured for this camera! does not have cameras. Insert the correct
Requires
any serial serial number for the
interaction.
number to cameras that do not display
search for. a serial number.

1001 SICK (MIR500/1000) Robot is Hardware The safety Refer to the troubleshooting
in Emergency stop: xxx. error. system has guide Troubleshoot
detected a MiR500/MiR1000 going in
Can resolve
fault in the to Protective stop due to
itself.
robot. safety system error.

1002, SICK (MIR500/1000) Safety Hardware See error

system error: xxx. error. 1001 above.

Can resolve
itself.

1003 Invalid SICK program. Hardware You have Download a new standard
error. uploaded a configuration file from the
SICK program robot interface and upload it
Requires
that the safety to the safety PLC. Refer to
interaction.
PLC does not the how-to guide How to
recognize. apply the default
configuration of the SICK
safety system on
MiR250/MiR500/MiR1000
found on the Distributor site.

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 Code Message Type Description Solution

1004 Unsupported SICK program Hardware You have Refer to the solution in error
version. error. modified the 1003 on the previous page.
SICK program
Requires
on the safety
interaction.
PLC. If you are
experiencing
errors in the
safety system,
we cannot
troubleshoot
programs with
custom
modifications.

1005 Gear ratio configuration Hardware Either the Refer to the solution in error
mismatch! Sick is configured error. safety PLC or 1003 on the previous page.
with: xxx and Robot software the robot If the robot does not drive
Requires
is configured with: yyy. computer is correctly after this, refer to
interaction.
using the the article Guide to gear
wrong gear ratios on MiR robots found
ratio under Articles on the
configuration. Distributor site.

2100 Voltage monitor: Hardware An error has Replace the power board.
HWRevision. error. been detected Refer to the how-to guide
in the power How to replace the power
Can resolve
board. board on MiR500/MiR1000.
itself.

2101 Voltage monitor: Hardware The top Inspect your top application.
TopGpioCurr. error. application is Contact your top application
drawing a distributor for assistance.
Can resolve
larger current
itself.
than the
allowed 1 A
from the GPIO
electrical
interface.

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 Code Message Type Description Solution

2102 Voltage monitor: Hardware The current Check CAB-017 (see Figure
MCFuseCurr. error. delivered to 1.7 and Figure 1.8) that
the motor provides the motor
Can resolve
controller controller carrier board with
itself.
carrier board power from the power
is outside the board via the STO relays.
limits.

2103 Voltage monitor: Hardware The current Inspect your top application.
TopFuseCurr. error. delivered to Contact your top application
the top distributor for assistance.
Can resolve
application
itself.
power
interface is
outside the
limits (max 20
A).

2104 Voltage monitor: Hardware Power is being Inspect your top application.
GpioRtnDiag error. drawn Contact your top application
through the distributor for assistance.
Can resolve
GPIO wire in
itself.
the top
application
that is
dedicated to
ground.

2105 Voltage monitor: XioRtnDiag. Hardware Power is being Inspect the safety PLC and
error. drawn CAB-074 for a short circuit
through the (see Figure 1.7).
Can resolve
ground wires
itself.
in CAB-074
that lead to
the safety
PLC.

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 Code Message Type Description Solution

2106 Voltage monitor: VIn. Hardware The voltage Inspect the battery and the
error. delivered to cables leading from the
the power battery to the power board.
Can resolve
board is If the fault persists, replace
itself.
outside the the power board.
limits (40-
55 V).

2107 Voltage monitor: V_Dock. Hardware A robot docks Replace the power board.
error. to MiR Refer to the how-to guide
Charge 48V, How to replace the power
Can resolve
and the board on MiR500/MiR1000.
itself.
delivered
voltage to the
battery
through the
power board
is 0 V.

2108 Voltage monitor: V_Charger. Hardware A cable Replace the power board.
error. charger is Refer to the how-to guide
plugged into a How to replace the power
Can resolve
robot, and the board on MiR500/MiR1000.
itself.
delivered
voltage to the
battery
through the
power board
is 0 V.

2109 Voltage monitor: VBat. Hardware The voltage Inspect the cable from the
error. delivered battery to the power board.
from the If no faults are found,
Can resolve
battery is replace the battery.
itself.
outside the
limits.

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 Code Message Type Description Solution

2110 Voltage monitor: VBat_Fuse. Hardware The voltage If there is an error 2109,
error. delivered follow the solution
from the description for that error. If
Can resolve
battery past there is only a 2110 error,
itself.
the battery the fuse is likely switched off
fuse is outside due to a too high current.
the limits. Investigate the connection
from the battery to the
power board, and if the fault
persists, try replacing the
power board.

2111 Voltage monitor: 12V. Hardware The 12 V Replace the power board.
error. power supply Refer to the how-to guide
is faulty. How to replace the power
Can resolve
board on MiR500/MiR1000.
itself.

2112 Voltage monitor: 19V. Hardware The 19 V See the solution in 2111
error. power supply above.
is faulty.
Can resolve
itself.

2113 Voltage monitor: 24V. Hardware The 24 V See the solution in 2111
error. power supply above.
is faulty.
Can resolve
itself.

2114 Voltage monitor: 3v3. Hardware The 3.3 V See the solution in 2111
error. power supply above.
is faulty.
Can resolve
itself.

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 Code Message Type Description Solution

2115 Voltage monitor: TOP_FUSE. Hardware The voltage Check CAB-041 (see Figure
error. delivered to 1.7) that leads from the
the top power board to the top
Can resolve
application application interface. if no
itself.
interface is faults are found in the cable
outside the
limits.

2116 Voltage monitor: 5V0. Hardware The 5 V power See the solution in 2111 on
error. supply is the previous page.
faulty.
Can resolve
itself.

2117 Voltage monitor: <MC_ Hardware Too much Inspect your top application.
Logic/MC_TOP>. error. power is being Contact your top application
drawn from distributor for assistance.
Can resolve
the top When you are sure that the
itself.
application. top application will not burn
Over 2 A and the fuse again, you can
the fuse will replace the fuse with a new
burn over. 2 A fuse. To replace the
fuse, you must unmount the
power board, remove the
cover, locate the green fuse
in the back of the board,
replace it, and mount the
power board back in the
robot.

2118 Voltage monitor: MC_Fuse. Hardware There is a Check CAB-017 (see Figure
error. short circuit 1.7 and Figure 1.8) for any
from the damage that may cause a
Can resolve
power board short circuit. If the cable is
itself.
to the motor fine, replace the carrier
controller board.
carrier board.

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 Code Message Type Description Solution

2119 Voltage monitor: 12V_Int. Hardware The 12 V See the solution in 2111 on
error. power supply page 44.
is faulty.
Can resolve
itself.

2120 Voltage monitor: 12V_Inp. Hardware The 12 V See the solution in 2111 on
error. power supply page 44.
is faulty.
Can resolve
itself.

2121 Voltage monitor: 5V_Inp. Hardware The 5 V power See the solution in 2111 on
error. supply is page 44.
faulty.
Can resolve
itself.

2203 Can Bus Error: Right Hardware The CAN bus Check CAB-014 (see Figure
MotorController. error. connection to 1.7 and Figure 1.8) that
the right side connects the power board to
Can resolve
motor the motor controller carrier
itself.
controller is board. If no faults are found,
faulty. replace the cable. If this has
not remedied the issue,
replace the carrier board.

2204 Can Bus Error: Left Hardware The CAN bus See solution description
MotorController. error. connection to above.
the left side
Can resolve
motor
itself.
controller is
faulty.

2210 Can Bus Error: Proximity Hardware The Refer to the troubleshooting
sensor/Light controller: Front error. connection to guide Troubleshoot
Left. one of the MiR500/MiR1000 faulty
Can resolve
proximity light indicators, proximity
itself.
sensors is boards, and motor controller
faulty. carrier board.

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 Code Message Type Description Solution

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Left error. above.
side Front.
Can resolve
itself.

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Left error. above.
side Back.
Can resolve
itself.

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Back error. above.
Left.
Can resolve
itself.

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Back error. above.
Right.
Can resolve
itself.

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Right error. above.
side Back.
Can resolve
itself.

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Right error. above.
side Front.
Can resolve
itself.

2210 Can Bus Error: Proximity Hardware See error

sensor/Light controller: Front error. above.
Right.
Can resolve
itself.

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 Code Message Type Description Solution

2220 Can Bus Error: Brake logic Hardware The CAN bus See the solution description
controller. error. connection to for error 2203 on page 46.
the brake
Can resolve
controller in
itself.
the motor
controller
carrier board
is faulty.

5101 Unable to connect to Hardware The robot Check the USB cables that
camera. error. computer is connect the robot computer
not able to to the cameras. Verify that
Can resolve
communicate they are correctly plugged
itself.
to one of the in and there are no obvious
3D cameras. signs of damage.
If no faults are found, try
hooking up the camera to
your computer via the USB
cable that connects to the
robot computer.
If you are unable to connect
to the camera, try replacing
the cable. If you are still not
able to connect to the
camera, replace the
camera.
If you were able to connect
to the camera, replace the
robot computer.

5102 Missing data from camera: Hardware See error

Time since last frame [s]. error. 5101 on
page 20.
Can resolve
itself.

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 Code Message Type Description Solution

5103 Lost connection to camera: Hardware See error

Time since last frame [s]. error. 5101 on
page 20.
Can resolve
itself.

9000 Missing - Last Message: Hardware Missing If the battery management

Firmware upgrade of the error. connection system (BMS) was
battery failed in application between connected before updating
Requires
state. Reboot the robot to battery and the firmware, restart the
interaction.
retry the upgrade. the power robot.
board.
If the BMS was not
connected before, check
CAB-030, that connects from
the power board to the
battery—see Figure 1.5.

9000 Diagnostics monitoring: Stale Hardware The robot Depending on the

error (Expected diagnostics error. computer is description in the error
messages missing). expecting code, check various fields in
Can resolve
diagnostics Hardware Health to locate
itself.
messages that the exact error. Browse the
have not troubleshooting guides on
arrived in the Distributor site to see if
time. The any of them describe the
error should situation you are
describe experiencing. If not, contact
which Technical Support.
diagnostics
message is
missing.

9030 Missing - Last Message: Hardware See error

Camera is OK error. 5101 on
page 20.
Can resolve
itself.

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 Code Message Type Description Solution

9030 Missing - Last Message: Hardware See error

{"message": "Lost connection error. 5101 on
to camera. No data for page 20.
Can resolve
<duration> seconds.."
itself.

10101 <actionname> aborted - Mission error. An action in Review the mission you tried
<current_action_name> your mission to execute. Verify that the
Requires
failed to start (<status>). cannot be chosen actions are
interaction.
completed. An executable, such as ensuring
exception has that positions are part of the
been thrown active map. Consider adding
that was not a Try/Catch action to
caught in your provide the robot with an
mission. The alternative action if the
reason for the attempted action failed. This
failure is will prevent the error from
described in appearing in future cases.
the error code
text.

10110 Goal position '<position_ Mission error. The position If the robot must go to that
name>' is in forbidden area. you would like position, review your active
Requires
to move the map and remove the
interaction.
robot to is forbidden area, move the
inside a position to an accessible
forbidden area for the robot or use the
area. relative move action.
Consider adding a Try/Catch
action to provide the robot
with an alternative action if
the attempted action failed.
This will prevent the error
from appearing in future
cases.

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 Code Message Type Description Solution

10111 Goal position '<position_ Mission error. The position Review your active map,
name>' is in obstacle. you would like and check that dynamic
Requires
to move the obstacles (objects in the
interaction.
robot to is area that are likely to move)
inside an are not included. Only
obstacle permanent obstacles, such
defined in as walls and stationary
your active machinery, should be
map. included in a map.
Consider adding a Try/Catch
action to provide the robot
with an alternative action if
the attempted action failed.
This will prevent the error
from appearing in future
cases.

10120 Failed to reach goal position Mission error. The position Check that the area you
'<position_name>'. you would like would like to move the robot
Requires
the robot to to is clear. Consider adding
interaction.
move to is a Try/Catch action to
blocked by an provide the robot with an
obstacle. alternative action if the
attempted action failed. This
will prevent the error from
appearing in future cases.

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 Code Message Type Description Solution

10198 Invalid action parameters. Mission error. One of the Review the failed mission.
Update mission list before parameters This can often happen if you
Requires
running again. you have set choose to use a template
interaction.
in your mission where one of the
mission is parameters has not been
invalid. edited to fit your map or, if
after a software update,
some action requires more
defined parameters.
If you cannot find the issue,
open the mission editor and
save the mission again, or
save a copy of the mission
and run the copy instead.

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 Code Message Type Description Solution

10201 E_LOCALIZATION_FAILED. Environmental The robot is When looking in the active

error. not able to map in the robot interface,
correctly if the red scanner lines do
Requires
localize itself. not align enough with the
interaction.
black wall lines in the active
map, the robot is not able to
localize itself.
This often occurs if the
active map does not include
enough landmarks, includes
dynamic obstacles that are
no longer there, or if the set
gear ratio in the robot
computer and the safety
PLC are both incorrect. In
the latter case, you will
experience that the robot is
able to correctly localize
itself at first, but as soon as
it begins to move, the robot
in the map moves either
faster or slower than it does
in reality, resulting in the
red scanner lines being
misaligned with the walls.
TO fix this refer to the
article Guide to gear ratios
on MiR robots found under
Articles on the Distributor
site.

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 Code Message Type Description Solution

10202 E_LOCALIZATION_FAILED_ Hardware The robot Check the connection from

NO_SCANNER_DATA. error. computer is the robot computer to the
not receiving laser scanners and the
Can resolve
scanner power input to the safety
itself.
information system (see Figure 1.6 and
from the laser Figure 1.7). A fault in the
scanners. following cables could cause
this error:

• The Ethernet cable in

port 4 that leads to the
safety PLC
• CAB-012 and CAB-013
from the power board to
the front and rear
scanners.
• CAB-010 from the PLC to
the front scanner and
CAB-011 from the front
to the rear scanner.
• CAB-074 from the power
board to the safety PLC.

10401 Robot detected skid Environmental The wheels on Check that the floor is clean,
condition! error. the robot are the robot wheels have
turning, but traction with the floor, and
Requires
the robot is that the robot is not loaded
interaction.
not moving. excessively or unevenly.
Hardware This often If the issue persists, you can
error. occurs during also modify the threshold
docking. for stall detection in the
Requires
robot interface under
interaction.
System > Settings > Error
handling > Advanced
settings.

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 Code Message Type Description Solution

10701 Left motor encoder signal Hardware The motor Check the CAB-23 (see
missing! error. controller is Figure 1.7) that leads from
missing a the motor encoder to the
Can resolve
connection to center compartment. If this
itself.
the left side cable is fine, you will either
motor need to replace the left side
encoder. bogie or the motor
controller carrier board.
Refer to the how-to guide
How to replace the bogie
with motor on
MiR500/MiR1000 or How to
replace the motor controller
carrier board on
MiR500/MiR1000.

10702 Left motor stall detected! Environmental There is a This error can occur if the
error. high power wheels or axles are blocked,
output to the the robot pulls too heavy a
Requires
left motor, but load, the robot or its load
interaction.
the robot is collides with an object not
Hardware not moving. detected by the scanners, or
error. if the robot travels up too
steep an incline relative to
Requires its load.
interaction.
If the issue persists, you can
also modify the threshold
for stall detection in the
robot interface under
System > Settings > Motor
controller> Advanced
settings.

10702 Left motor encoder Hardware The wheel is Try swapping the encoder
reversed! error. turning the cables, CAB-23 and CAB-75
wrong way (see Figure 1.8), connected
Requires
relative to the to the motor controller
interaction.
encoder. carrier board.

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 Code Message Type Description Solution

10711 Right motor encoder signal Hardware The motor Check the CAB-75 (see
missing! error. controller is Figure 1.8) that leads from
missing a the motor encoder to the
Can resolve
connection to center compartment. If this
itself.
the right side cable is fine, you will either
motor need to replace the left side
encoder. bogie or the motor
controller carrier board.
Refer to the how-to guide
How to replace the bogie
with motor on
MiR500/MiR1000 or How to
replace the motor controller
carrier board on
MiR500/MiR1000.

10712 Right motor stall detected! Environmental See error

error. 10702 on the
previous page.
Requires
interaction.

Hardware
error.

Requires
interaction.

10712 Right motor encoder Hardware See error

reversed! error. 10702 on the
previous page.
Requires
interaction.

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 Code Message Type Description Solution

11001 The local planner failed Mission error. The robot This error may occur
repeatedly to follow new wasn't able to occasionally while the robot
May require
global plans! follow it's is operating without any
interaction if
global path significant affect to the
you want to
and has robot's operation.
prevent the
created a new
error from If the error keeps occurring
path.
occurring in the same area, it
again. indicates that there is
something in this area that
is affecting the robot's
planning or obstacles
detection.

When the error occurs, the

robot automatically
generates an error log. To
determine the cause of the
issue, send this error log to
Technical Support for
analysis—see Contacting
Technical Support on
page 68.

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MiR Fleet
MiR Fleet does not report any unique error codes in the MiR Fleet interface. There are error codes that can
be reported from REST API calls to MiR Fleet. These error codes follow the standard for HTTP error codes as
defined by RFC7231. To determine what an error code means if it is not clearly stated, refer to documentation
on the RFC7231 and HTTP standards for more information.

To resolve the issue, look through the MiR Fleet system log to determine the cause of the error. There will
often be similar errors regarding the issue that may help identify the cause.

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Reference images
MiR100/MiR200

Figure 1.1. MiR board connections

Pos. Cable connection Pos. Cable connection

1 Battery Managment System 2 Safety relays

3 Robot computer 4 Status lights

5 IMU 6 Power LED

7 Ultrasound sensor 1 8 Ultrasound sensor 2

9 Ultrasound sensor 3 10 Ultrasound sensor 4

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 Pos. Cable connection Pos. Cable connection

11 Optocoupler connections 12 Robot computer

13 Light in Power button 14 Fuses

Figure 1.2. Router and its inputs

Label no. Description Label no. Description

1 Connects to top application interface 2 Connects to safety PLC

3 Connects to the robot computer

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Figure 1.3. Motor controller LED

MiR Hook 100/MiR Hook 200

Figure 1.4. MiR Hook 100/MiR Hook 200 internal components

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 Label no. Description Label no. Description

1 Brake motor controller 2 Actuator motor controller

3 Fuse box 4 Power supply unit

5 Ethernet interface 6 Power interface

7 Hook computer 8 Auxiliary Emergency stop interface

MiR500/MiR1000

Figure 1.5. CAB-30 from the battery

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Figure 1.6. Front and rear laser scanner respectively. The black cable are the power cables CAB-012 and CAB-013, and the blue cable
are the connection cables CAB-010 and CAB-011. The rear scanner connects to the front through CAB-011, and the front connects to
the safety PLC through CAB-010.

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 Lable Label
Cable connection Cable connection
no. no.

1 CAB-30: Battery/charger connection 2 CAB-038: Safe return

3 CAB-039: Safe return 4 CAB-074: Safety PLC power

5 CAB-012: Front laser scanner power 6 CAB-013: Rear laser scanner

power

7 CAB-018: Router and computer power 8 CAB-071: Speaker

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 Lable Label
Cable connection Cable connection
no. no.

9 Audio for computer 10 CAB-019: Ethernet connection

to router

11 CAB-017: Motor controller carrier board power 12 CAB-041: Top interface power
via STO relays

13 CAB-040: Top interface GPIO 14 CAB-067: On/Off switch power.

15 CAB-014: CAN bus connection to motor controller 16 CAB-066: Pendant

carrier board

17 Unused 18 CAB-027: Power to mechanical

brakes

Figure 1.7. Power board sockets

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Figure 1.8. Motor controller carrier board sockets connections

Pos. Cable connection Pos. Cable connection

1 CAB-078: Right motor power 2 CAB-017: Power via STO relays

3 Unused 4 CAB-052: Left motor power

5 CAB-022: Left Hall sensor 6 CAB-025 LEFT: Left feedback

7 CAB-016: Protective stop 8 CAB-014: CAN bus connection to power

board

9 CAB-023: Left motor encoder 10 CAB-015: Motion controller module

11 CAB-01: CAN bus connection to 12 CAB-075: Right motor encoder

proximity sensors

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 Pos. Cable connection Pos. Cable connection

13 CAB-074: Brake power 14 CAB-077: Right Hall sensor

15 CAB-025 RIGHT: Right feedback

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Contacting Technical Support
If you are asked to contact Technical Support in a step or solution in this guide, or if the solution you reach at
the end of the guide does not remedy the issue, you can create a support request through the Distributor site
under Contact Support.

Before creating a support request, it is highly recommended that you update to the latest
recommended software, as this may resolve the issue. It will also enable your robot to generate
a more detailed error log, providing Technical Support with more information to troubleshoot
the issue correctly.

In your support request, describe the problem you are experiencing and your observations for each step in the
guide you have completed. To document this, download the troubleshooting documentation sheet with the
same title as this guide from the Distributor site.

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To ensure that Technical Support can diagnose and solve the issue correctly, attach an error log retrieved
from the robot. It is important that the error log is generated as described in the guide How to generate an
error log found on the Distributor site. To assist Technical Support further, include any reported error codes,
images, or videos of the issue.

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Document history
Version Date Description
1.0 2019-11-11 First edition.
1.1 2020-07-23 Added description of error code types.

Added error 13000.

Added errors 10711 and 10701 to MiR100/MiR200 list.

Decreased side margins.

1.2 2020-11-20 Updated images.

Added errors for battery firmware update.

Separated error code number from error code text.

1.3 2021-01-19 Added the MiR Fleet section regarding REST API error codes.

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