MIR MiR200 Operating instructions

Operating guide (en)

Date: 04/2020

Revision: v.3.0

express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties,

expressed or implied, in respect of this document or its contents. In addition, the contents of

the document are subject to change without prior notice. Every precaution has been taken in

the preparation of this manual. Nevertheless, MiR assumes no responsibility for errors or

omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mobile-industrial-robots.com

Phone: +45 20 377 577

Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 5

1.1 Where to find more information 5

2. Product presentation 7

3. Safety 8

3.1 Safety message types 8

3.2 General safety precautions 10

3.3 Intended use 10

4. Mechanical requirements 11

4.1 Mounting 11

4.2 Docking 12

4.3 Cable management 12

5. Electrical requirements 14

5.1 Requirements 14

5.2 Wiring diagram 15

1. About this document

This operating guide is a partial update that describes safety, the mechanical requirements,

and the electrical requirements for The MiR100/200 Universal Robots Interface. For

integration of a MiR100/MiR200 with a UR robot arm, refer to the MiR100/MiR200 UR

Interface Operating guide v. 2.0 on the distributor site.

A finished MiR100/200 Universal Robots Interface Operating guide 3.0 guide including

integration chapters will be available shortly.

The MiR100/200 Universal Robots Interface offers a simple way to interact between a

MiR100/MiR200 and a mounted robot arm from Universal Robots. Through the MiR100/200

Universal Robots Interface, it is possible to control both the UR and the MiR100/MiR200,

albeit with limited functionality for the latter.

This operating guide is intended for users with a basic level of mechanical and electrical

training and with experience with elementary programming concepts. Please read the

MiR100/MiR200 User guides and UR e-Series User Manuals before reading this document.

1.1 Where to find more information

At www.mobile-industrial-robots.com, several additional resources are available. To access

more information, sign in to the Distributor site with your distributor account at

http://www.mobile-industrial-robots.com/en/account/. The following resources are

available:

•Distributor site > Manuals

http://www.mobile-industrial-robots.com/en/account/manuals/

This page contains the following resources:

•Quick starts describe how you start operating MiR robots quickly. This document is in

print in the box with the robots. Quick starts are available in multiple languages.

•User guides provide all the information you need to operate and maintain MiR robots.

User guides are available in multiple languages.

•Risk Analysis Guides include guidelines on how to create a risk assessment of your

robot solution.

•Commissioning guides describe how to commission your robot safely and prepare it to

operate in the workplace.

•Operating guides describe how to set up and use top modules and accessories, such as

charging stations, hooks, shelf lifts, and pallet lifts.

1. About this document

•Getting started guides describe how to set up products that are mainly software-

based, such as MiR Fleet and MiR AI Camera.

•Reference guides contain descriptions of all the elements of the robot interface and

MiR Fleet interface. Reference guides are available in multiple languages.

•REST API references for MiR robots, MiR hooks, and MiR Fleet.

•MiR network requirements specify the performance requirements of your network

for MiR robots and MiR Fleet to operate successfully.

•Distributor site > Download

http://www.mobile-industrial-robots.com/en/account/download/

This page contains the following resources:

•Software and Product Release Notes for your MiR product are displayed by selecting

your product in the drop-down menu.

•CAD files of MiR products are displayed by selecting Show CAD files.

•Certificates for MiR products are displayed by selecting Show Certificates.

•Distributor site > FAQ

https://www.mobile-industrial-robots.com/en/account/faq/

This page contains frequently asked questions regarding MiR products.

•Distributor site > How to

http://www.mobile-industrial-robots.com/en/account/how-to/

This page contains how-to guides that describe how to perform specific tasks with MiR

products.

•Distributor site > Troubleshooting

https://www.mobile-industrial-robots.com/en/account/troubleshooting/

This page contains troubleshooting guides to solve common issues with MiR products.

•Universal Robots:

http://www.universal-robots.com/support

2. Product presentation

MiR100/200 Universal Robots Interface is a collaboration between a top application from UR

and a MiR100/MiR200. The UR Robot arm can be mounted on a MiR100/MiR200 robot and

autonomously pick up and drop off items of up to 10 kg. The robot with a MiR100/200

Universal Robots Interface add mobility to the robot arm and works internally within

production facilities, warehouses, and a host of other industrial locations.

The user provides the destination of product delivery via a web-based user interface.

MiR100/MiR200 with a MiR100/200 Universal Robots Interface can be set up to run a fixed

route, be called on demand, or perform more complex operations (missions).

MiR100/200 Universal Robots Interface can be activated in various missions and ensures

stable handling and transport of items to and from a set destination.

Both the mobile robots and the robotic arms are collaborative and can work alongside

humans without any extra safety.

3. Safety

Read the information in this section before powering up and operating MiR100/200

Universal Robots Interface.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robotsen disclaims any and all liability if MiR100/200

Universal Robots Interface or its accessories are damaged, changed, or

modified in any way. Mobile Industrial Robots cannot be held responsible for

any damages caused to MiR100/200 Universal Robots Interface, accessories,

or any other equipment due to programming errors or malfunctioning of

MiR100/200 Universal Robots Interface.

3.1 Safety message types

This document uses the following safety message types.

WARNING

Indicates a potentially hazardous situation that could result in death or serious

injury. Carefully read the message that follows to prevent serious injury or

death.

CAUTION

Indicates a potentially hazardous situation that could result in minor or

moderate injury. Alerts against unsafe practices. Carefully read the message

that follows to prevent minor or moderate injury.

3. Safety

NOTICE

Indicates important information, including situations that can result in damage

to equipment or property.

3. Safety

3.2 General safety precautions

This section contains general safety precautions.

WARNING

Unstable mounting of the UR robot arm can cause injury to nearby personnel

by impact.

•Make sure the UR Robot Arm is properly and securely bolted in place.

3.3 Intended use

MiR100/200 Universal Robots Interface is a partly completed machine as defined in the EU

machinery directive and does not have a CE mark. A correctly installed MiR100/200

Universal Robots Interface is covered by the CE mark of MiR100/MiR200. However, a CE

marked product does not guarantee a CE marked setup. It is the responsibility of the

commissioner to commission MiR100/200 Universal Robots Interface safely.

MiR100/200 Universal Robots Interface is designed for MiR100/MiR200. MiR100/200

Universal Robots Interface is only intended to be used as described in this operating guide

NOTICE

A safe machine does not guarantee a safe system. Follow the Commissioning

guide to ensure a safe commission.

MiR100/200 Universal Robots Interface is intended to be commissioned indoors in a light

industrial environment where public access is restricted. For a detailed description of the

intended environment, see technical specifications on our website.

4. Mechanical requirements

This section describes the mechanical requirements for how to get started with MiR100/200

Universal Robots Interface.

4.1 Mounting

Considering the many different configurations available to mount a MiR100/200 Universal

Robots Interface on top of a MiR100/MiR200, it is the user’s responsibility to find a suitable

bracket for the solution.

We suggest using a manufacturing platform dedicated to machine design, such as VENTION

(https://www.vention.io/designs/mir-ur-mount-7586).

Figure 4.1. MiR100/MiR200 with a UR Robot arm mounted on top.

4. Mechanical requirements

4.2 Docking

To improve the precision of MiR100/MiR200's positioning, use a VL-marker or MiR Precision

Docking at stations where the UR Robot arm performs an action.

Figure 4.2. Use a VL-marker or MiR Precision Dockingto position MiR100/MiR200 correctly.

4.3 Cable management

To pass through the power, safety, and communication cables, a hole must be drilled in

MiR100/MiR200s top cover. The following illustration shows the recommended hole’s

position marked with red as the top application interface only allows 24V 10A. 240W.

4. Mechanical requirements

Figure 4.3. The recommended position of the hole for the cables.

5. Electrical requirements

This section describes the electrical requirements for how to get started with MiR100/200

Universal Robots Interface.

5.1 Requirements

MiR100/MiR200 must be equipped with two batteries when powering a UR Robot arm.

When ordering MiR100/MiR200, you can choose the two batteries-option. Otherwise,

contact your MiR distributor to order a second battery (Lithium-ION Battery - Part number:

500155).

To install the second battery, please find the instruction Install a second battery on our

Distributor site http://www.mobile-industrial-robots.com

5. Electrical requirements

Figure 5.1. The extra 24V lithium-ion battery pack for MiR100 and MiR200. The battery has a capacity of 39,6 Ah

and is easy and safe to install.

The UR Robot arm must be transformed to a battery-supplied robot. A step-by-step

procedure can be found in the UR Robots with Battery Supply Installation guide. Contact

your Universal Robots representative to obtain this document.

5.2 Wiring diagram

Below, the complete electrical wiring diagram is first presented and is then divided into

individual Power and Safety and Communication subsections.

5. Electrical requirements

Figure 5.2. Complete wiring diagram.

Power

MiR100/MiR200 outputs a maximum of 24V DC - 10A continuously. The UR Robot arm and

other accessories can be connected directly to MiR100/MiR200’s power system.

CAUTION

Do not run a program that requires more power than the batteries can supply.

For more information regarding the UR power consumption, refer to the UR

battery installation guide.

The terminal rail of MiR100/MiR200 has extra ports where the UR Robot arm can be

connected. The Power connection diagram can be found at the end of this section.

5. Electrical requirements

Figure 5.3. The robot's relays.

1. Connect the UR positive V Power cable to any of the free ports in the terminal labeled 1.

2. Connect the UR minus V cable to any of the free ports on the terminal labeled 6, 7 or 8.

a. It is recommended to use two circuit breakers between the batteries and the UR PSU.

The two circuit breakers can be mounted inside the UR Control Box. Read the UR e-Series

User Manual for further information.

3. Make sure to ground together both robots.

•Find a place to make a common ground, like shown below.

5. Electrical requirements

•Screw the ground wire directly to the frame.

5. Electrical requirements

Figure 5.4. Wiring diagram - Power

Safety

The complete system must be designed and installed in accordance with the safety

requirements set forth in the standards and regulations of the country where the robot is

installed.

Perform a risk assessment for the complete robot system before powering up the robots.

Depending on the application and risk assessment, the UR Robot arm shall be brought to a

stop whenever MiR100/MiR200 goes into an emergency stop. This safety function can be

achieved in one of two ways:

1. UR Safeguard Stop safety function.

2. UR Emergency Stop safety function.

Both safety functions require the use of a safety relay connected to NO (Normally Open).

Using the UR Safeguard Stop safety function as described in MiR: on the next page means

that when the MiR robot is in emergency stop, the UR robot will be paused in safeguard

mode, and when the emergency stop is released, it will immediately resume operation.

5. Electrical requirements

Whereas using the UR Emergency Stop safety function will make the UR robot go into a real

emergency stop, cutting the power to the robot-arm, which then requires the robot arm to

be powered on and armed again, whereafter the program needs to be restarted.

Using the UR Safeguard safety function does not require a manual restart and

therefore gives a more fluid user experience.

Using the UR Emergency Stop safety function will make the UR robot go into

an emergency stop requiring manual restart. It is up to your own risk

assessment if this is required.

MiR:

Follow these steps to connect the MiR100/MiR200 emergency stop to the UR Robot arm’s

Safeguard Stop:

1. Connect the safety relay’s positive input to MiR100/MiR200’s Q1 safety PLC output.

2. Connect the safety relay’s negative input to any free port on MiR100/MiR200 safety

relays negative input (24 V PSU grounded) (see Figure 5.3)

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