Mir250 User Guide 1.4 - en

User Guide (en)
Date: 11/2020
Revision: v.1.4
Copyright and disclaimer
All rights reserved. No parts of this document may be reproduced in any form without the
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 document. Nevertheless, MiR assumes no responsibility for errors or
omissions or any damages resulting from the use of the information contained.
Copyright © 2020-2021 by Mobile Industrial Robots A/S.
Contact the manufacturer:
Mobile Industrial 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
MiR250 User Guide (en) 11/2020 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 2
Table of contents
1. About this document 8
1.1 Where to find more information 8
1.2 Version history 9
2. Product presentation 10
2.1 Main features of MiR250 11
2.2 Top modules 12
2.3 External parts 13
2.4 Internal parts 21
3. Warranty 28
4. Safety 29
4.1 Safety message types 29
4.2 General safety precautions 30
4.3 Intended use 33
4.4 Users 34
4.5 Foreseeable misuse 36
4.6 Warning label 36
4.7 Residual risks 37
5. Accessing the internal parts 38
5.1 Front compartment 39
5.2 Rear compartment 40
5.3 Side compartments 41
5.4 Top compartments 42
6. Getting started 44
6.1 In the box 44
6.2 Unpacking MiR250 45
6.3 Connecting the battery 49
6.4 Powering up the robot 51
6.5 Connecting to the robot interface 54
6.6 Driving the robot in Manual mode 55
6.7 Moving the robot by hand 58
6.8 Checking the hardware status 60
6.9 Mounting the nameplate 61
6.10 Shutting down the robot 63
7. Battery and charging 65
7.1 Charging the robot 65
7.2 Disconnecting the battery 66
7.3 Enabling fast swap 67
7.4 Swapping out the lithium-ion battery 68
7.5 Battery storage 69
7.6 Battery disposal 70
8. IT security 72
8.1 Managing users and passwords 72
8.2 Software security patches 72
9. Navigation and control system 74
9.1 System overview 74
9.2 User input 76
9.3 Global planner 76
9.4 Local planner 78
9.5 Obstacle detection 79
9.6 Localization 84
9.7 Motor controller and motors 87
9.8 Brakes 87
10. Safety system 89
10.1 System overview 89
10.2 Personnel detection 94
10.3 Overspeed avoidance 99
10.4 Stability 100
10.5 Emergency stop circuit 100
10.6 Safeguarded stop 101
10.7 Locomotion 102
10.8 Shared emergency stop 103
10.9 Reduced speed 104
10.10 Safety stop 105
10.11 Light indicators and speakers 106
11. Commissioning 110
11.1 Analysis of the work environment 110
11.2 Risk assessment 112
11.3 Creating and configuring maps 113
11.4 Markers 123
11.5 Positions 126
11.6 Creating missions 127
11.7 Creating a footprint 131
11.8 Using operating hazard zones 135
11.9 Making a brake test 137
11.10 Creating user groups and users 138
11.11 Creating dashboards 141
11.12 Updating MiR250 software 143
11.13 Creating backups 143
11.14 System settings 144
12. Usage 152
12.1 Creating markers 152
12.2 Creating positions 157
12.3 Creating the mission Prompt user 159
12.4 Creating the mission Try/Catch 164
12.5 Creating the mission Variable docking 170
12.6 Creating the mission 80 cm doorway 178
12.7 Testing a mission 184
13. Applications 186
13.1 Mounting a top module 186
14. Maintenance 189
14.1 Regular weekly checks and maintenance tasks 189
14.2 Regular checks and replacements 191
14.3 Battery maintenance 193
15. Packing for transportation 194
15.1 Original packaging 194
15.2 Packing the robot for transportation 195
15.3 Battery 195
16. Disposal of robot 196
17. Payload distribution 197
17.1 Side view 198
17.2 Front view 200
17.3 Top view 202
18. Interface specifications 204
18.1 Left side interfaces 204
18.2 Right side interfaces 210
18.3 Connector list 216
19. Error handling 218
19.1 Software errors 218
19.2 Hardware errors 219
1. About this document

This user guide explains how to set up and start operating your MiR250 robot and provides
examples of simple missions you can expand to your purposes. This guide also contains
information regarding the external and internal components of MiR250 along with
instructions for proper maintenance of the robot. You will also find information regarding
safety and specifications needed to commission a safe MiR250 robot application.
NOTICE
Save this manual. It contains important safety and operating instructions.
1.1 Where to find more information

At the MiR website, you can find the following resources under the Manuals tab on each
product page:
• Quick starts describe how you start operating MiR robots quickly. It comes 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 and
how to set up and use top modules and accessories, such as charging stations, hooks, shelf
lifts, and pallet lifts. User guides are available in multiple languages.
• Commissioning guides describe how to commission your robot safely and prepare it to
operate in the workplace.
• Operating guides describe how to set up and use MiR accessories or supported functions
that are mainly hardware-based, such as charging stations and shelf functions.
• Getting started guides describe how to set up MiR accessories that are mainly software-
based, such as MiR Fleet.
• Reference guides contain descriptions of all the elements of the robot interface and MiR
Fleet interface. Reference guides are available in multiple languages.
• Best practice guides specify how much space MiR robots need to execute common
maneuvers.
• REST API references for MiR robots, MiR hooks, and MiR Fleet. HTTP requests can be
used to control robots, hooks, and MiR Fleet.
• MiR network and WiFi guide specifies the performance requirements of your network
and how you must configure it for MiR robots and MiR Fleet to operate successfully.
1.2 Version history

This table shows current and previous versions of this document.
MiR250
Revision Release date Description HW

1.0 2020-06-26 First edition 1.0
1.1 2020-07-01 General improvements throughout the 1.0
document.
1.2 2020-07-08 Update section: Operating hazard zones 1.0
General improvements throughout the

document.
1.3 2020-11-30 Added sections: Warranty, Markers, and 1.0
Positions.
Updated section: Battery storage with Power

save mode and Deep sleep mode.

document.
1.4 2021-03-31 Added sections: Enabling fast swap and 1.0
Swapping out the lithium-ion battery.

document.
2. Product presentation
MiR250 is an autonomous mobile robot that can transport loads up to 250 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
restricted.
Users operate MiR250 via a web-based user interface, which is accessed through a browser
on a PC, smartphone, or tablet. Each robot has its own network—see Connecting to the
robot interface on page 54. The robot can be set up to run a fixed route, be called on
demand, or perform more complex missions.
The robot interface of MiR250 can be accessed via Google Chrome, Google Chromium,
Apple Safari, Mozilla Firefox, and Microsoft Edge browsers.
The robot uses a map of its work area to navigate and can move to any position on the
map—see Navigation and control system on page 74. The map can be created or
imported the first time the robot is used. While operating, the robot avoids obstacles that
are not mapped, like people and furniture.
MiR250 is supplied with a fast swap removable lithium-ion battery.
MiR250 is available both in an ESD approved version, which is black, and a non-ESD
approved version, which is gray.
Specifications for MiR250 are available on the MiR website.
2.1 Main features of MiR250

The main features of MiR250 are:
• Driving in a populated workspace

The robot is designed to operate among people and maneuvers safely and efficiently in
highly dynamic environments.
• Overall route planning and local adjustments
The robot navigates autonomously to find the most efficient paths to its destinations. The
robot adjusts the path when it encounters obstacles that are not on the map, like
personnel and vehicles.
• Efficient transportation of heavy loads
The robot is designed to automate transportation of loads up to 250 kg.
• Sound and light signals
The robot continuously signals with light and sounds, indicating where it will drive and its
current status, for example, waiting for a mission, driving to a destination, or destination
reached.
• User-friendly and flexible
The web-based user interface, accessed from a PC, tablet, or smartphone, gives easy
access to operation and monitoring of the robot and can be programmed without any
prior experience. Different user group levels and tailored dashboards can be set up to suit
different users.
• Alert for 'lost'
If the robot enters a situation where it is unable to find a path to its destination, it stops,
turns on the yellow-purple running error light, and a custom defined Try/Catch action
may be used to alert personnel or take other actions—see Creating the mission
Try/Catch on page 164.
• Automatic deceleration for objects
The built-in sensors ensure that the robot is slowed down when obstacles are detected in
front of it.
• Internal map
The robot can either use a floor plan from a CAD drawing, or a map can be created by
manually driving the robot around the entire site in which the robot is going to operate.
When the robot is mapping, the robot’s sensors detect walls, doors, furniture, and other
obstacles, and the robot then creates a map based on these input. After you've finished
mapping, you can add positions and other features in the map editor—see Creating and
configuring maps on page 113.
2.2 Top modules

The following top modules are available for MiR250:
• MiR Shelf Carrier 250

A top module that allows MiR250 to tow shelves.
• MiR Hook 250
A top module that allows MiR250to tow carts.
To learn more about the top modules, go to the MiR website.
2.3 External parts

This section presents the parts of MiR250 that are visible on the outside.
Figure 2.1. MiR250 external parts.
Table 2.1.
Identification of the external parts in Figure 2.1
Pos. Description Pos. Description
1 Corner bumper: four pcs, one 2 Front cover: opens to front

on each corner compartment—see Internal
parts on page 21
3 Swivel wheel with foot guard: 4 3D depth camera: two pcs,

four pcs, one in each corner both in the front—see
Obstacle detection on
page 79
5 Nanoscan3 safety laser 6 Status light: on all four sides

scanner: two pcs, in opposite of the robot—see Light
corners—see Obstacle indicators and speakers on

detection on page 79 page 106
7 Side cover: opens to side 8 Control panel—see Control

compartment—see Internal panel on page 16
parts on page 21
9 Manual brake release 10 Rear cover: opens to rear

switch—see Control panel compartment—see Internal
on page 16 parts on page 21
11 Signal light: eight pcs, two on 12 Proximity sensor: eight pcs,

each corner—see Light two in each corner behind
indicators and speakers on corner covers—see Obstacle
page 106 detection on page 79
13 Top plate 14 Left top compartment—see

Internal parts on page 21
15 Right top compartment—see

Internal parts on page 21
Identification label
MiR250 is delivered with an identification label mounted to the product. The identification
label identifies the product, the product serial number, and the hardware version of the
product.
The identification label of MiR250 is located behind the rear cover next to the battery.
Figure 2.2. Placement of the identification label.
Figure 2.3. Example of a MiR250 identification label.
Nameplate
Every MiR application is delivered with a nameplate that must be mounted to the robot. The
nameplate of MiR250 identifies the application model and serial number and includes the
CE mark, the technical specifications, and the address of Mobile Industrial Robots. The
nameplate identifies the complete MiR application, for example, a robot with a top module.
It is the responsibility of the commissioner to mount the nameplate on the application—see

Mounting the nameplate on page 61.
Figure 2.4. Example of a MiR250 nameplate.
Control panel
MiR250 has a control panel in the rear-left corner of the robot.
The control panel buttons
Figure 2.5. The MiR250 control panel.
Table 2.2.
Identification of items on the control panel in Figure 2.5
1 Manual stop button 2 Resume button
3 Power button 4 Operating mode key
Manual stop
Pressing this button stops the robot. After pressing this button, you must press the Resume
button to let the robot continue operating.
Color indication:
• Red: It is possible to engage the Manual stop.
Resume
Pressing this button:
• Clears the Emergency stop state.

• Lets the robot continue operating after the Manual stop button was pressed or after the
operating mode changes.
• Lets the robot start operating after powering up.
Color indication:
• Blinking blue: The robot is waiting for a user action (clear the Emergency stop state,
acknowledge the change of operating mode).
Power
Pressing this button for three seconds turns the robot on or shuts it off.
Color indication:
• Blue: The robot is off.

• Blinking green: The robot is starting up.
• Green: Normal operation.
• Blinking red: The battery level is too low to start without additional charging, or the robot
is shutting down.
The Operating mode key

The Operating mode key lets you switch between operating modes.
• Left position: Autonomous mode

Puts the robot in Autonomous mode.
• Middle position: Locked

Locks the robot. The robot blocks the wheels; you cannot start a mission or drive the robot
manually.
• Right position: Manual mode

Puts the robot in Manual mode.
For more information on operating modes, see Operating modes on the next page.
Manual brake release switch

The Manual brake release switch is located below the control panel and releases the
mechanical brakes on MiR250. You release the robot's mechanical brakes by turning the
Manual brake release switch clockwise.
Figure 2.6. The manual brake release switch is located below the control panel.
The mechanical brakes require electrical power to be released, so if the robot is without
power, the mechanical brakes cannot be released. You can see if the robot is powered, by
checking if the Power button on the control panel lights up.
If MiR250 shuts down due to low battery percentage, there is still enough
power to release the brakes for approximately a week after.
When driving in Autonomous mode, the robot engages and releases the mechanical brakes
automatically.
The robot cannot operate while the mechanical brakes are released manually.
Operating modes
MiR250 has two operating modes: Manual mode and Autonomous mode.
Manual mode
In this mode, you can drive the robot manually using the joystick in the robot interface. Only
one person can control the robot manually at a time. To ensure that nobody else takes
control of the robot, the robot issues a token to the device on which you activate the Manual
mode.
For information about activating this mode, see Driving the robot in Manual mode on
page 55.
Autonomous mode
In this mode, the robot executes the programmed missions. After switching the key to this
mode, you can remove the key, and the robot will continue driving autonomously. In
Autonomous mode, the joystick is disabled in the robot interface.
2.4 Internal parts

Most internal parts of MiR250 are accessed through covers that open to different
compartments:
• Front compartment
• Rear compartment
• Side compartments
• Top compartments
To access the compartments correctly, see Accessing the internal parts on page 38.
WARNING
Removing covers from the robot exposes parts connected to the power supply,
risking damage to the robot from a short circuit and electrical shock to
personnel.
• Before removing any covers, turn off the robot, and disconnect the
battery—see Disconnecting the battery on page 66.
Front compartment
The front compartment holds several electronic components, such as the robot computer
and the motor controller carrier board.
To open the front compartment, see Accessing the internal parts on page 38.
Front compartment components

The front compartment components are listed in Table 2.3.
Figure 2.7. Internal parts of the front compartment.
Table 2.3.
Identification of internal parts in Figure 2.7
1 Loudspeaker 2 Carrier board with motor

controller controlling the left-
side drivetrain
3 Carrier board with motor 4 Robot computer

controller controlling the right-
side drivetrain
5 Charging pads under robot and

broom for keeping dirt away
from the charging pads
Rear compartment
The rear compartment holds the robot’s battery, Battery disconnect lever, power board, and
safety PLC. The battery and Battery disconnect lever can be accessed without the use of
tools. The other components in the rear compartment are only accessible via use of tools.
To open the rear compartment, see Accessing the internal parts on page 38.
NOTICE
The unique nameplate of your robot is to be mounted on the rear
compartment cover—see Mounting the nameplate on page 61. Make sure
you do not swap the cover with covers from other robots.
Rear compartment components

The rear compartment components are listed in Table 2.4.
Figure 2.8. Internal parts of the rear compartment.
Table 2.4.
1 Battery disconnect lever 2 Battery connector
3 Battery 4 Cable charging interface
5 Power board for motor 6 Safety PLC

controller, robot computer, and
safety PLC
Side compartments
The side compartments contain the bogies and drive wheels.
To access a side compartment, see Accessing the internal parts on page 38.
Side compartment components

The left side compartment components are listed in Table 2.5
Figure 2.9. Internal parts of the left side compartment.
Table 2.5.
1 Safe Stop 1 (SS1) contactor 2 Safe Torque Off (STO) contactor
3 Bogie and drivetrain consisting of 4 Safe Torque Off (STO) contactor

motor, gearbox, encoder, brake,
drive wheel, and assembly parts
The right side compartment components are listed in Table 2.6
Figure 2.10. Internal parts of the right side compartment.
Table 2.6.
1 Router 2 Safe Stop 1 (SS1) contactor
3 Bogie and drivetrain consisting of

motor, gearbox, encoder, brake,
drive wheel, and assembly parts
Top compartments
The two top compartments contain electrical interfaces that can be connected to top
modules.
To open a top compartment, see Accessing the internal parts on page 38.
Figure 2.11. The top compartments on the robot.
Top compartment components

The top compartments interfaces are listed in Table 2.7. For detailed information on
electrical interfaces, see Interface specifications on page 204.
Figure 2.12. Interfaces in the top compartments.
Table 2.7.
Identification of interfaces in Figure 2.12
1 Emergency stop 2 Auxiliary power connector
3 Ethernet 4 General purpose I/Os
5 Auxiliary safety functions I/Os
3. Warranty
3. Warranty
Mobile Industrial Robots offers a standard warranty on all products.
Contact your distributor to see the terms and extend of product coverage.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR250 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR250,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR250.
4. Safety
4. Safety
Read the information in this section before powering up and operating MiR250.
Pay particular attention to the safety instructions and warnings.
NOTICE
Mobile Industrial Robots disclaims any and all liability if MiR250 or its
accessories are damaged, changed, or modified in any way. Mobile Industrial
Robots cannot be held responsible for any damages caused to MiR250,
accessories, or any other equipment due to programming errors or
malfunctioning of MiR250.
4.1 Safety message types

This document uses the following safety message types.
WARNING
Indicates a potentially hazardous situation that could result in death or serious
injury. Carefully read the message that follows to prevent death or serious
injury.
CAUTION
Indicates a 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.
NOTICE
Indicates important information, including situations that can result in damage
to equipment or property.
4. Safety
4.2 General safety precautions

This section contains general safety precautions.
WARNING
If the robot is not running the correct software and is therefore not functioning
properly, the robot may collide with personnel or equipment causing injury or
damage.
• Ensure that the robot is always running the correct software.
WARNING
When the robot is in an operating hazard zone, there is a risk of injury to any
personnel within the zone.
• Ensure that all personnel are instructed to stay clear of operating hazard
zones when the robot is in or approaching the zone.
WARNING
The robot may drive over the feet of personnel, causing injury.
• All personnel must be informed of the side Protective fields of the robot and
be instructed to wear safety shoes near an operating robot—see Personnel
detection on page 94.
WARNING
The robot may drive into a ladder, scaffold, or similar equipment that has a
person standing on it. Personnel risk fall injuries and equipment may be
damaged.
• Don't place ladders, scaffolds, or similar equipment in the robot's work

environment.
4. Safety
WARNING
The robot may drive down staircases or holes in the floor and cause serious
injury to personnel and damage to the robot and to equipment.
• Mark descending staircases and holes as Forbidden zones on maps.

• Keep the maps up to date.
• Inform personnel that the robot cannot detect descending staircases and
holes in the floor in time to stop.
WARNING
Contact with live electrical parts can cause electric shock.
• Do not touch any internal components of the robot while it is powered.
WARNING
Using a charging device different from the one supplied by the manufacturer
can cause a fire and thereby burn injuries to nearby personnel and damage to
the robot and equipment.
• Only use an original MiR charger.
WARNING
Attempting to charge batteries outside the robot can lead to electrical shock
or burns.
• Never charge the batteries outside the robot.
4. Safety
WARNING
Lithium battery packs may get hot, explode, or ignite and cause serious injury
if they are misused electrically or mechanically.
Observe the following precautions when handling and using lithium-ion
batteries:
• Do not short-circuit, recharge, or connect with false polarity.

• Do not expose to temperatures 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 an original MiR charger (cable charger or charging station) and
always follow the instructions from the battery manufacturer.
• Do not touch damaged batteries with bare hands. Only personnel using
suitable Personal Protection Equipment (PPE) and tools should handle
damaged batteries.
• Isolate the battery and keep clear if the following conditions are observed:
• The battery exhibits abnormally high temperatures.
• The battery emits abnormal odors.
• The battery changes colors.
• The battery case is deformed or otherwise differs from the normal
electrical or mechanical condition.
• Modifications or manipulations of the battery may lead to considerable
safety risks and are therefore prohibited.
• Do not use the battery for anything other than MiR250.
4. Safety
WARNING
Load falling or robot overturning if the load on the robot is not positioned or
fastened correctly can cause fall injuries to nearby personnel or damage to
equipment.
• Ensure that the load is positioned according to the specifications and is

fastened correctly—see Payload distribution on page 197.
CAUTION
Robot malfunctions can cause an electrical fire, causing damage and injury to
equipment and personnel.
• Personnel operating near the robot must be informed on how to use an ABC
fire extinguisher to put out an electrical fire should the robot malfunction
and catch on fire.
CAUTION
Risk of trapping or injury to personnel if robots malfunction or if personnel
enter operating hazard zones.
• Personnel operating near the robot must be informed on how to engage the
robot's Emergency stop function in emergency situations.
4.3 Intended use

MiR250 is intended to be commissioned and used in indoor industrial environments where
access for the public is restricted. For details about the environmental conditions in which
MiR250 should operate, see specifications for MiR250 on the MiR website.
MiR250 is intended to be commissioned according to the guidelines in Commissioning on

page 110. This is a prerequisite for safe usage of MiR250.
MiR250 is equipped with safety-related features that are purposely designed for
collaborative operation where the robot operates without a safety enclosure or together
with people.
4. Safety
MiR250 is intended to be used with top modules supported by Mobile Industrial Robots or
custom modules that:
• Do not have any moving parts.

• Do not extend the footprint of the robot.
• Operate within the environmental conditions required for MiR250.
• Are within the requirements in Payload distribution on page 197.
If used with custom modules, all obligations of a manufacturer apply to the individual who
performs the modifications in accordance with the machinery directive.
MiR250 is designed for and all risks are considered when used with one of the following
types of top modules:
• MiR Shelf Carrier 250 to transport MiR supported shelves.

• MiR Hook 250 to tow carts.
MiR250 can be used as a partly complete machine as defined in the EU machinery directive,
with top modules that do not meet the above limitations. Those who design, manufacture, or
commission a system that does not meet the limitations of use of MiR250 carry the
obligations of a manufacturer and shall ensure a safe design according to EN ISO 12100.
Guidelines outlined in this manual are not sufficient.
The following list gives examples of modules that are foreseeable misuse of MiR250:
• Top modules (including total payload) that increase the footprint of MiR250
• Conveyers (powered and non-powered)
• Industrial robot arms
• Devices that tow carts
• Customized load transfer stations
NOTICE
A safe machine does not guarantee a safe system. Follow the guidelines in
Commissioning on page 110 to ensure a safe system.
4.4 Users
MiR250 is only intended to be used by personnel that have received training in their
required tasks.
4. Safety
There are three types of intended users for MiR250: commissioners, operators, and direct
users.
Commissioners
Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and
maintenance of MiR250 and have the following main tasks:
• Commissioning of the product. This includes creating maps and restricting the user
interface for other users and making brake tests with a full payload.
• Conducting the risk assessment.
• Determining the payload limit, weight distribution, safe fastening methods, safe loading
and unloading of loads on MiR250, and ergonomic loading and unloading methods if
relevant.
• Ensuring the safety of nearby personnel when the robot is accelerating, braking, and
maneuvering.
• Marking operating hazard zones.
Operators
Operators have thorough knowledge of MiR250 and of the safety precautions presented in
this user guide. Operators have the following main tasks:
• Servicing and maintaining MiR250.

• Creating and changing missions and map features in the robot interface.
Direct users
Direct users are familiar with the safety precautions in this user guide and have the
following main tasks:
• Assigning missions to MiR250.

• Fastening loads to MiR250 securely.
• Loading and unloading from a paused robot.
All other persons in the vicinity of MiR250 are considered indirect users and must know how
to act when they are close to the robot. For example, they must be aware that visibly
marked operating hazard zones must be respected.
4. Safety
4.5 Foreseeable misuse

Any use of MiR250 deviating from the intended use is deemed as misuse. This includes, but
is not limited to:
• Using the robot to transport people

• Using the robot on steep surface grades, such as ramps
• Making changes to the SICK configuration
• Driving the robot on cross slopes
• Exceeding the total payload
• Positioning or fastening loads incorrectly according to the specifications—see Payload
distribution on page 197
• Using Emergency stop buttons for anything other than emergency stops
• Using the robot in medical and life critical applications
• Operating the robot outside the permissible operating parameters and environmental
specifications
• Using the robot in potentially explosive environments
• Using the robot outdoors
• Using the robot in hygiene zones
4.6 Warning label

MiR250 is supplied with a warning label that specifies that it is strictly prohibited to ride on
the robot.
The label must be placed on the robot or top module so that it is clearly visible.
Figure 4.1. The warning label must be placed on the robot or top module.
4. Safety
4.7 Residual risks

Mobile Industrial Robots has identified the following potential hazards that commissioners
must inform personnel about and take all precautions to avoid when working with MiR250:
• You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot
or walk towards the robot or its intended path while it is in motion.
• You risk being run over, drawn in, trapped, or struck if you stand in the path of the robot
or walk towards it while it is driving in reverse. The robot only drives in reverse when
undocking from a marker, such as a charging station or load transfer station.
• You risk being crushed or trapped if you touch the robot while it is in motion.
• You risk being crushed or trapped if the robot places a load outside a designated drop-off
area due to faulty localization.
• You risk losing control of the robot if it is accessed by unauthorized users. Consider
increasing the IT security of your product—see IT security on page 72.
NOTICE
Other significant hazards may be present in a specific robot installation and
must be identified during commissioning.
5. Accessing the internal parts

Most internal parts of MiR250 are accessed through covers that open to different
compartments:
• Front compartment
• Rear compartment
• Side compartments
• Top compartments
For more information on how to remove the covers on MiR250, see the video
How to remove and attach the covers on MiR250 on MiR Academy at the MiR
website. Contact your distributor for access to MiR Academy.
WARNING
Removing covers from the robot exposes parts connected to the power supply,
risking damage to the robot from a short circuit and electrical shock to
personnel.
• Before removing any covers, turn off the robot, and disconnect the
battery—see Disconnecting the battery on page 66.
5.1 Front compartment

To open the front compartment, follow these steps:
1. Unscrew the two screws holding the front cover with a T30 Torx screwdriver.
2. Pull the front cover off of the robot.
5.2 Rear compartment

To open the rear compartment, follow these steps:
1. Push the two white buttons at the same time.
2. Loosen the cover by first loosening the bottom corners one at the time, then the two top
corners. Pull down and then out on each top corner.
3. Pull off the cover.
5.3 Side compartments

The front and rear covers have to be removed before you can remove the side
covers.
To open a side compartment, follow these steps:
1. Turn the two screws counterclockwise with a T30 Torx screwdriver.
2. Pull the cover off.
5.4 Top compartments

To open a top compartment, unscrew the four screws with a T8 Torx screwdriver, and lift off
the black plastic top cover.
NOTICE
With the antenna cables mounted, the plastic top covers can be lifted 50 mm.
If you need to remove a cover completely, the antenna cable needs to be
detached from the cover first. When reattaching the covers, make sure that
the antenna cables are not damaged.
Figure 5.1. The top compartments of MiR250.
6. Getting started
6. Getting started
This section describes how to get started with MiR250.
NOTICE
To be able to use MiR250, your robot must be running software version 2.9.0
or higher.
NOTICE
Read Safety on page 29 before powering up MiR250.
In some images in this section, the robot is shown with a MiR Shelf Carrier 250
top module.
6.1 In the box

This section describes the contents of the MiR250 box.
6. Getting started
Figure 6.1. The box containing the robot and accessories.
The box contains:
• The MiR250 robot

• A MiR250 document folder containing a USB flash drive and the following printed
documents:
• MiR250 Quick Start
• The CE Declaration of Conformity for your robot
• Getting the robot online
• Passwords
• The unique nameplate for your robot
• The USB flash drive in the document folder has the following content:
• MiR250 User Guide
• MiR250 Quick Start
• MiR Network and WiFi Guide
• MiR Robot Reference Guide
• MiR Robot REST API Reference
• Getting the robot online
• CE Declaration of Conformity
6.2 Unpacking MiR250

This section describes how to unpack the robot.
6. Getting started
Keep the original packaging for future transportation of MiR250.
To unpack the robot, follow these steps:
1. Place the box with the robot so that there is at least three meters of free space at the
front or the back of the box. This is necessary as the robot drives out of the box on a
ramp.
2. Cut the protective straps surrounding the box.
6. Getting started
3. Remove the lid from the box.
4. Take the folder with the printed documents and the USB flash drive out of the box.
6. Getting started
5. Remove the walls of the box and the protective foam blocks.
6. Place the lid of the box so that you can use it as a ramp. Align the lid so that it is flush
with the base of the box.
6. Getting started
6.3 Connecting the battery

To connect the battery to the robot, you need to open the rear compartment—see Accessing
the internal parts on page 38.
To connect the battery to the robot, follow these steps:
1. Turn the battery lever lock clockwise to unlock the battery lever.
2. Pull up the lever to connect the battery connector to the battery. Then turn the battery
lever lock counterclockwise to secure the battery lever.
6. Getting started
3. Reattach the rear cover by tilting it slightly so that the bottom point forward and insert it
into the two attachment sockets. Press the two white buttons while attaching the cover to
the robot.
4. Click the cover in place one corner at the time.
6. Getting started
6.4 Powering up the robot

To power up the robot, follow these steps:
6. Getting started
1. Press the Power button for three seconds to turn on the robot.
The status lights waver yellow, and the robot starts the software initialization process.
6. Getting started
When the initialization process ends, the robot goes into Protective stop.
2. Press the Resume button to clear the Protective stop. The robot is now ready for
operation.
6. Getting started
6.5 Connecting to the robot interface

When the robot is turned on, it enables the connection to its WiFi access point. The name of
the access point appears in the list of available connections on your PC, tablet, or phone.
NOTICE
The original username and password for the robot’s web interface are in the
document Getting the robot online.
The unique password for the WiFi access point is in the Passwords document.
Both documents are in the box with the product.
To connect to the robot interface, follow these steps:
1. Using your PC, tablet, or phone, connect to the WiFi access point of the robot using the
unique password for the WiFi access point. The access point name has the following
format: MiR_20XXXXXXX.
The access point name is derived from the robot application's model serial
number.
6. Getting started
2. In a browser, go to the address mir.com and sign in.
3. Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in
Manual mode below.
6.6 Driving the robot in Manual mode
CAUTION
When driving the robot in Manual mode, it is possible to mute the Protective
fields and drive the robot into Forbidden zones and Unpreferred zones on the
map. This means that the robot will only stop when it is very close to an
obstacle and will not respond to zones on the map. This can result in injury to
personnel or damage to equipment if the robot is not driven carefully.
• Drive carefully to avoid collisions with any personnel or objects when

driving the robot in Manual mode.
• Avoid driving the robot manually without a clear visual of the robot.
6. Getting started
To drive the robot in Manual mode, follow these steps:
1. On the robot, turn the Operating mode key to Manual mode (turn it to the right).
2. In the robot interface, select the joystick icon. The joystick control appears.
6. Getting started
3. Select Manual control. The Resume button on the robot starts blinking.
4. On the robot, press the Resume button. The status lights turn blue, indicating that the
robot is in Manual mode.
5. Drive the robot off the ramp using the joystick.
Place your foot in front of the ramp while the robot drives on it to keep the
ramp from slipping.
6. Getting started
6.7 Moving the robot by hand

You should generally avoid moving the robot by hand, but if, for example, the robot gets
stuck near an obstacle and cannot be moved by manual control, it is possible to do so.
Before moving the robot by hand, make sure the mechanical brakes are released.
To release the brakes, the robot must be turned on—see Connecting the
battery on page 49. When the robot shuts down due to low battery, there is
still enough power to use the manual brake release for a week or more.
6. Getting started
Release the brakes by turning the Manual brake release switch located below the control
panel clockwise.
Figure 6.2. The Manual brake release switch is located below the control panel.
To move the robot by hand, either push or pull it.
Figure 6.3. When pushing the robot, only push on the top plate.
6. Getting started
Figure 6.4. When pulling the robot, use either the front pull handle or the rear pull handle.
NOTICE
When handling the robot, do not push or pull the robot sideways, and do not
use the covers for pushing or pulling. Only use the designated pull handles or
the top plate.
6.8 Checking the hardware status

To check that all hardware components work as intended, follow these steps:
1. Sign in to the robot interface—see Connecting to the robot interface on page 54.
2. Go to Monitoring > Hardware health.
6. Getting started
3. Check that all elements on the page have the OK status and that they have green dots on
the left.
For more information, see Hardware health in MiR Robot Reference Guide on the MiR
website.
6.9 Mounting the nameplate

Before using MiR250, you must mount its unique nameplate to it. The nameplate contains
information specific to your MiR application—see Nameplate on page 16.
NOTICE
The nameplate must be mounted as described in the following steps. If
mounted incorrectly, the CE mark is invalid.
6. Getting started
To mount the nameplate correctly, follow these steps:
1. Locate the rear cover—see External parts on page 13.

2. Clean the area marked in the image below with a degreasing agent.
3. Mount the nameplate on the cleaned area.
6. Getting started
6.10 Shutting down the robot

To shut down MiR250, follow these steps:
1. Ensure that the robot is not moving or executing an action.

2. Press the Power button for three seconds.
3. The robot starts the shutdown process. The status lights waver yellow, and the Power
button blinks red.
6. Getting started
4. When the robot finishes the shutdown process, the status and the signal lights go off, and
the Power button turns blue.
When you shut down the robot for transportation, service, or repair, the battery must be
disconnected—see Disconnecting the battery on page 66.
7. Battery and charging

The robot is powered by a fast swap lithium-ion battery that can be charged inside the robot
with a MiR cable charger or a MiR Charge 48V charging station.
7.1 Charging the robot

This section describes how to charge MiR250 using a MiR cable charger.
A MiR cable charger is not part of the MiR250 standard delivery. Contact your
distributor for more information.
The robot is delivered 40-60% charged.
The rear compartment holds the robot’s battery. To access the rear compartment, see
Accessing the internal parts on page 38.
To charge MiR250 using the cable charger, connect the cable charger to the charging
interface on the robot in the bottom-right corner.
Use only an original MiR cable charger.
If the robot has been inactive for more than a week or if its battery
percentage has been below 5% for more than four hours, the battery goes into
Power save mode, which disables the power to the robot—see Battery
storage on page 69.
To disable Power save mode, disconnect the battery connector for 30 seconds
and then reconnect it and wait 30 seconds before turning on the robot, or
connect a MiR cable charger to the robot.
For information about the charging time, see specifications on the MiR website.
7.2 Disconnecting the battery

Whenever the robot is to be transported, undergo maintenance, or stored for long periods of
time, you should always disconnect the battery.
To disconnect the battery, follow these steps:
1. Turn the battery lock clockwise to release it.
2. Press down on the battery lever to disconnect the battery.
3. Turn the battery lock counterclockwise to lock it.
7.3 Enabling fast swap

If you wish to enable the fast swap-option on the robot, you must modify the battery
disconnect assembly.
The levers holding the battery in place are fastened with screws from the
factory to ensure that the battery stays disconnected during transportation.
To enable the fast swap-option on the robot, follow these steps:
1. Disconnect the battery—see Disconnecting the battery on page 66.
2. Unscrew the screw shown in the image below with a T20 Torx screwdriver. Do this on
both sides of the lever.
3. Unscrew the screw shown in the image below with a 10 mm Hex screwdriver. Do this on
both sides of the lever.
4. Fasten the two levers to the lever controlling the connector.
7.4 Swapping out the lithium-ion battery

MiR250 is supplied with a removable lithium-ion battery. The battery can be charged inside
the robot with a MiR cable charger.
The robot is delivered with one lithium-ion battery. Contact your distributor if
you need more batteries.
To be able to remove the battery, you must first enable the fast swap-option in your robot—
see Enabling fast swap on the previous page.
To swap out the battery, follow these steps:
1. Disconnect the battery—see Disconnecting the battery.
2. Pull out the battery.
You can now replace the battery.
3. Do these steps in reverse when putting in the battery.
7.5 Battery storage

The battery should be stored in an area at room temperature with a non-condensing relative
air humidity—see specifications on the MiR website. Temperatures and humidity below or
above the specifications will shorten the service life of the battery.
The battery should not be exposed to nor submerged in any liquid as this may damage the
battery.
Charge the battery before storage to preserve the service life of the battery.
NOTICE
If you store the battery for a longer period of time when it is almost depleted,
you may not be able to get it running again. Contact your distributor if this
occurs.
To preserve the battery, disconnect the battery from the robot before storing the robot.
Power save mode

If the battery is not used for a period of time, it enters Power save mode. When the battery
is in Power save mode, it will not power the robot until the battery is activated again.
To activate the battery after it has been in Power save mode, disconnect it from the robot
for 30 seconds, reconnect it to the robot, wait 30 seconds, and then turn on the robot. If the
robot cannot turn on, contact your distributor.
The amount of time it takes for the battery to enter Power save mode depends on the state
of charge of the battery. The best state to store the battery at is when it is 80% charged.
Table 7.1 provides best practice values for storage time and the time it takes for the battery
to enter Power save mode depending on the battery percentage.
Table 7.1.
Time taken for the battery to enter Power save mode and maximum storage time at
various battery percentages
Battery state of charge Power save mode timeout Maximum storage time
100% 1 week 18 months
Battery state of charge Power save mode timeout Maximum storage time
25% 1 week 6 months
5% 4 hours 2 months
0% 4 hours 1 month
The battery percentage displayed in the robot interface is based on when the
robot will shut down due to low voltage. When the interface displays 0%
battery percentage, the actual state of charge is around 5%
Deep sleep
When the battery is completely depleted, the battery enters Deep sleep mode. It can be
stored for six weeks in this state before the battery shuts down completely, and the battery
cells may begin to take damage.
When you connect the battery to a charger, it should be brought out of Deep sleep mode,
but if not, apply the same method as when it goes into Power save mode.
7.6 Battery disposal

Return unserviceable batteries to relevant facilities in accordance with local statutory
regulations.
A crossed-out wheeled bin indicates that the product needs to be disposed separately and
not as municipal waste—see Figure 7.1.
You are legally obliged to return used batteries and rechargeable batteries. Disposing used
batteries in the household waste is prohibited. Batteries containing hazardous substances are
marked with the crossed-out wheeled bin. The symbol indicates that it is forbidden to
dispose the product via the domestic refuse. The chemical symbols for the respective
hazardous substances are Cd= Cadmium, Hg = Mercury, Pb = Lead.
Figure 7.1. Battery disposal symbols.
8. IT security
8. IT security
IT security is a set of precautions you can take to prevent unauthorized personnel from
accessing MiR250. This section describes the main IT-security related risks and how to
minimize them when commissioning MiR250.
MiR250 communicates all data over the network that it is connected to. It is the
responsibility of the commissioner to ensure that it is connected to a secure network. MiR
recommends conducting an IT-security risk assessment before commissioning the robot.
Contact your distributor for a list of FAQs about IT security.
8.1 Managing users and passwords

Managing your users and passwords is the main way you can control access to MiR250.
There are three default users with predefined passwords for you to start using. These are
described in the MiR Robot Reference Guide along with instructions to create new users,
user groups, and passwords. MiR advises you to:
• Change the default password for all predefined users if you choose to continue to use
them. Make sure to choose a strong password since MiR250 does not enforce any
password rules nor expire the password.
• Create new user groups if more levels of access are necessary.
• Create dedicated user accounts under the relevant user group for each person accessing
MiR250, and ensure that the users change the password on their first sign-in. It is not
recommended to have several users share the same account.
• Only enable users with a minimum level of access to use a pin code to sign in. Users with
a higher level of access are recommended to use a strong password to sign in instead.
8.2 Software security patches

To improve the security of MiR250, MiR supplies security patches to the operating system in
new MiR software update files. When you install a security patch, it takes approximately 10-
15 minutes longer to update a MiR product.
8. IT security
Understanding MiR software versions

MiR uses the Major.Minor.Patch.Hot fix format to version software. For example, 2.8.1.1
means that the software is based on the second major release, the eighth minor release of
the major version, the first patch release of the minor version, and, in this example, a single
hot fix is included too.
• Major releases include the most significant changes that affect the entire robot software.
• Minor releases often include new features and smaller changes that only affect parts of
the software.
• Patch releases focus on fixing small issues in the software and introducing quality
improvements.
• Hot fix releases are only created when a patch release has introduced a critical issue that
needs to be fixed immediately.
Security patch policy

MiR applies the following policy when supplying security patches:
• New security patches are distributed per every minor release.

• All patch releases under a minor release include the previous security patches also. In
other words, if you chose not to install the first software version in a minor release, such
as version 2.9.0, the security patches will still be installed when you update to 2.9.1 or
higher.
9. Navigation and control system

The navigation and control system is responsible for driving the robot to a goal position
while avoiding obstacles. This section describes the processes and components involved in
the robot's navigation and control system.
9.1 System overview

The purpose of the navigation and control system is to guide the robot from one position on
a map to another position. The user provides the map and chooses the goal position the
robot must move to. The diagram in Figure 9.1 describes the processes in the navigation and
control system.
The main processes involved in the navigation system are:
• Global planner
The navigation process starts with the global planner determining the best path for the
robot to get from its current position to the goal position. It plans the route to avoid walls
and structures on the map.
• Local planner
While the robot is following the path made by the global planner, the local planner
continuously guides the robot around detected obstacles that are not included on the
map.
• Obstacle detection
The safety laser scanners, 3D cameras, and proximity sensors are used to detect obstacles
in the work environment. These are used to prevent the robot from colliding with
obstacles.
• Localization
This process determines the robot's current position on the map based on input from the
motor encoders, inertial measurement unit (IMU), and safety laser scanners.
• Motor controller and motors
The motor controller determines how much power each motor must receive to drive the
robot along the intended path safely. Once the robot reaches the goal position, the brakes
are engaged to stop the robot.
Each part of the process is described in greater detail in the following sections.
Figure 9.1. Flow chart of the navigation and control system. The user provides the necessary input for the robot
to generate a path to the goal position. The robot executes the steps in the navigation loop until it reaches the
goal position and stops by engaging the brakes.
9.2 User input

To enable the robot to navigate autonomously, you must provide the following:
• A map of the area, either from a .png file or created with the robot using the mapping
function—see Creating and configuring maps on page 113.
• A goal destination on that map—see Markers on page 123.
• The current position of the robot on the map. This usually only needs to be provided when
a new map is activated.
Figure 9.2. On the map, the current position of the robot is identified by the robot icon , and the goal
destination in this example is the robot position . The robot computer now determines a path from the
current position to the goal position.
Once the robot computer has a map with the robot's current position and a goal destination,
it begins planning a route between the two positions on the map using the global planner.
9.3 Global planner

The global planner is an algorithm in the robot computer that generates a path to the goal
position. This path is known as the global path.
Figure 9.3. The global path is shown with the blue dotted line that leads from the start to the goal position.
The global path is created only at the start of a move action or if the robot has failed to
reach the goal position and needs to create a new path. The generated path only avoids the
obstacles the robot detected when the path was made and the obstacles marked on the map.
The global path can be seen in the robot interface as a dotted line from the robot's start
position to the goal position.
Figure 9.4. The dotted line from the start position of the robot to the goal position is the global path generated
by the robot computer.
9.4 Local planner

The local planner is used continuously while the robot is driving to guide it around obstacles
while still following the global path.
Figure 9.5. The global path is indicated with the dotted blue line and is visible on the map. The local path is
indicated with the blue arrow, showing the robot driving around a dynamic obstacle.
Whereas the global planner creates a single path from start to finish, the local planner
continues to create new paths that adapt to the current position of the robot and the
obstacles around it. The local planner only processes the area that is immediately
surrounding the robot, using input from the robot sensors to avoid obstacles.
The local path is not displayed in the robot interface. The arrows in the images
here are visual aids used in this guide only.
Figure 9.6. The local planner usually follows the global planner, but as soon as an obstacle gets in the way, the
local planner determines which immediate path will get the robot around the obstacle. In this case, it will likely
choose the path indicated with a green arrow.
Once the local path is determined, the robot computer derives the desired rotational
velocity of each drive wheel to make the robot follow the local path and sends the desired
velocities for each motor to the motor controllers—see Motor controller and motors on
page 87.
9.5 Obstacle detection

The robot detects obstacles continuously while driving. This enables the robot to use the
local planner to drive around obstacles and to determine the robot's current position on the
map.
Three sensor types are responsible for detecting obstacles:
• The safety laser scanners

• The 3D cameras
• The proximity sensors
Table 9.1.
Description of how the robot sees obstacles with its sensors
What the laser scanners
What a human sees What the 3D cameras see
see
A chair placed in the In the robot interface, the The 3D cameras detect
corner of a room is red lines on a map are more details of the chair
detectable by the robot. obstacles detected by the when the robot gets close
laser scanners, and the enough to it. This view
purple clouds are an cannot be seen in the robot
aggregate of the 3D interface.
camera and laser scanner
data. The scanners only
detect the four legs of the
chair.
Safety laser scanners

Two safety laser scanners, diagonally placed on one front and one rear corner of the robot,
scan their surroundings. Each safety laser scanner has a 270° field of view, overlapping and
thus providing a full 360° visual protection around the robot.
When in motion, the safety laser scanners continuously scan the surroundings to detect
objects.
Figure 9.7. The two safety laser scanners together provide a full 360° view around the robot.
The laser scanners have the following limitations:
• They can only detect objects that intersect a plane at 200 mm height from the floor.
• They do not detect transparent obstacles well.
• The scanner data can be inaccurate when detecting reflective obstacles.
• The laser scanners may detect phantom obstacles if they are exposed to strong direct
light.
If you are using the robot in an area with walls made of glass or reflective
material, mark the walls as Forbidden zones on the map, not as walls—see
Creating and configuring maps on page 113. Walls on the map that the
robot cannot detect will confuse the robot's navigation system.
3D cameras
Two 3D cameras positioned on the front of the robot detect objects in front of the robot. The
3D cameras detect objects:
• Vertically up to 1800 mm at a distance of 1200 mm in front of the robot.

• Horizontally in an angle of 114° and 250 mm to the first view of ground.
The 3D cameras are only used for navigation. They are not part of the robot's safety system.
The camera readouts are used as 3D point cloud data. They are not recording
recognizable objects or people.
Figure 9.8. The two 3D cameras can see objects up to 1800 mm above floor height at a distance of 1200 mm in
front of the robot and have a horizontal field of view of 114°.
The 3D cameras have the following limitations:
• They can only detect objects in front of the robot, unlike the full 360° view of the laser
scanners.
• They do not detect transparent or reflective obstacles well.

• They do not detect holes or decending stairways.
• The cameras are not reliable at determining depth when viewing structures with
repetitive patterns.
• The cameras may detect phantom obstacles if they are exposed to strong direct light.
Proximity sensors
Proximity sensors placed in all four corners of the robot detect objects close to the floor that
cannot be detected by the safety laser scanners.
Using infrared light, the proximity sensors point downwards and make sure that the robot
does not run into low objects, such as pallets and forklift forks. They have a range between
5-20 cm around the robot.
Because of the proximity sensor's limited range, the data from them is only useful when the
robot is standing still or moving at reduced speeds, for example, when the robot it pivoting
or docking.
Figure 9.9. The proximity sensors in the corners of the robot detect objects below the safety laser scanners'
plane of view.
The proximity sensors have the following limitations:
• They do not have a long range and are mainly used to detect obstacles missed by the
laser scanners and cameras.
• When the robot is driving fast, obstacles detected by the proximity sensors are too close
for the robot to stop for or avoid.
9.6 Localization
The goal of the localization process is for the robot to determine where it is currently
located on its map. The robot has three inputs for determining where it is:
• The initial position of the robot. This is used as a reference point for the methods used to
determine the robot position.
• The IMU and encoder data. This is used to determine how far and fast the robot has
traveled from the initial position.
• The laser scanner data. This is used to determine the likely positions of the robot by
comparing the data with nearby walls on the map.
This data is used by a particle filter to determine the most likely position of the robot on the
map.
IMU and motor encoders

Both the data from the IMU (Inertial Measurement Unit) and motor encoders is used to
derive where and how fast the robot has traveled over time from its initial position. The
combination of both sets of data makes the derived position more accurate.
If the drive wheels are worn down significantly—see Maintenance on

page 189—or the robot is running with an incorrect gear ratio, the robot will
miscalculate how far it has traveled based on the encoder data.
Laser scanners and particle filtering

The robot computer compares the input from the laser scanners with the walls on the map
to try and find the best match. This is done using a particle filter algorithm. The robot
computer only compares input from the area where it expects the robot to be based on the
encoder and IMU data. Therefore, it is important that the initial position of the robot is
correct.
Failed localization Successful localization
Figure 9.10. In a failed localization, the robot cannot determine a position where the red lines (laser scanner
data) align with the black lines on the map. When the robot can localize itself, it determines a cluster of likely
positions, indicated in the images above as blue dots.
To make sure the robot can localize itself well using particle filtering, consider the following
when creating a map.
• There must be unique and distinguishable static landmarks on the map that are easily
recognizable. A landmark is a permanent structure that the robot can use to orient itself,
such as corners, doorways, columns, and shelves.
No distinguishable landmarks Many distinguishable landmarks
• The robot must be able to detect the static landmarks that are marked on the map to be
able to approximate its current position. Make sure there are not too many dynamic
obstacles around the robot so that it cannot detect any static landmarks.
Cannot detect any static landmarks Can detect enough static landmarks
• To improve the robot's localization, it can often help to divide long continuous walls on
the map. Even if the walls are connected in the actual work environment, it can help the
localization process if the walls on the map are divided into smaller sections.
Undivided walls Divided walls
• The robot does not compare the laser scanner data with the entire map, but only around
the area that it expects to be close to based on the IMU and encoder data and its initial
position. This is why it is important that the initial position you place the robot at on the
map is accurate.
• The robot can drive for a short distance without being correctly localized. As it drives, the
estimated positions should converge to a small area, indicating the robot has determined
an accurate estimate. If this does not occur within a set time limit, the robot reports a
localization error.
9.7 Motor controller and motors

The robot keeps adjusting how much power is sent to each motor based on sensory
input. This means the robot can correct its speed when going up slopes or when carrying a
heavier payload, and it can change its driving direction to avoid moving obstacles.
9.8 Brakes
Once the approximated position of the robot determined from localization is the same as the
goal position calculated by the global planner, the robot stops by using the dynamic brake
function.
Figure 9.11. The robot has reached the goal position and stops by engaging the dynamic brake function.
The dynamic brake function stops the robot by short circuiting the power that was used to
rotate the motor. When this happens, the power that was used to drive the robot forward is
now reversed to stop the rotation of the drive wheels.
Once the robot has stopped, the mechanical brakes are enabled. These brakes are used to
keep the robot in place once it has stopped. You can compare the mechanical brakes with
the parking brake or hand brake in a car.
The mechanical brakes are only used to stop the robot when it is in motion in
emergency situations triggered by the safety system.
The mechanical brakes are automatically released again when the robot receives a new
order requiring it to move.
10. Safety system
10. Safety system

The robot's safety system is designed to mitigate significant hazards which could lead to
injury, for example, stopping the robot if a person is in its path.
MiR250 is equipped with a range of built-in safety-related functions as well as safety-related

electrical interfaces designed for integration with a top module. Each safety function and
interface is designed according to the standard ISO 13849-1. The safety-related functions
and interfaces are selected to support compliance with EN 1525 and ISO 3691-4.
10.1 System overview

The safety system is controlled mainly by the safety PLC. The PLC regulates inputs and
outputs from safety-related functions or interfaces involved with ensuring the safety of
personnel working nearby the robot.
If a safety function is triggered, the robot uses its STO (Safe Torque Off) contactors to bring
the robot to a category 0 stop (stopping by “immediate removal of power to the machine
actuators" according to IEC 60204-1) followed by a controlled brake using an SS1 (Safe Stop
1) function. This is known as bringing the robot into Emergency stop or Protective stop,
depending on the function—see Types of stop below.
Some interfaces are also used to signal safety-related states between the top module and
robot, for example whether the robot is in motion or if the top module is in a state where
the robot must stop or slow down. Each of these are connected through the safety-related
electrical interfaces through two identical circuits to ensure redundancy.
Types of stop
There are four different stopped states:
• Operational stop
• Protective stop
• Emergency stop
• Manual stop
The last three types of stop are monitored by the safety PLC.
10. Safety system
Operational stop
The robot is in Operational stop when it is stopped through the robot interface either
through a mission action or by pausing the mission. The top module and all moving parts are
still connected to a power supply.
Protective stop
The robot enters Protective stop automatically to ensure the safety of nearby personnel.
When the robot enters Protective stop, internal safety contactors are switched so the robot's
top module and all moving parts of the robot do not receive power. You can hear the safety
contactors emit audible clicks when they are switched.
When the robot is in Protective stop, the status lights of the robot turn red, and you are not
able to move the robot or send it on missions until you bring the robot out of the Protective
stop. The following cases describe the various Protective stops and how to bring the robot
out of them:
• A safety laser scanner detects an object in its active Protective field

Remove the object from the active Protective field—see Personnel detection on
page 94. The robot will resume its operating state after two seconds.
• The robot finishes the startup process
The Resume button will flash after startup. Press the flashing Resume button to bring the
robot out of Protective stop.
• Switching between Manual mode and Autonomous mode
After turning the Operating mode key to switch operating modes, the robot enters
Protective stop, and the Resume button flashes. Press the Resume button to bring the
robot out of Protective stop.
• The safety system detects a fault, or the motor control system detects a discrepancy
To bring the robot out of Protective stop, resolve the fault causing the error. Use
information regarding the error from the robot interface to determine the fault. Go to
Monitoring > Hardware health to find specific information on what caused the issue. For
further guidance, see the troubleshooting guides on the Distributor site.
Emergency stop
The robot enters Emergency stop when an Emergency stop button has been pressed
physically. When you press the Emergency stop button, internal safety contactors are
switched so the robot's top application and all moving parts of the robot do not receive
power. You can hear the safety contactors emit audible clicks when they are switched.
10. Safety system
When the robot is in Emergency stop, the status lights of the robot turn red, and you are not
able to move the robot or send it on missions until you bring the robot out of the Emergency
stop. To do this, you must release the Emergency stop button and then press the Resume
button. The Resume button begins flashing blue after you have released the Emergency stop
button. If the robot is in Emergency stop, it will immediately resume an operating state after
you press the flashing Resume button.
Figure 10.1. MiR250 has one Emergency stop button that must be connected through the electrical interface.
You can also connect the interface to a series of additional Emergency stop buttons.
CAUTION
Emergency stop buttons are not designed for frequent use. If a button has
been used too many times, it may fail to stop the robot in an emergency
situation, and nearby personnel may be injured by electrical hazards or
collision with moving parts.
• Only press Emergency stop buttons in emergencies.

• Regularly check that all Emergency stop buttons are fully functional—see
Maintenance on page 189.
• Use the robot interface to stop the robot in non-emergency situations.
Manual stop
The robot enters Manual stop when the red Stop button in the control panel is pressed.
Manual stop brings the robot into the same state as a Protective stop where it can only be
brought to an operational state by pressing the Resume button.
10. Safety system
Figure 10.2. The Stop button is the left-most button on the control panel.
Safety-related functions
The following functions are integrated within the robot itself and cannot be modified or used
with other applications. The following list introduces the main safety-related functions
integrated in MiR250:
• Personnel detection
This function ensures that the robot stops before it collides with personnel or an object. If
the laser scanners detect an object or person within a defined Protective field, the robot is
brought to a stop. The function determines what the current speed of the robot is based
on data from the motor encoders, and the function switches between predefined
Protective fields accordingly. The faster the speed, the larger the Protective field is.
• Overspeed avoidance
The safety system monitors if the motor encoder data indicates that the speed of each
motor is above the limits for maximum rated speed. If the limit is exceeded, the robot
enters Protective stop.
• Stability
The safety system monitors if the motor encoder data indicates that the speed difference
between the two motors are above predefined limits. If the limit is exceeded, the robot
enters Protective stop.
10. Safety system
Safety-related electrical interfaces

The following interfaces are parts of the Auxiliary emergency stop and Auxiliary safety
function interfaces that can be used to connect the safety PLC to a top module—see Internal
parts on page 21. Each electrical interface is redundant, meaning they use two identical
circuits. If one of the circuits fail, the robot enters Protective stop until both circuits are
working correctly again and the robot is restarted, ensuring safe communication between
the top module and robot—see Interface specifications on page 204.
The following list introduces the main safety-related electrical interfaces between MiR250
and its top module:
• Emergency stop circuit

The Emergency stop circuit goes through the Auxiliary emergency stop interface and
connects to the top module. It is intended that any number of Emergency stop buttons can
be connected to the circuit. When the circuit is broken, the robot goes into Emergency
stop.
• Safeguarded stop
This function consists of a circuit that goes through the Auxiliary safety function interface
that connects to the top module. This circuit can be used to bring the robot into Protective
stop until otherwise signaled.
• Locomotion
The locomotion function signals when the robot is driving. A top module can be connected
to this interface if the top module should operate differently when the robot is driving,
such as activating brakes or disconnecting the power to actuators.
• Shared emergency stop
This function consists of a shared circuit between the robot and top module, enabling
them to trigger each other into an Emergency stop.
• Reduced speed
The reduced speed function can be connected to a top module, enabling it to make the
robot reduce its speed to 0.3 m/s. This is for example used by MiR lifts to ensure that the
robot does not drive fast when the lift is raised.
These functions are described in further detail in the following sections.
The diagram in Figure 10.3 shows the inputs to these functions and interfaces and how they
are all connected and monitored by the safety PLC. The safety PLC is able to switch the
safety contactors to cut off power to the robot motors and the top module whenever a
10. Safety system
Protective or Emergency stop is triggered. Also, the safety PLC sends information to the
robot computer to be displayed in the robot interface (go to Monitoring > Hardware
health) and to indicate the robot's status through the status lights and the speaker.
Figure 10.3. Overview of components involved in each safety function and interface. When a safety function is
triggered, the safety PLC switches the STO and brake contactors so the brakes, motors, and power supply to the
top module no longer receive power.
10.2 Personnel detection

The Personnel detection safety function prevents the robot from colliding with personnel or
obstacles by stopping it before it collides with any detected obstacles. It does this using the
safety laser scanners.
10. Safety system
Drives when the area is clear Stops when an obstacle is detected
Figure 10.4. Personnel detection ensures that the robot drives when its path is clear and stops if an obstacle is
detected within its Protective field.
The safety laser scanners are programmed with two sets of Protective fields. One field set is
used when the robot is driving forward and the other when it is driving backward. The
Protective field sets are part of the robot’s Personnel detection safety function. Each
Protective field in the sets is an individually configured contour around the robot. The robot
activates the correct field based on the speed. If a person or object is detected within the
active Protective field, the robot enters Protective stop until the Protective field is cleared of
obstacles for at least two seconds.
The tables in the following sections show the sizes of the Protective fields at given speeds.
The faster the robot moves, the larger the scanners' field is. The speed of the robot is
determined based on the encoder data.
The Protective fields on each side of MiR250 are 210 mm at all speeds.
10. Safety system
WARNING
The Protective field sets are configured to comply with the safety standards of
MiR250. Modifications may prevent the robot from stopping in time to avoid
collision with personnel and equipment. Any modifications of the SICK
configuration requires a new CE certification of the robot and compliance to
all safety standards listed in the specification of the application and in other
way declared.
• Do not modify the safety system without a competent third party to

evaluate the safety of the design and performance of the robot after the
modifications are applied.
10. Safety system
Field set when driving forward

The following table shows speeds and the field range when driving forward. The table
describes the length of the Protective field in front of the robot in different cases. Each case
is defined by a speed interval that the robot may operate at. The colors and cases in Table
10.1 correspond to the field set shown in Figure 10.5.
Table 10.1.
Ranges of the robot's Protective fields within its forward speed interval cases
Case Speed Protective field range Comments
1 0.0 to 0.10 m/s 0-80 mm When pivoting
2 0.10 to 0.30 m/s 0-180 mm
3 0.30 to 0.50 m/s 0-360 mm
4 0.50 to 0.90 m/s 0-780 mm
5 0.90 to 1.30 m/s 0-1350 mm
6 1.30 to 1.70 m/s 0-2100 mm
7 1.70 to 2.10 m/s 0-2850 mm Forward at max. speed
Figure 10.5. The illustration shows the field set contours when the robot drives forward. The range of the active
field changes with the robot's speed.
10. Safety system
Field set when driving backward

The field set for driving backward is the same as the field set for driving forward. However,
the robot is limited to a top speed of 1.0 m/s when driving backward and therefore only has
five fields. The colors and cases in Table 10.2 correspond to the field set shown in Figure
10.6.
Table 10.2.
Ranges of the robot's Protective fields within its backward speed interval cases
Case Speed Protective field range Comments
1 0.0 to -0.10 m/s 0-80 mm When pivoting
2 -0.10 to -0.30 m/s 0-180 mm
3 -0.30 to -0.50 m/s 0-360 mm
4 -0.50 to -0.90 m/s 0-780 mm
5 -0.90 to -1.00 m/s 0-1350 mm Backward at max. speed
Figure 10.6. The illustration shows the field set contours when driving backward. The range of the active field
changes with the robot's speed. The illustration also shows how the front scanner reduces its Protective field to
a minimum when the robot moves backward.
NOTICE
Scanners measure distances to diffuse reflections, which means that a
tolerance is added to the Protective field sets to secure a safe detection of
persons crossing the Protective field sets. The tolerance distance is 65 mm.
10. Safety system
Muted Protective fields

When performing tasks that require the robot to move very close to surrounding objects, the
robot mutes the Protective field sets.
CAUTION
When the robot has muted Protective fields, it may not stop in time to avoid
collisions with obstacles or personnel in its path.
• Mark areas where the robot mutes its Protective fields as operating hazard
zones, and inform personnel not to enter the zone while the robot is
operating in it.
When muting the Protective fields, the robot does the following:
• Reduces the size of the field sets

• Turns off Collision detection
• Decreases the speed
• Flashes the yellow signal lights
You can also mute the Protective fields using the robot interface:
1. Put the robot into Manual mode—see Driving the robot in Manual mode on page 55.
2. In the robot interface, select Muted Protective fields in the joystick control.
3. In the dialog box, select Yes to acknowledge the muting of the Protective fields.
The status and the signal lights start flashing yellow, and the robot is ready to drive with
muted Protective fields.
10.3 Overspeed avoidance

The overspeed avoidance function prevents the robot from driving if the motor encoders
measure that the robot is driving faster than the predefined safety limit. This can occur if
there is a hardware error in the robot, or if it drives down a steep slope.
If the robot is driving faster than the predefined safety limit, it is immediately brought into
Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled.
10. Safety system
10.4 Stability
The stability function prevents the robot from driving if the motor encoders measure that
the expected difference between how fast each wheel turns is outside the predefined safety
limits. This indicates that the robot is not driving as intended, for example, if one of the
wheels loses traction.
If the robot detects instability, it is immediately brought into Protective stop. This ensures
that the robot cannot drive if it has lost control of the speed of each drive wheel.
10.5 Emergency stop circuit

The Emergency stop circuit goes through the Auxiliary emergency stop interface and uses
external input to bring the robot into an Emergency stop. The interface uses two output pins
to provide a 24 V signal and two input pins to bring the robot into Emergency stop.
It is intended that the circuit is set up so the 24 V signal delivered from the safety
PLC outputs passes through all Emergency stop buttons of the top module and then continues
to the two input pins. When the input pins both receive 24 V, the robot can operate. The
connected Emergency stop buttons must break the circuit when you press them so both
inputs receive a 0 V signal that will bring the robot into Emergency stop.
If the circuit or an Emergency stop button is installed incorrectly so the input signals are not
the same, the robot enters Protective stop until the circuit is fixed.
10. Safety system
Emergency stop button Emergency stop button Emergency stop circuit

released pushed faulty
Figure 10.7. If the input pins deliver 24 V to the robot, it can operate. When you push a connected Emergency
stop button, both pins deliver 0 V, and the robot enters Emergency stop. If the pins do not deliver the same
input, the robot enters Protective stop until the circuits are fixed.
In the Auxiliary emergency stop interface, pins 2 and 3 deliver 24 V from the safety PLC, and
pins 4 and 5 connect to the Emergency stop circuit inputs of the safety PLC. 24 V must be
delivered to pins 4 and 5 for the robot to operate.
10.6 Safeguarded stop

The safeguarded stop interface provides an input to the robot that can bring the robot into
Protective stop. This interface uses two input pins where both pins must receive 24 V for the
robot to be able to operate. If either or both pins receive 0 V, the robot is brought into
Protective stop. The robot can be brought out of Protective stop again if both pins receive 24
V again.
If the pins are unequally set for more than three seconds, the safety PLC registers this as an
error in the system and needs to be reset before the robot can operate again. To do this, you
must restart the robot.
10. Safety system
Signal to enable Signal to enter Protective Signal to enter Protective

operation stop stop
Figure 10.8. If both pins deliver 24 V to the robot, it can operate. If either or both of the pins deliver 0 V, the
robot enters Protective stop.
Pins 2 in interfaces A and B of the Auxiliary safety functions are used for the Safeguarded
stop function.
10.7 Locomotion
The Locomotion interface is used to signal to a top module that the robot is driving. This
function uses two output pins, where both pins deliver 0 V when the robot is driving and 24 V
when the robot is stopped. You can use this interface to make your top module behave
differently depending on whether the robot is driving or not. The interface is intended to be
used to ensure that the top module is programmed to go into a safe state when the robot is
driving. For example by engaging the brakes in any actuators that may result in injury to
personnel.
10. Safety system
Signal when driving Signal when stopped
Figure 10.9. When the robot is driving, the safety PLC sends a 0 V signal to the top module through the Auxiliary
safety function interface. When the robot is stopped, the signal becomes 24 V.
Pins 5 in interfaces A and B of the Auxiliary safety functions are used for the Locomotion
function.
10.8 Shared emergency stop

The Shared emergency stop interface is used to control the Emergency stop state between
the robot and a top module. The interface has two inputs for bringing the robot into
Emergency stop and two outputs for signaling when the robot is in Emergency stop.
The outputs are used to signal to the top module that the robot is in Emergency stop. When
the robot is in an operational state, the outputs deliver 24 V. As soon as the robot enters
Emergency stop, they deliver 0 V.
The inputs are used to enable the top module to bring the robot into Emergency stop. When
both inputs deliver 24 V, the robot can operate, but as soon as either or both of the inputs
deliver 0 V, the robot enters Emergency stop.
These signals can be used if the top module has its own Emergency stop system and you
want both the robot and the top module to enter Emergency stop when either system is
triggered.
If the pins are unequally set for more than three seconds, the safety PLC registers this as an
error in the system and needs to be reset before the robot can operate again. To do this, you
must restart the robot.
10. Safety system
Shared emergency stop Shared emergency stop

Not in Emergency stop
inputs are 0 V inputs are unequal
Figure 10.10. The three cases above respectively describe: 1. the robot is not in Emergency stop so the output
is 24 V, 2. the robot is in Emergency stop because it receives 0 V input from the Shared emergency stop
interface, and 3. the robot is in Emergency stop because the inputs are unequal.
In interfaces A and B of the Auxiliary safety functions, pins 3 are used for the input and pins 6
are used for the input of the Shared emergency stop function.
10.9 Reduced speed

The Reduced speed interface is used to signal to the robot that it must drive at a reduced
speed of 0.3 m/s. This is the same speed used when the robot mutes its Protective fields. The
interface uses two input pins where the robot drives at a reduced speed if either input is 0 V.
This can for example be used in cases where the top module can register whether the load it
is carrying is not securely placed or the module is currently under operation.
Default speed Reduced speed Reduced speed
10. Safety system
Figure 10.11. The robot drives at its default speed only when both inputs are 24 V. If either or both pins are 0 V,
the robot drives at 0.3 m/s.
Pins 4 in interfaces A and B of the Auxiliary safety functions are used for the Reduced speed
function.
10.10 Safety stop

There are two pairs of contactors used to stop MiR250: the STO (Safe Torque Off) contactors
and the SS1 (Safe Stop 1) contactors. These are controlled by the safety PLC and are used
when the robot goes into Protective or Emergency stop. The following processes occur to
stop the robot safely:
1. The safety PLC first turns off the STO contactors so power is cut from the motors.
To ensure that the STO contactors switch states as expected, there is a

feedback circuit that connects to the safety PLC to verify that the
contactors switch to the correct state. When the robot is starting up, the
feedback circuit and STO contactors are checked before allowing the robot
to be operated.
2. The safety PLC turns off the SS1 contactors to activate the dynamic brake function in the
motors.
3. The safety PLC monitors data from the motor encoders to determine whether the robot
has stopped within the expected amount of time.
4. Once the robot has stopped, the mechanical brakes are engaged to keep the robot in
place, similar to the parking brake in a car.
The mechanical brakes are only intended to engage when the robot has stopped. Only when
the dynamic brake function does not stop the robot within the expected amount of time are
the mechanical brakes engaged to stop the robot while it is in motion. This is considered an
emergency situation where the dynamic brakes have failed, and an error is reported in the
robot interface. This can occur, for example, if the robot drives on surfaces that are not
within specifications or the load on the robot does not fulfill the payload specifications—see
Payload distribution on page 197.
10. Safety system
10.11 Light indicators and speakers

The robot uses two types of light indicators to let people in the environment know what the
robot is currently doing or planning to do.
• Status lights
LED light bands on all four sides of the robot uses colors and light motion patterns to
signal the current status of the robot.
• Signal lights
The signal lights at the front and back of the robot show if the robot is about to turn a
corner or go backward. Front lights are white and rear lights are red. Right and left turns
are indicated by blinking.
Figure 10.12. Indicator lights on MiR250.
Table 10.3.
Identification of indicator lights in Figure 10.12
1 Status lights 2 Signal lights
10. Safety system
Status lights
The LED light bands running all the way around the robot indicate the robot’s current
operational state. Colors may also be used as part of missions, but as standard, status lights
indicate the statuses described in Table 10.4.
Table 10.4.
Status light colors
Red Emergency stop
Green Ready for job
Cyan Drives to destination
Purple Goal/Path blocked
White Planning/Calculating
Yellow Mission paused
Yellow wavering Startup signal before PC is active
Yellow fade Shutting down robot
Yellow blinking Relative move, ignoring obstacles
Purple - yellow General error, for example hardware, localization
Blue Manual drive
Blue wavering Mapping
Contracting white Charging at charging station
White wavering Prompt user / Waiting for user's response
Cyan wavering (robots

connected to MiR Fleet Waiting for MiR Fleet resource
only)
10. Safety system
When the robot's battery reaches a critically low level of power (0-1%), the
ends of the status lights flash red.
When the robot is charging in a charging station, the status lights on the side
of the robot indicate the robot's battery percentage.
Signal lights
Signal lights are used to indicate the robot’s immediate motion plans by signaling forwards-
backwards-braking and left-right turns.
The signal lights work similarly to lights used on cars; white at the front, red at the back, and
indicating a left or right turn by blinking.
When the robot drives with muted Protective fields, for example, when docking to a marker,
all signal lights blink yellow.
Speakers
In Setup > Sounds, you can upload new sounds to the robot or edit the volume and length of
the default sounds.
Sounds are used in missions and can be used as alerts: “Please step aside” or to attract
peoples attention, for example, when the robot has arrived at a position.
When the robot drives with muted Protective fields it emits a warning sound. In System >
Settings > Safety system, you can choose which sound the robot makes and the volume of
the sound.
CAUTION
Changing the safety system can cause the robot to not comply with safety
standards.
• Do not disable the sound in the safety system.
10. Safety system
Figure 10.13. In the Safety system settings, you can modify the sounds the robot plays when the robot mutes its
Protective fields.
CAUTION
It is the responsibility of the commissioner to ensure that the warning sounds
are audible in the robot's work environment.
11. Commissioning
11. Commissioning
This section describes how to commission MiR250.
Commissioning should be done without any load on the robot, except when doing brake tests
where the robot should have a load equaling the heaviest load it will be driving with.
Only persons assigned with the commissioning task should be present during commissioning.
It is the responsibility of the commissioner to:
• Analyze the work environment.

• Make a risk assessment of the full installation.
• Create and configure the site.
• Configure audio and light signals according to the environment.
• Change the robot's footprint or create new footprints depending on the top module or
loads of the robot.
• Create operating hazard zones.
• Make a brake test.
• Create user groups and users.
• Create dashboards.
• Update robot software.
• Change the relevant system settings.
11.1 Analysis of the work environment

The work environment of the robot must fulfill a number of requirements for the robot to
function properly and safely. This section describes the factors that must be considered when
the robot is being commissioned to function in a work environment.
Surfaces
The floor surface of the work environment must be dry. MiR250 functions on many different
types of surfaces, but some materials can affect the performance and safety of the robot,
such as very thick carpets or slippery floors.
It is the responsibility of the commissioner to test the performance and safety of the robot
on the surfaces in the work environment—see Making a brake test on page 137.
11. Commissioning
Light, reflections, and materials

Bright sunlight and reflective or transparent objects can affect the performance of the
robot's laser scanners and cameras. This can result in the robot detecting nonexistent
objects or failing to detect real objects.
Likewise, docking to markers made in very high gloss or transparent materials can reduce
the effectiveness of the robot's scanners, hindering a successful docking.
It is the responsibility of the commissioner to test if sunlight, reflections from high gloss
materials, and transparent objects affect the robot's performance or safety.
Temperature and humidity

Temperatures outside of the approved temperature range can affect the performance and
durability of the robot—see specifications on the MiR website. This is especially relevant for
the robot's battery—see Battery storage on page 69.
Inclines, doorways, gaps, and sills

The robot must operate within the approved specifications for driving on inclines, through
doorways, and over gaps and sills—see specifications on the MiR website. Operating in areas
that do not meet the specifications may result in the robot failing to complete the missions
or losing control of its load.
Space
The robot must have sufficient space to operate efficiently. Determine during commissioning
if the robot has sufficient space to drive, dock, turn, and perform other tasks. Make sure to
test each mission under the most likely operating conditions to determine if there is enough
space for the robot to maneuver.
CAUTION
Driving in environments with no escape routes can lead to hazardous
situations. There is a risk of damage to equipment or injury to personnel.
• At all times there must be at least 0.5 m wide and 2.1 m high pedestrian
escape routes on each side of the robot, also in operating hazard zones.
11. Commissioning
Dust
Dusty environments can affect the performance and durability of the robot. Dust can get into
the robot computer and mechanical parts, affecting their performance and durability, and it
can obstruct the view of the robot's sensor system. Make sure the environment MiR250
operates in is suitable for its IP rating—see specifications on the MiR website.
Static landmarks and dynamic obstacles

The robot uses static landmarks to navigate by. If it cannot detect enough distinguishing
landmarks, it cannot navigate the map efficiently—see Localization on page 84.
11.2 Risk assessment

To achieve a safe installation, it is necessary to make a risk assessment of MiR250 in the
environment it will be used in. This is the responsibility of the commissioner.
The risk assessment must cover both MiR250 itself and also take into account potential load
transfer stations, work cells, and the work environment.
NOTICE
Mobile Industrial Robots takes no responsibility for the creation and
performance of the risk assessment, but we provide information and
guidelines that may be used in this section.
It is recommended that the commissioner follows the guidelines in ISO 12100, EN ISO3691-4,
EN 1525, ANSI B56.5, or other relevant standards to conduct the risk assessment.
In EN 1525 clause 4 there is a list of possible significant hazards and hazardous situations
that the commissioner should consider.
A risk assessment of the application must be used to determine the adequate information for
users. Special attention to at least the following Essential Health and Safety Requirements
(EHSR) must be taken:
• 1.2.2 Control devices

• 1.3.7 Risk related to moving parts
• 1.7.1 Information and warning on the machinery
• 1.7.2 Warning of residual risks
11. Commissioning
• 1.7.3 Marking of the machinery

• 1.7.4 Instructions
The risk assessment will lead to new instructions that shall be written by the party who draw
up the CE marking. The instructions must at least include:
• Intended use and foreseeable misuse.

• A list of residual risks.
• Training required for personnel.
11.3 Creating and configuring maps

The map is visible in the robot interface and is the basis for the robot's ability to navigate its
surroundings safely and efficiently. The map illustrates the physical area in which the robot
operates.
Figure 11.1. Example of a map without any added zones, positions, or markers.
11. Commissioning
The robot must have a map for every area that it operates in. It is important to create robust
and reliable maps for the robot to perform effectively and safely.
Figure 11.2. The Default site has three maps within it for the areas in the site: Office area, Production area,
and Warehouse.
A site contains one or more maps that often connect to each other. The number of maps you
need in a site depends on the work environment of the robot:
• If the operating area is very large, you may need to split the area into smaller maps.
• You can tell that a map is too large if the robot takes a long time to plan its routes or
often reports CPU errors.
• In general, we recommend that maps should not exceed an area of 300 x 300 meters.
• You can connect smaller maps using map transitions—see MiR Robot Reference Guide,
or ask your distributor for the guide How to set up transitions between maps.
• If the robot must operate on different floors connected with ramps or elevators, you must
have a map for each floor.
• If you are using an elevator, ask your distributor for the guide How to set up elevators
in MiR Fleet.
• If you are using ramps, connect the maps using transitions—see MiR Robot Reference
Guide, or ask your distributor for the guide How to set up transitions between maps.
11. Commissioning
Each site also includes other elements in the interface, such as missions. For
the full list of what is included in a site, see MiR Robot Reference Guide on the
MiR website or in the Help section of the robot interface.
Creating a map
To create a new map, you drive the robot around its intended work environment while its
sensors gather data to generate a map from. This process is known as mapping.
As the robot moves during mapping, the laser scanners detect physical obstacles, which are
recorded on the map as walls. In the editing afterward, you can remove all obstacles that
should not stay on the map, for example carts or boxes that were present at the time of
recording but will not stay permanently.
Before you map a new location, be sure to do the following preparations:
• Clear the area of dynamic obstacles, such as pallets and carts. Dynamic obstacles can also
be deleted from the map later.
• Ensure that all doors and gates that the robot should be able to go through are opened
before mapping.
Avoid doing the following:
• Starting the mapping with the robot in a very open space.

• Getting the robot stuck close to walls or objects as you will have to push it away manually.
To create a new map, see MiR Robot Reference Guide on the MiR website. When mapping,
you should apply the following best practices:
• Focus on mapping in a circular pattern around the perimeter of the working environment.
• When reaching long corridors with few obstacles, let the robot stay in position for
approximately five seconds before moving down the corridor.
• Walk behind the robot as you map.
• End the mapping in the same place you started it.
For more information on creating a map, see the Creating your first map-
course in MiR Academy on the MiR website. Contact your distributor for
access to MiR Academy.
11. Commissioning
Cleaning up a map
The robot navigates best when using a clean map with as little noise as possible. Figure 11.3
is an example of what a map can look like after the mapping process but where it still needs
further editing.
Figure 11.3. Example of a map that includes too much noise and dynamic obstacles.
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There are several tools in the robot interface that you can use to improve your map:
• Use Erase uploaded or recorded data when editing walls to remove walls that were
created around dynamic obstacles and noise on the map.
Noise refers to recorded data that originates from interfering elements.

This can be physical obstacles that make the robot record walls where there
are none or more subtle interferences that can make recorded walls
appear pixelated.
• Use Draw a new shape when editing floors to fill out the gray areas where there
should be floor. When using this tool, you do not affect the walls on the map.
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• Use Draw a new line when editing walls to create solid and even walls.
Adding zones to the map

Adding zones to the map helps organize robot traffic. There are several different zones that
can optimize the preferred paths and driving behavior of the robot.
For more information about what each zone does, see MiR Robot Reference
Guide on the MiR website, or ask your distributor for the guide How to use
zones on a map.
NOTICE
All zones are ignored when you drive the robot in Manual mode or when you
use a Relative move action (except when using Relative move actions in Limit-
robots zones).
Examples of when and how to use zones

The following sections describe examples of cases where certain zones can be used to
improve the robot's operations.
For more examples, contact your distributor for the guide How to use zones on
a map.
11. Commissioning
Descending staircases
Issue: The robot sensors cannot detect descending staircases. Marking a staircase as a wall
on the map will only confuse the robot as it will try to navigate from a wall that is not there.
Solution: Mark staircases and areas surrounding staircases or holes in the floor as
Forbidden zones on the map.
Low hanging fixtures
Issue: If a low hanging fixture is outside of the robot sensors' range, the robot may try to
travel beneath it. This can be dangerous if the robot is carrying a tall top module or load that
can collide with the fixture.
Solution: Mark the area where the low hanging fixture is located as a Forbidden zone.
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Highly dynamic areas
A highly dynamic area is an area where objects are moved frequently. This could be a
production area where pallets and boxes are often moved back and forth.
Issue: The robot will stop if a person steps out in front of it. In a transient work flow area, the
robot will stop and reassess its paths many times a day, thereby wasting valuable time.
Solution: Mark highly dynamic areas on the map with Unpreferred zones (blue) or
Forbidden zones (red) depending on the environment. Directional zones can also be used
here to guide the robot in a specific direction.
If the robot has trouble with localization in a highly dynamic area, place some static objects
with three meters of distance between them and mark them as walls on the map. Remove
the 'walls' created from dynamic obstacles in the area. Static objects make it easier for the
robot to localize and navigate the area.
Figure 11.4. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with
replanning of paths.
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Doorways
Going through narrow doorways can cause problems for the robot's global planner since the
robot must drive closer to wall edges than it usually would. It can also be hazardous for the
people working near the robot, as they might not see the robot coming.
Issue: The robot does not plan its global path through narrow doorways, since this will bring
the robot too close to a known obstacle.
Solution: Add a Critical zone (orange) in the narrow doorway to enable the global planner to
make a path through the corridor. You only need to place the zone down the center of the
doorway so the center of the robot is in the zone. Add Sound and light zones (yellow) in
narrow doorways to warn people near the doorway that the robot is coming through.
Figure 11.5. Narrow doorways can be marked with a Sound and light zone (marked with yellow) to warn people
that a robot is coming through. A Critical zone (orange) can be placed in the narrow doorway to enable the
global planner to make a path through the corridor.
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Shelves
Shelves are often placed in a certain height above the floor on four (or more) posts and will
often appear as dots on a map for the robot. This may cause the robot to believe that there
is enough space (if the posts are far enough apart) below the shelves to pass through. The
robot will then plan a path underneath the shelves, but when it comes closer, the camera
will see the obstacle. This could result in replanning paths several times a day.
Issue: The robot will only see shelves as dots on the map and believe that it can make a
global plan underneath the shelves.
Solution: Add a Forbidden zone (red) around the shelves.
Figure 11.6. A Forbidden zone covering the shelf area.
Glass
Highly transparent glass may not be detected by the safety laser scanners.
Issue: The robot will not stop before driving into a glass window, door, or other glass objects.
Solution: Make the glass visible to the safety laser scanners by gluing non-transparent
window film on the glass in the scanner height, 150 to 250 mm, or mark the wall as a
Forbidden zone. Edit the map afterwards in the robot interface and mark the glass as walls
to help the robot localize.
11. Commissioning
Directional lanes
Issue: In some areas, such as long corridors, robots driving towards each other may have a
hard time passing each other efficiently.
Solution: If there is not enough space for the two robots to pass each other, you can create
a two-way lane using Directional zones in combination with Forbidden or Unpreferred zones.
• Create a thin Forbidden zone (red) in the middle of the corridor parallel to the corridor
walls. This is the lane separator.
• Create Directional zones (gray with arrows) on both sides of the Forbidden zone. Make
the directions of the zones opposite.
With such a configuration, robots going in the opposite directions use different lanes and do
not get in each others' way. Replacing the Forbidden zone with an Unpreferred zone gives
robots more space for maneuvers, for example, if a robot needs to cross the lane separator
to drive around an obstacle.
Figure 11.7. The robot drives down a two-way lane. The two Directional zone lanes are separated by a
Forbidden zone.
If there isn't enough space for robots to pass each other, you can use a Limit-robots zone to
specify that only one robot may drive down the corridor at a time.
To use Limit-robots zones, your robots must be connected to MiR Fleet.
11.4 Markers
Markers are defined as X-Y coordinates on a map that mark locations where you want the
robot to travel to. Markers are points on the map that mark a physical entity, such as a
charging station or a pallet rack, and enable the robot to position itself accurately relative to
11. Commissioning
this entity.
You should always use markers when it is important that the robot is positioned accurately
relative to an object in the work environment, such as load transfer stations and work
stations.
Markers require the robot to do a docking sequence. When the robot is docking, it uses its
safety laser scanners to detect the marker and drives itself to the correct position relative to
the detected marker. The robot begins docking to a marker from the marker's entry
position—see Figure 11.8. The entry position is automatically created approximately one
meter in front of the marker and can be moved in the map editor.
Figure 11.8. A VL-marker with its entry position.
There are four standard marker types that all MiR robots can use: V, VL, L, and Bar-markers.
A V-marker is a small, V-shaped marker that is designed for the robot to either dock to so its
front or its rear is facing the marker. The V-marker is the simplest marker available for the
robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm.
Figure 11.9. The icon used for V-markers in the interface and an illustration of how robots can dock to the
marker.
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A VL-marker is a larger marker that enables the robot to dock more accurately than V-
markers. It consists of a V-marker with a 350 mm plate attached to the right of the V shape.
Like V-markers, VL-markers are also designed for the robot to either dock to so its front or
its rear is facing the marker.
Figure 11.10. The icon used for VL-markers in the interface and an illustration of how robots can dock to the
marker.
An L-marker makes it possible for the robot to dock in several different ways and
orientations. Robots can both dock to the inside and outside of an L-marker, and the marker
can be on any side of the robot. The marker is shaped liked an L with a defined angle of 90˚
and the dimensions 400 mm x 600 mm.
Figure 11.11. The icon used for L-markers in the interface and an illustration of how robots can dock to the
marker.
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A Bar-marker can be used for forward or reverse docking between two bars or plates,
similar to pallet racks or shelves. Bar-markers must be between 400 mm and 750 mm long,
and the distance between the bars must be between 750 mm and 1500 mm.
The distance between the bars must be larger than the footprint of your robot.
Figure 11.12. The icon used for Bar-markers in the interface and an illustration of how robots can dock to the
marker.
A few centimeters between all the types of markers should make docking possible.
Determine during commissioning if more space is required.
For further information on markers, contact your distributor for the guide How
to create and dock to V-markers, VL-markers, L-markers, and Bar-markers.
To create a marker, see Creating markers on page 152.
11.5 Positions
Positions are defined as X-Y coordinates on a map that mark locations where you want the
robot to travel to. Positions mark a point on the map the robot travels to. To reach a
position, the robot must be correctly localized on the map—see Localization on page 84.
Positions are used either as destination positions or as waypoints on a route that you want to
use in missions. With positions, the robot does not compare its position to a physical entity,
making them less accurate than markers.
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Generally, positions are used to mark where robots should wait when they are idle, which
points robots must pass through along a route, or as destinations you often want to send the
robots to.
The final orientation of the robot is indicated by the arrow on the position icon.
There are different types of positions depending on whether the robot is part of a fleet or
drives with top modules, but the standard position that is available in all MiR applications is
the Robot position. This position has no special features, it simply marks a location where
you want to be able to send the robot to.
To create a position, see Creating positions on page 157.
11.6 Creating missions

MiR robots function through missions that you create. A mission is made up of actions, such
as: move actions, logic actions, docking actions, and sounds, which can be put together to
form a mission with as many actions as needed. Missions themselves can also be embedded
into other missions.
Most actions have adjustable parameters, for example, which position to go to. Most actions
can also use variables, enabling the user to choose the value of a parameter each time the
mission is used. This can be practical in cases where the robot performs the same series of
actions in different areas of the site that require different parameter settings in the mission
actions.
When you create a mission, you can save it in the default Missions group, or you can choose
to save it in any of the available actions groups. The actions groups are found in the top bar
11. Commissioning
of the mission editor window, and you can distinguish missions from actions by the small
icons shown next to their names: missions have a target icon , and actions have a running-
man icon .
Figure 11.13. Different actions can be created and put together to make up a mission.
For more information on parameters and variables, contact your distributor to

see the guide How to use variables in missions.
To create efficient missions, you should first familiarize yourself with the available actions in
MiR Robot Interface—see the MiR Robot Reference Guide— and then consider:
• Which tasks do I want the robot to perform?

• Which actions are involved in this task and in which order are the actions executed?
• How much do each of these tasks differ? Are they similar enough that you can reuse the
same mission but use variables for some of the parameters? If so, identify which of the
parameters change in each mission—see Figure 11.14.
11. Commissioning
Figure 11.14. You can use variables to make a mission where you can set a parameter in one of the actions
each time you use the mission (either when you add the mission to the mission queue or embed it in
another mission). In this example, you can set the variable Load transfer station to any marker created on
the map. This means that you can use the same mission for making the robot pick up a load from any of the
markers on the map.
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• Are there small parts of different missions that are the same each time where it would be
worthwhile to make a mission for the repeated task and embed this mission into the
larger missions? For an example, see Figure 11.15.
Figure 11.15. You can embed small missions into other missions. In this example, the mission Pick up from
conveyor is used in three different missions. If you want to change how the robot picks up a package from
the conveyor, you only need to change it once in the original mission instead of three times in each
individual mission.
It is often a good idea to reuse the same missions if you know that any changes
that may need to be applied to one of the tasks will also need to be applied to
all other similar tasks.
When you make a mission, you should also consider all the possible outcomes from the
mission and prepare it for the possibilities of error and what the robot should do if an error
occurs—see an example of this in Creating the mission Try/Catch on page 164.
For more information on building robust missions, see the Mission robustness
videos in MiR Academy on the MiR website. Contact your distributor for
access to MiR Academy.
11. Commissioning
When you have figured out which tasks you want the robot to perform and how many
different missions you need to create, you should consider how you want to organize the
missions in different mission groups. You can consider the following:
• Do you want to add the missions into existing action groups?

• Do you want to create new mission groups to organize your missions in? If so, consider
how you want to divide your missions. For example, you can divide them based on
function, location, priority, or responsible users.
The section Usage on page 152 provides several examples of how to create simple missions
with different types of mission actions and describes how you add a mission to the mission
queue to test it. Whenever you create a mission, it is very important that you test it to
ensure the robot performs as expected.
For more information on creating missions, see MiR Robot Reference Guide
and the Making your first missions-course in MiR Academy on the MiR
website. Contact your distributor for access to MiR Academy.
11.7 Creating a footprint

The footprint specifies how much space the robot occupies, including any loads or top
modules. The footprint is defined by a number of points relative to the robot's center
coordinate system and the total height of the robot application.
If your robot drives with loads or top modules that exceed the width or length of the robot,
you must define new footprints for the robot to ensure that the robot plans its route
correctly and avoids colliding with obstacles with its top module or load.
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Default footprint Larger footprint
Figure 11.16. Examples of the default robot footprint and an extended footprint. The values displayed along
each line is the length of the edge in meters.
The number of footprints you need to define depends on:
• If there are low hanging fixtures that the robot can pass under only when it is not carrying
certain loads or top modules, you must define new footprints for the various heights that
the robot and its load can have to ensure that they don't collide with the low hanging
fixtures.
• The top modules you use with your robot.
• If a robot's top module exceeds the width or length of the robot, you must define a new
footprint for that top module.
• If a top module has moving parts that can extend over the edges of the robot's
footprint while the robot is moving, you must define a footprint that includes the
moving parts when they are at their most extended positions.
• The loads the robot transports.
• For each load the robot transports that exceeds the length or width of the robot, you
must define a footprint for that load.
• If you prefer to only have one footprint for the robot when it is carrying oversized
loads, create a footprint that is suitable for the load that has the largest footprint.
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CAUTION
The footprint is only used by the robot's global and local planner to avoid
obstacles. The Personnel detection safety function—see Personnel detection
on page 94—still uses the same Protective field sets. If your robot is carrying a
load or top module that extends the footprint in front of or behind the robot, it
may collide with personnel or equipment.
• Avoid extending the footprint in front of or behind the robot.

• Mark all areas where the robot drives with an unsafe load as operating
hazard zones.
• Consider modifying the Protective field sets if necessary—see Personnel
detection on page 94.
For a more thorough guide to creating footprints, contact your distributor for
the guide How to change the robot footprint.
For more information about the footprint editor, see MiR Robot Reference
Guide on the MiR website.
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If you want to change the footprint in a mission, use the Set footprint action found under the
Move action group. This is used to change the footprint when the robot picks up a load that
extends the footprint or places a load and the footprint returns to the default.
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If you want to edit the default footprint of the robot, for example if the mounted top module
is larger than the robot, go to System > Settings > Planner, and select a new footprint under
Robot footprint.
11.8 Using operating hazard zones

Operating hazard zones are areas that must be visibly marked to comply with safety
standards in EN 1525 and ISO 3691-4. Personnel must be instructed to stay clear of operating
hazard zones when a robot is approaching.
Areas where the robot drives with muted Protective fields and areas with inadequate
clearance must be marked as operating hazard zones with signal tape or similar marking
material.
To create a sufficiently large operating hazard zone, the marking must be at least one meter
away from the potentially hazardous area in all directions.
Robots may need more space to operate than the required operating hazard
zone. Consider expanding operating hazard zones to include the required free
space for operation to ensure that the robot can operate smoothly. For the
robot's space requirements, see the document Best Practice: Space
Requirements found on the MiR website under Manuals for each product
page.
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It is not allowed to have work stations in operating hazard zones.
You can add zones to the map in the robot interface to mitigate the risks to personnel in
operating hazard zones. We recommend considering whether adding the following zones can
reduce the risks in an operating hazard zone:
• Speed zones can be used to reduce the speed of the robot to the minimum robot speed.
• Sound and light zones can be used to add acoustic and visual warnings when the robot
drives into the zones.
For more information about zones, see the MiR Robot Reference Guide.
Docking to a marker
If the robot needs to dock very close to a marker or another object, you can choose to make
the robot mute its Protective fields temporarily—see Creating the mission Variable docking
on page 170. This prevents the robot from entering Protective stop when it drives very close
to an object. If the robot mutes its Protective fields, the area must be marked as an
operating hazard zone.
The muting starts when the robot reaches the entry position approximately one meter from
the marker. To indicate this to people nearby, MiR250 slows down and starts blinking yellow,
using the eight signal lights on the corners of the robot.
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Figure 11.17. The striped black and yellow line identifies the required operating hazard zone around the
marker. The robot is placed on the Entry position to the marker.
You must mark the floor area one meter around the docking marker and the robot when it is
at the entry position. This is illustrated in Figure 11.17 where the robot is docking to a VL-
marker.
11.9 Making a brake test

It is the responsibility of the commissioner to perform an adequate test of the robot's
braking capability.
The braking distance of MiR250 is particularly dependent upon four factors:
1. The speed of the robot

2. The payload of the robot
3. The surface the robot drives on
4. The decline of the surface the robot drives on
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Because of this, it is not possible to predetermine the exact braking distance of MiR robots.
The distance has to be determined in the environment and under the driving conditions the
robot will be operating in.
The goal of the brake test is to ensure that the robot will brake in time to avoid a collision
with a human or object when driving with maximum payload, with different field sets for
different speeds, and at the steepest supported decline.
If the measured braking distance is too long, the Protective field sets of the robot should be
made larger to ensure a safe installation. This can happen if the floor has low friction, for
example, high gloss floors and similar. The Protective fields should always be at least
somewhat larger than the braking distance at all speeds. To modify the field sets, contact
your distributor for the guide How to adjust the protective field sets on MiR250 .
11.10 Creating user groups and users

All users of the robot must have a user profile in the system. Users are administered in the
Users section where you set up, edit, and delete system users.
The user profiles are created during commissioning. By default, the robot has three user
groups: User, Administrator, and Distributor. Parts of the user interface can be locked by the
commissioner. The locked parts are typically related to the safety of the robot system, and
changing these settings can violate the CE marking of the robot.
It is important to analyze and consider who is:
• Working directly with MiR250 as direct users or operators?

• Responsible for MiR250 as commissioner?
Furthermore, the following questions should be answered:
• How many different users are there?

• What tasks does each user have with MiR250?
• What permissions should the different users have?
• What functions or widgets should be available for the different users?
For more details on users and dashboards, see MiR Robot Reference Guide on
the MiR website.
11. Commissioning
Create user groups

In Setup > User groups, you can create specific user groups with specific access to different
parts of the robot interface.
Figure 11.18. You can create specific user groups.
Under Set permissions, you can select the specific parts of the robot interface that the user
group has access to.
Figure 11.19. You can select the specific parts of the robot interface that the user group has access to.
11. Commissioning
Create users
In Setup > Users, you can create new users and select:
• Which user group they belong in.

• If they are SingleDashboard users with no access to other parts of the interface than to
control the robot from a dashboard.
• If they should be allowed quick access to the interface via a four digit PIN code. We only
recommend PIN codes for users with no access to settings and safety system.
Figure 11.20. When you create a user, you must fill out the fields shown in this image.
Table 11.1.
Examples of which users MiR recommends should be able to edit which features
Feature User group
Controlling the robot manually Operator
Creating maps and positions Commissioner
Creating and editing missions Operator
Adjusting warning sounds Commissioner
Creating new user groups Commissioner
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Feature User group
Assigning missions Direct user
Changing system settings Commissioner
11.11 Creating dashboards

To make the user experience as easy and simple as possible, you can build a unique
dashboard for each user. Dashboards are an easy way for different user groups to control
the robot, giving direct access to the individual groups' key functions.
For more details on how to use and create dashboards, see MiR Robot
Reference Guide on the MiR website.
A dashboard is made up of a number of widgets, each representing a feature in the system,

for example a particular mission, the map the robot is operating on, or the current mission
queue.
The system comes with a default dashboard—see Figure 11.21—, and users with access
rights to create dashboards can create an unlimited number of additional customized
dashboards.
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Figure 11.21. The default dashboard includes the robot information, a joystick for manual control, and the active
map.
When creating new dashboards, you should consider the following:
• Who will be using the dashboards?

• Which functionalities will they need to use the most?
• For example, if your robot uses many I/O modules, you may want to monitor them
from the dashboard, or if there is a mission that the robot often has to execute on
demand, you may want to add it to the dashboard.
• Will each user or user group need a different dashboard? If so, what should be included in
each?
• Will some users need more than one dashboard?
• Users that are responsible for both maintaining and operating the robot could have
seperate dashboards for the maintenance routine and another dashboard for operating
the robot.
• If you have any SingleDashboard users, which functionalities will they need and which
would be useful to include?
• Often it is not a good idea to include too many widgets in the dashboard as this can
slow down the interfacing to the robot. Try to include only the necessary widgets.
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11.12 Updating MiR250 software

MiR continuously updates the software the robots use, either to fix issues, to improve
existing features, or to introduce new features. Each software release is issued with a
release note explaining the content of the update and its target audience.
Contact your distributor for the latest recommended update file.
Follow the steps below to update MiR250 software:
1. Connect your computer to the robot you want to update, and sign in to the robot
interface.
2. Go to System > Software versions and select Upload software.
3. Locate and select the downloaded software package. It may take 10-20 minutes for the
package to successfully upload depending on whether or not the software introduces new
security patches.
4. Once the software is uploaded, turn the robot off and then on again.
11.13 Creating backups

It can be useful to create a backup if you at a later stage want to be able to revert to the
exact state of the current software, including data such as settings, missions, and reports.
We recommend to create a backup in the following cases:
• Before you update the robot software.

• Before making any large changes to your site.
Backups take up some of your robot's memory space. It is a good idea to

remove any old backups you are certain you will not need in the future.
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For more information on how to create, roll back, and delete backups, see MiR Robot
Reference Guide on the website.
11.14 System settings

This section describes some of the commonly used system settings of MiR250 that the
commissioner must be aware of.
Only the basic system settings are explained in this section—see MiR Robot
Reference Guide on the MiR website for more information.
In System > Settings, you can access the settings of the robot. Access to the settings must be
restricted by the commissioner—see Creating user groups and users on page 138.
Figure 11.22. Under System > Settings, there are several menus where you can edit your robot's settings.
Remember to restart the robot if you have made any changes to the system
settings.
11. Commissioning
Planner
In the Planner section, you set the basic parameters for driving the robot.
This section refers to the local and global planner functions. For more
information on the robot's path planners, see Global planner on page 76 and
Local planner on page 78.
Figure 11.23. You set basic parameters for driving the robot in the Planner section.
Robot height defines the height of the robot including top modules. Use this setting if your
robot operates permanently with a top module that makes the combined robot application
higher than the robot itself. This prevents the robot from colliding with obstacles from
above.
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Max distance from path defines the maximum allowed distance in meters that the
generated global path is allowed to deviate from the most direct path on the map. By
default, this parameter is disabled, meaning the robot will always make a global path and
follow it to the goal position no matter how far the path is. If you want to avoid the robot
traveling paths of a specific length and report an error instead, enter the maximum length
that the global path may exceed the most direct path.
Maximum planning time defines the maximum time allowed for planning a path. By
default, this parameter is disabled, meaning the robot will always try to finish planning a
global path no matter how long it takes. If you want the robot to report an error after a set
time period instead, enter the maximum amount of time in seconds that the robot can spend
planning a path before it reports an error.
Path timeout defines the maximum time the robot's path can be blocked before it
generates a new global path. By default, this value is 0, meaning the robot will not wait if its
current global path is blocked by an obstacle it cannot navigate around using the local
planner. If you want the robot to wait and see if the obstacle moves before planning a new
path, enter the maximum waiting time.
Path deviation defines the maximum distance in meters that the local path is allowed to
deviate from the global path before it makes a new global path. By default, this parameter is
disabled, meaning the robot can deviate from the global path using the local planner to go
around an obstacle as far as possible in the map.
Optimizing the timeout and deviation of paths is useful in situations where you
want to configure how strictly the robot should follow the path it has planned.
Making the robot follow the exact path it has planned with little or no
deviation is known as Line-following mode. This can be useful, for example, in
narrow corridors where there isn't enough space for the robot to go around
dynamic obstacles—see Figure 11.24.
For more information on Line-following, contact your distributor for the how-
to guide Enable Line-following mode.
11. Commissioning
Line-following disabled Line-following enabled
Figure 11.24. Example of where the robot might benefit from using a Line-following configuration. When there
isn't enough space for the robot to go around an obstacle, it will often spend more time trying to maneuver
around the obstacle and correct its trajectory afterward than it would have just waiting for the obstacle to move
out of the way.
Maximum allowed speed defines the overall speed limit of the robot. The maximum
allowed speed will never be exceeded no matter what is stated in a mission or Speed zone.
This setting can be useful if, for example, the robot transports motion sensitive objects or if
the work environment in other ways requires the robot to always stay below a certain speed
threshold.
Desired speed sets the desired speed of the robot. This setting can be useful in the same
way as maximum allowed speed, but with this setting, the robot will drive faster than the set
desired speed in a Speed zone that requires it.
Docking
In the Docking section, you can change the parameters regarding docking to and from
markers.
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Figure 11.25. Change the parameters regarding docking to and from markers in the Docking section.
In Undock from markers, you can select if the robot should undock from a marker before it
starts moving from a docked position. It is usually best to set this setting to True to prevent
the robot from going into Protective stop when moving away from markers.
The robot cannot undock from L-markers automatically—see Markers on

page 123. You must use a Relative move action—see Creating the mission
Variable docking on page 170.
In the advanced settings, you can adjust the parameters for docking to markers. This can be
useful in case of docking issues. To see the advanced docking settings, select Show
advanced settings.
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Safety system
In the Safety system section, you can change which warning sound the robot should emit
when it mutes its Protective fields and how loud the sound should play.
Figure 11.26. In the Safety system section, you can change the robot's warning sound.
Select Muted protective fields sound to change the warning sound that is played when the
robot drives with muted Protective fields.
Select Muted protective fields volume to set the volume in decibel for the warning sound
that is played when the robot drives with muted Protective fields.
CAUTION
Driving with muted Protective fields without audible warning sound risks
damage to personnel and voids the CE marking of the application.
• Always have the robot play an audible warning sound when driving with
muted Protective fields.
Features
In the Features section, you can disable and enable robot features.
11. Commissioning
Figure 11.27. Disable and enable robot features in the Features section.
Shelf enables the shelf feature. Enable this feature if the robot is used to pick up and place
shelves. This modifies how some of the pins in the electrical interfaces are used.
Hook enables the hook feature. Enable this feature if your top module is a MiR Hook. This
will enable the Hook menu in the robot interface.
Email address enables an action for sending emails from missions. You can configure the
email account that the robot sends the emails from under System > Settings > Email
Configuration.
PLC registers enables actions for setting PLC registers from missions and monitoring PLC
registers in the robot interface. When enabled, you can access the page
System > PLC registers to set up the registers.
Universal Robots Interface enables an action for running Universal Robots programs from
missions. Enable this feature if the robot drives with an application from Universal Robots.
Fleet makes the robot visible for MiR Fleet. Enable this feature if the robot is part of a fleet.
11. Commissioning
Modbus enables Modbus communications. When enabled, you can access the page System
> Triggers to set up the Modbus triggers.
I/O modules adds actions for communicating with I/O modules. This can be used for setting
PLC registers and trigger missions. Enable this feature if the robot uses I/O modules, for
example, when any MiR top module is mounted to the robot.
Mute protective fields enables an action to mute the robot's Protective fields from
missions.
12. Usage
12. Usage
The main way to use MiR250 is through missions that you create.
In the following sections you will find practical examples of how missions can be tailored to
different tasks. The examples include:
• Setting markers and positions on the map.

• Creating a mission that uses a Prompt user action. The example mission is titled Prompt
user.
• Creating a mission that uses a Try/Catch action. The example mission is titled Try/Catch.
• Creating a mission that uses variables. The example mission is titled Variable docking.
• Creating a mission that makes the robot drive through an 80 cm doorway. The example
mission is titled 80 cm doorway.
12.1 Creating markers

Before creating a marker, you must ensure that the robot is localized correctly on an active
map. If in doubt, you can check if the red lines representing the laser scanner view match
the black lines on the map, as shown in Figure 12.1.
Figure 12.1. The red lines represent the obstacles the laser scanners detect. The robot is localized correctly
when the red lines align with the black lines that represent walls.
12. Usage
Once the robot is localized, you can insert a marker on the map. In this example, we are
using a VL-marker . To create a marker, follow these steps:
1. Place your physical marker where you want the robot to dock.
2. Manually drive the robot to the marker so the robot is facing the marker. The correct
distance from the marker differs depending on the marker type:
• For L-markers, the following values apply:
• A: 700 mm ±50 mm
B: 200 mm ±50 mm
• For all other markers, the robot must be positioned approximately one meter directly
in front of the marker.
12. Usage
3. Go to Setup > Maps, and select Edit for the active map.
4. Within the editor, select Markers in the Object-type drop-down menu, and then select
Draw new marker in the editor tools.
12. Usage
5. In the Create marker dialog box, name the marker. Under Type, select your marker type.
In this case, a VL-marker is used. Then select Detect marker.
The X, Y, and orientation values will automatically be filled out with the current position
of the robot.
• If the robot cannot detect the marker, verify that the robot is correctly positioned and
that the laser scanners can detect the marker in the active map by checking that red
lines are displayed on the map where the marker is.
• If you are trying to make the robot detect an L-marker but it keeps detecting other
objects with a 90° angle instead, shield the objects that the robot is not supposed to
detect with a flat plate.
• If you want the robot to dock straight to the marker, set the orientation offset to 0°. If
you want the robot to reverse into the marker, set the Offset orientation to 180°.
Detecting the marker with the rear scanner will automatically set the
orientation offset to approximately 180° for a reverse docking.
12. Usage
• To change where the robot stops relative to the marker, you can adjust the offsets.
These are valued in meters and are based on the centerpoint of the robot towards the
marker.
• The X-offset moves the robot closer to or further from the marker in meters.
• The Y-offset moves the robot further to the left or right of the marker in meters.
• The orientation offset changes the final orientation of the robot in degrees.
12. Usage
6. Select OK to create the marker. The marker is now visible on the map.
You can make the robot dock to the marker by selecting it on the map and selecting Go to.
The marker can also be used in missions.
12.2 Creating positions

The following steps describe how to create a position on a map. In this example, we are
creating a Robot position .
1. In the robot interface, enter the map editor of the map where you want to create a
position. This is done by going to Setup > Maps and selecting Edit next to the map you
would like to work on.
12. Usage
2. In the Object-type drop-down menu, select Positions, and then select Draw a new
position .
3. Select where on the map you want the position to be, and choose in which direction you
want it to face.
4. Name the position. Under Type, select which type of position you want to make. In this
example we are making a Robot position.
12. Usage
5. Select OK to create the position. The position is now visible on the map.
You can send the robot to the position by selecting it on the map and selecting Go to. The
position can also be used in missions.
12.3 Creating the mission Prompt user

Prompt user actions are used for prompting the user with a question on how the robot
should proceed. Prompt user is an example mission that uses a Prompt user action that lets
you choose whether to send the robot to one position or another.
Before you create the mission Prompt user, it is assumed that you have completed the
following:
• Created two robot positions as described in Creating positions on page 157 and named
them p1 and p2.
• Defined a user group named Users.
12. Usage
To create the mission, follow the steps below:
1. Go to Setup > Missions. Select Create Mission.
2. Name the mission Prompt user. Select the group and site you want it to belong to. Select
Create mission.
12. Usage
3. Select the following actions:

• In the Logic menu, select Prompt user.
• In the Move menu, select Move.
The following steps describe which parameters each action should be set to. To modify
the parameters, select the gearwheel at the right end of the action line to open the
action dialog box. When you have set the parameters, select Validate and close.
4. In the Prompt user action, set the parameters as follows:

• Question: Enter the question Go to position one?.
• User group: Select Users.
• Timeout: Set the timeout to 10 minutes.
12. Usage
5. In the Prompt user action, drag a Move to action under the Yes box and a Move to action
under the No box.
12. Usage
6. In the first Move to action, under Position, select p1.
12. Usage
7. In the second Move to action, under Position, select p2.
The mission should look like this:
8. Select Save to save the mission.
12.4 Creating the mission Try/Catch

Try/Catch actions are used to handle mission errors. When you use a Try/Catch action, you
can define what the robot should do if, at any point, it fails to execute its main mission. This
prevents the robot from going into an error state and stopping in the middle of a mission by
providing an alternative course of action if the main mission fails.
12. Usage
Try/Catch is a mission example where the robot runs the mission Prompt user created in
Creating the mission Prompt user on page 159, and if the robot for some reason fails to
complete the mission, the robot plays a sound.
To create the mission Try/Catch, it is assumed you have completed the following:
• Created the mission Prompt user as described in Creating the mission Prompt user on
page 159.
To create the Try/Catch mission, follow the steps below:
2. Name the mission Try/Catch. Select the group and site you want it to belong to. Select
Create mission.
12. Usage

• In the Error handling menu, select Try/Catch.
• Select the Prompt user mission you have made.
The mission menu you have saved the mission under will figure as a
menu in the mission editor. The menus contain both missions and
actions.
Missions have this icon and actions have this icon .

In this example, the mission is saved under the Logic menu that also
includes the Prompt user action . Be sure to select the Prompt user
mission .
• In the Sound/Light menu, select Play sound.
12. Usage
4. Drag the Prompt user mission into the Try box under Try/Catch.
12. Usage
5. Drag the Play sound action under the Catch box under Try/Catch.
12. Usage
6. In the Play sound action, set the parameters as follows:

• Sound: Select Beep.
• Volume: Enter the value 80. This is approximately 64 dB.
• Mode: Select Custom length so you can enter the duration of time the sound is
played.
• Duration: Set the duration to two minutes.
The mission should look like this:
12. Usage
12.5 Creating the mission Variable docking

All mission actions that require the user to specify the value of a parameter when they
choose to use the mission have the option of defining a variable. If you use a variable in a
mission when you add the mission to the mission queue or embed it inside another mission,
you must select a value for the parameter where the variable is used. This allows you to
reuse the same mission for different but still similar tasks.
Variable docking is a mission example that enables you to select which marker the robot
should dock to, whether to mute the Protective fields when the robot is docking, and how
long the robot should wait before undocking each time you use the mission.
When the robot docks to a marker, it often has to drive very close to an
obstacle, for example, the marker itself. To prevent the robot from triggering
a Protective stop when it drives too close to the obstacle, you can make it
mute its Protective fields.
To create the mission Variable docking, it is assumed you have completed the following:
• Enabled the muting of the Protective fields. Go to System > Settings > Features, and set
Mute protective fields to True.
12. Usage
To create the mission, follow these steps:
2. Name the mission Variable docking. Select the group and site you want it to belong to.
Select Create mission.
12. Usage

• In the Safety system menu, select Mute protective fields.
• In the Move menu, select Docking.
• In the Logic menu, select Wait.
• In the Move menu, select Relative move.
12. Usage
4. In the Move action, make the parameter Position a variable that can be set each time
you use the mission. The following steps describe how to create a variable:
• Under Position, select Variables .
• Select Create variable in the upper-right corner.

• Name the variable Marker. Select OK.
12. Usage
• Under Position type, select Entry. This will make the robot move to the entry position
of the marker.
If the parameter Position type does not show up at first, select Validate
and close, and then open the action dialog box again.
12. Usage
5. In the Mute protective fields action, set the parameters as follows:

• Sound: Select Default
• Front: Create a variable titled Mute fields.
• Rear: Create a variable titled Mute fields.
• Sides: Create a variable titled Mute fields.
MiR250 cannot mute specific Protective fields; you can either mute all or
none of the fields. Otherwise, the robot reports an error. If you use a
variable with the same name in all parameters, you ensure that you apply
the same parameter setting to all.
12. Usage
6. Drag the Docking action into the Mute protective fields action, and under Marker
position, create another variable titled Marker.
If two variables share the same name, the value you select for that
variable will be applied both places. In this case, by using the variable
Markers in two places, you ensure that the robot docks to the same marker
that it moved to in the first action.
12. Usage
7. Drag the Wait action into the Mute protective fields action, and under Time, create
another variable titled Time.
8. Drag the Relative move action into the Mute protective fields action, and under X, enter
-2. This will make the robot move two meters back to undock from the marker.
12. Usage
12.6 Creating the mission 80 cm doorway

This section describes how to create a mission that makes the robot drive through a doorway
that is 80 cm wide in one direction. To do this, the robot does the following actions:
1. Moves to a position in front of the 80 cm wide doorway (the narrowest possible for
MiR250).
2. Adjusts its localization.
3. Sets a defined narrow footprint.
4. Mutes its Protective fields so it can traverse the doorway.
5. Goes through the doorway to a position on the other side.
6. Changes its footprint back to default.
12. Usage
To create the mission, it is assumed that you have completed the following:
• Created a map. To drive through narrow doorways, it is very important that the map is
accurate and thoroughly cleaned, and that the robot is localized accurately—see Creating
and configuring maps on page 113.
For better localization, draw the walls where the doorway is, and make the
doorway approximately one meter wide in the map by deleting some of the
walls on each side of the doorway. You may need to delete more of the wall
if the robot will not go through the doorway.
• Placed a robot position on each side of the doorway where the first position is named
pos 1 and the second pos 2. The positions must be placed in front of and directly in the
middle of the doorway, and they must point in the same direction (the driving direction of
the robot).
• Made the area around the doorway an operating hazard zone as the robot will be driving
through the doorway with muted Protective fields—see Using operating hazard zones
on page 135.
12. Usage
• Enabled the muting of Protective fields. Go to System > Settings > Features, and set
Mute protective fields to True.
• Enabled the use of dynamic footprints. Go to System > Settings > Planner > Show
advanced settings, and set Use dynamic footprint to True.
12. Usage
• Created a footprint named Narrow doorway that is 620 mm wide and 1300 mm long—
see Creating a footprint on page 131. The robot must be centered in the middle of the
footprint.
This mission only drives the robot through the doorway in one direction. If you
want the robot to go both ways, you need to make a new set of positions
facing the opposite direction and a new mission using these positions.
To create the mission, follow these steps:
2. Name the mission 80 cm doorway. Select the group and site you want it to belong to.
Select Create mission.
12. Usage

• In the Move menu, select Move to.
• In the Move menu, select Adjust localization.
• In the Move menu, select Set footprint.
• In the Safety system menu, select Mute protective fields.
• In the Move menu, select Move to and drag it into the Mute protective fields action.
• In the Move menu, select Set footprint.
4. In the Move action, under Position, select pos 1.
12. Usage
5. In the Set footprint action, select Narrow doorway.
6. In the Mute protective fields action, set the parameters as follows:

• Sound: Select Beep.
• Volume: Enter the value 60. This is 48 dB approximately.
• Front: Select Muted.
• Rear: Select Muted.
• Sides: Select Muted.
12. Usage
7. In the Move action, under Position, select pos 2.
8. In the Set footprint action, select the robot's default footprint.
12.7 Testing a mission

After you create a mission, always run the mission to test that the robot executes it
correctly.
NOTICE
Always test missions without load to minimize potential hazards.
To run a mission, follow these steps:
12. Usage
1. Go to Setup > Missions.

2. Select Queue mission next to the mission you want to run. The mission is now added to
the mission queue.
3. Select Continue to start the mission.
4. Watch the robot execute the mission, and verify that it performs as expected.
We recommend running the mission 5-10 times to ensure that it runs

smoothly. If something interrupts the mission, use a Try/Catch action in that
step of the mission and decide what the robot has to do if a mission action
fails.
13. Applications
13. Applications
You can install top modules on top of MiR250 for specific applications. For more information
about top modules, see the MiR website.
Top modules from MiR are delivered with Operating guides with instructions on how to
mount them on and operate them with the robot.
For detailed instructions on how to mount top modules and accessories, contact your
distributor.
13.1 Mounting a top module

MiR250 has four M8 holes for mounting top modules as shown in Figure 13.1. The tightening
torque is 18 Nm.
Figure 13.1. Mounting holes on the top of MiR250.
13. Applications
Certain top modules may require the installation of an extra Emergency stop button.
Perform a risk assessment according to standard ISO 12100—see Risk assessment on
page 112.
The mounting holes are in the chassis, so the top cover does not need to be on the robot
when you mount a top application.
CAUTION
Certain top modules may lead to new hazards and increased risks that cannot
be eliminated or reduced by the risk reduction measures applied by Mobile
Industrial Robots.
• Perform a risk assessment according to standard ISO 12100 when mounting

a top module—see Risk assessment on page 112.
CAUTION
MiR250 may tip over if weight and payload specifications are not met, risking
damage to equipment or injury to nearby personnel.
• Stay within the specifications for weight and the total payload’s center of
gravity—see Payload distribution on page 197.
Interface dimensions
MiR250 has five electrical interfaces to communicate with a top module—see Interface
specifications on page 204. Figure 13.2 illustrates the dimensions of the top interface
covers and grommets.
13. Applications
Figure 13.2. Dimensions for the top electrical interface covers. All dimensions are provided in mm.
14. Maintenance
14. Maintenance
The following maintenance schedules give an overview of regular cleaning and parts
replacement procedures.
It is the responsibility of the operator to perform all maintenance tasks on the robot.
The stated intervals are meant as guidelines and depend on the operating
environment and frequency of usage of the robot.
It is recommended to make a maintenance plan to make sure that all

maintenance tasks are done and that the responsible(s) are aware of their
tasks.
NOTICE
Only use approved spare parts. Contact your distributor for the list of spare
parts and the appropriate how-to guides.
Mobile Industrial Robots disclaims any and all liability if unapproved spare
parts are used. Mobile Industrial Robots cannot be held responsible for any
damages caused to the robot, accessories, or any other equipment due to use
of unapproved spare parts.
14.1 Regular weekly checks and maintenance tasks

Once a week, carry out the maintenance tasks in Table 14.1.
14. Maintenance
Table 14.1.
Regular weekly checks and maintenance tasks
Parts Maintenance tasks
Robot top cover and Clean the robot on the outside with a damp cloth.
maintenance
hatches Do not use compressed air to clean the robot.
Laser scanners Clean the optics covers of the scanners for optimum
performance. Avoid aggressive or abrasive cleaning agents.
In the robot interface under Monitoring > Hardware health >

Emergency stop, see if Front scanner cover and Back scanner
cover is Clean.
NOTICE
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.
Swivel wheels (the Remove dirt with a damp cloth, and make sure nothing is
four corner wheels) entangled in the wheels.
Drive wheels (the Remove dirt with a damp cloth, and make sure nothing is
two middle wheels) entangled in the wheels.
Status lights Check if the LED light band is intact. Ensure the light shows all
the way around the robot. Clean with a soft cloth to ensure even
lighting around the robot.
Signal lights Check if the signal lights on the four corners blink and show light
correctly.
14. Maintenance
14.2 Regular checks and replacements

Before starting replacement tasks that involve removal of the top or side covers:
• Shut down the robot—see Shutting down the robot on page 63.
• Disconnect the battery—see Disconnecting the battery on page 66.
Table 14.2 contains the parts that you should check and how often you should do that.
Table 14.2.
Regular checks and replacements
Part Maintenance Interval
Robot top Check mounting. Ensure it sits Check monthly, and replace as
cover evenly on top of the robot with needed.
connections accessible.
Safety PLC In the robot interface under Check monthly and after
Monitoring > Hardware health commissioning or if you make
> Communication, see if the any changes to the robot setup.
robot is running with the correct
SICK configuration or if the
warning The SICK Safety PLC is
running a non-standard
configuration is shown.
Robot In the robot interface under Check monthly and after

hardware Monitoring > Hardware health, commissioning or if you make
check if there are any warnings any changes to the robot setup.
(marked with yellow).
Front, rear, Check mounting. Ensure the Check monthly, and replace as
and side covers are even and are not in needed.
compartment contact with the wheels.
covers If you replace the cover
with the robot's nameplate,
make sure to mount a new
copy of the nameplate to the
replacement cover.
14. Maintenance
Loudspeaker Check that all visual and auditory Check monthly, and replace as
and signal warnings function. needed.
lights
Swivel wheels Check bearings and tighten, and Check weekly, and replace as
(the four check the wheels for wear and needed.
corner wheels) tear.
Drive wheels Check wheel surfaces for wear. Check every six months, and
(the two replace as needed.
middle-wheels)
NOTICE
The robot must be
calibrated after
replacement of the wheels.
Safety laser Check for visual defects, for Replace as needed.

scanners example cracks and scratches.
Control panel Check that all buttons on the Every three to four months.
control panel function.
Charging Disconnect the battery on the Check monthly, and replace as

pads/broom robot. Using your hands, ensure needed.
that each pad moves up and
down freely. Check if the
charging pads are dirty or dusty
and if the broom is intact. Clean
the broom.
3D cameras Check for visual defects, for Check monthly, and replace as
example cracks and scratches. needed.
Proximity Check for dust or dirt, and clean Check weekly.

sensors with a swab.
Manual brake Check if the Manual brake Check monthly, and replace as
release switch release switch functions by needed.
14. Maintenance
releasing the brakes and pushing

the robot gently forward.
Remember to enable the brakes
again when done.
Safety marking Check if the safety markings Check every six months, and
on the floor around operating hazard zones replace as needed.
are intact and visible.
Safety stickers Check if the safety stickers, Check every six months, and
and nameplate identification label, and replace as needed.
nameplate on the robot are still
intact and visible.
CAUTION
If the robot has been impacted, it may be structurally damaged, causing a risk
of malfunction and injury to personnel.
• If you suspect the robot has suffered any damage, you need to conduct a
thorough inspection to ensure that the robot's strength and structure is not
compromised.
14.3 Battery maintenance

The battery is generally maintenance-free but should be cleaned if it gets very dirty. Before
cleaning, the battery must be removed from any power source. Only use a dry and soft cloth
to clean the housing of the battery, and do not use abrasives or solvents.
For storage of the battery, see Battery storage on page 69.
For disposal of the battery, see Battery disposal on page 70.
15. Packing for transportation

This section describes how to pack the robot for transportation.
The robot is shown with a MiR Shelf Carrier 250.
15.1 Original packaging

Use the original packaging materials when transporting the robot.
Figure 15.1. The packing materials.
The packaging materials are:
• The bottom of the box (the pallet)

• The lid of the box (the ramp)
• The walls of the box
• Protective foam blocks: Side blocks and the top layer
• Protective corner braces: The braces prevent the robot from being damaged by the
transport straps
15.2 Packing the robot for transportation

Before packing the robot for transportation:
• Shut down the robot—see Shutting down the robot on page 63.
• Disconnect the battery—see Disconnecting the battery on page 66.
To pack the robot, repeat the steps in Unpacking MiR250 on page 45 in the reverse order.
NOTICE
Pack and transport the robot in an upright position. Packing and transporting
the robot in any other position voids the warranty.
15.3 Battery
The lithium-ion battery is subject to transport regulations. Make sure that you follow the
safety precautions in this section and the instructions in Packing for transportation on the
previous page. Different regulations apply depending on the mode of transportation: land,
sea, or air.
Contact your distributor for more information.
CAUTION
Lithium-ion batteries are subject to special transportation regulations
according to United Nations Regulation of Dangerous Goods, UN 3171. Special
transport documentation is required to comply with these regulations. This
may influence both transport time and costs.
16. Disposal of robot
16. Disposal of robot

MiR250 robots must be disposed of in accordance with the applicable national laws,
regulations, and standards.
Fee for disposal and handling of electronic waste of Mobile Industrial Robots A/S robots sold
on the Danish market is prepaid to DPA-system by Mobile Industrial Robots A/S. Importers in
countries covered by the European WEEE Directive 2012/19/EU must make their own
registration to the national WEEE register of their country. The fee is typically less than 1€
per robot. A list of national registers can be found here: https://www.ewrn.org/national-
registers.
For battery disposal, see Battery disposal on page 70.
17. Payload distribution

The following drawings illustrate where the center of mass (CoM) of payloads must be
located for safe operation with different payloads.
WARNING
Load falling or robot overturning if the load on MiR250 is not positioned or
fastened correctly can cause damage to equipment and injury to personnel.
• Ensure that the load is positioned according to the specifications and is

fastened correctly.
CAUTION
Bumps and holes can cause loads to fall off of the robot, causing damage to
equipment and injury to personnel.
• The floor the robot drives on must be even without bumps and holes for the
payload specifications to be valid. If bumps and holes are present, the
commissioner must take additional measures to ensure a safe operation.
CAUTION
A slippery surface can cause instability when driving with payloads, causing
damage to equipment and injury to personnel.
• The friction coefficient between the floor and the drive wheels on the robot
must be in the range of 0.60 to 0.80 for the payload specifications to be
valid. If the friction coefficient is not in this range, the commissioner must
take additional measures to ensure a safe operation.
The specifications apply to total payloads of up to 250 kg.
17.1 Side view

At 1.2 m/s with no incline
Figure 17.1. The center of mass (CoM) of payloads seen from the side.
Figure 17.2. The center of mass (CoM) of payloads seen from the side.
17.2 Front view

Figure 17.3. The center of mass (CoM) of payloads seen from the front.
Figure 17.4. The center of mass (CoM) of payloads seen from the front.
17.3 Top view

Figure 17.5. The center of mass (CoM) of payloads seen from the top.
Figure 17.6. The center of mass (CoM) of payloads seen from the top.
18. Interface specifications

This section describes the specifications of the top application interfaces.
NOTICE
Read Safety on page 29 before using the electrical interface.
MiR250 has seven electrical interfaces divided into two groups:
• Robot's left side:

• Power
• Emergency stop
• Ethernet
• Robot's right side:
• GPIO A
• GPIO B
• Auxiliary Safety Functions A
• Auxiliary Safety Functions B
To see the locations of the electrical interfaces on the robot, see Internal parts on page 21.
18.1 Left side interfaces

This section describes the general purpose interfaces located in the left side compartment
on top of MiR250.
Emergency stop
Figure 18.1. The pins of the Emergency stop interface.
Table 18.1.
Description of pins in the Emergency stop interface in Figure 18.1
Signal
Pin no. Type Description
name
1 SAFE_ Ground Return for lamp signal.

RETURN
2 Test Output Safety output 1. Should be connected

output 1 through Emergency stop buttons to input 1
and 3.
3 Test Output Safety output 2. Should be connected through

output 2 Emergency stop buttons to input 2.
4 E-stop 1 Input Safety input 1
5 E-stop 2 Input Safety input 2.
6 Restart Input Safety input 3.
Signal
name
7 RST_ Output 24 V output for powering the lamp on the

LAMP_24_ Emergency stop box.
V
8 NC Not connected to the robot.
Power
Figure 18.2. The pins of the Power interface.
The maximum current across pins 1 and 3 combined is 10A. You cannot
receive 10A from both of the pins at the same time.
CAUTION
Connecting power and ground signals to the chassis while stacking the 24 V
and 48 V power supplies can lead to severe damage to the robot and electrical
shock.
• Never connect power and ground signals to the chassis, and never stack the
24 V and 48 V power supplies.
CAUTION
Connecting 48 V power supplies to 24 V pins or vice versa can lead to severe
damage to the robot and electrical shock.
• Never connect 48 V power supplies to 24 V pins or vice versa.
CAUTION
The robots are not designed to absorb inverse current from top modules. This
can damage the electrical components inside the robot, and the top module
will likely not work as intended.
• Never connect a top module that can deliver an inverse current to the robot
interfaces.
Table 18.2.
Description of the pins in the power interface in Figure 18.2
Pin Signal Max.
Description
no. name current
1 48V power 10 A Always active when robot is on.
Intended for high power loads like motors and

actuators.
Voltage range before the power board shuts off: 41 V

to 53.8 V
Pin Signal Max.

Description
no. name current
2 GND Power ground.
3 48V safe 10 A Inactive in case of a Protective or Emergency stop.

power
This output is controlled by the internal safety PLC
through the STO contactor to ensure that power is
always disconnected from this pin in case of a
Protective or Emergency stop.
Intended for high power loads like motors or
actuators.
Voltage range before the power board shuts off: 41 V

to 53.8 V.
4 GND Power ground.
5 Isolated Fully isolated from the robot.

24V
6 Isolated Fully isolated from the robot.

GND
7 Unassigned Unassigned.
Ethernet
Figure 18.3. The pins of the Ethernet.
The communication interface is 10/100 Mbit Ethernet using a M12 connector—see

Connector list on page 216.
Various protocols can be supported, for example Modbus. For more information on how to
use Modbus, contact your distributor for the how-to guide How to use Modbus with
MiR robots.
Table 18.3.
Description of the pins in Figure 18.3
Pin number Signal name
1 TX+
2 RX+
3 TX-
4 RX-
18.2 Right side interfaces

This section describes the general purpose interfaces located in the right side compartment
on top of MiR250.
GPIO A and B
The GPIO interfaces have the following pins:
• Four inputs, for use with 24 V, but robust against 48 V.

• Four outputs, for use with 24 V.
The GPIO supports low current/power devices like relays, contactors, lamps, and separate
PLC units.
Figure 18.4. Outputs and RTNs are intended for sending signals to the top application, and inputs and 24V pins
are intended to receive signals from the top application.
To use the GPIO for a top application of your own design, ensure that the Shelf feature is
disabled by setting it to False under System > Settings > Features and that I/O modules is
enabled by setting it to True.
This enables the GPIO interface to work as input and output to top modules that can be used
in missions.
Outputs (OUT1, OUT2, OUT3, OUT4) can be toggled on and off by the robot in a Set
I/O module mission action or manually in Setup > I/O modules.
A top module can be connected to the output pins and monitor when they are active at 24 V.
RTN is used as ground.
Inputs (IN1, IN2, IN3, IN4) can be used by the top module to send inputs to the robot. When
24 V (or more than 20 V) is connected to the input pin, the robot registers the input as
active.
The number in the signal names of the electrical GPIO pins are shifted by one
in the internal I/Os displayed in the robot interface. Meaning that output 0 in
the robot interface controls signal OUT1—see 18.
Figure 18.5. Example of I2 registered as active by the robot.
Output pins must be connected to RTN pins, and input pins must be connected to 24 V pins.
Figure 18.6. The pins of the GPIO interfaces.
Table 18.4.
Description of the pins in the output interface in Figure 18.6
Signal
name
1 OUT1 Output Output 1. Maximum 1 A at 24 V
Signal
name
2 GND Ground Protected return.
3 OUT2 Output Output 2. Maximum 1 A at 24 V.
Table 18.5.
Description of the pins in the in the input interface in Figure 18.6
Signal
name
1 IN1 Input Input 1.
2 24V Output 24 V output. 2 A maximum total over all 24 V

output.

output.

output.

output.
Auxiliary Safety Functions A and B

The Auxiliary safety functions interfaces are designed to support Emergency and Protective
stops and other safety functions—see Safety system on page 89.
Figure 18.7. The pins of the Auxiliary safety functions interfaces.
Safety A:
Table 18.6.
Description of the pins in the Auxiliary safety function interface A in Figure 18.7
Signal
name
1 Test output Output 24 V test signal. Sends test pulses (not on

1 constantly).
2 Safeguarded Input When inactive, the robot enters Protective

stop 1 stop. If this pin and the other Safeguarded
stop pin are unequally set for a period
greater than three seconds, the robot must
Signal
name
be restarted.
3 Shared Input When inactive, the robot goes into

emergency Emergency stop.
stop in 1
4 Reduced Input When inactive, the robot drives with reduced

speed 1 speed.
5 Locomotion Output Is active when the robot is standing still.

1
6 Shared Output Is inactive when the robot is in Emergency

emergency stop.
stop out 1
Safety B:
Table 18.7.
Description of the pins in the Auxiliary safety function interface B in Figure 18.7
Pin Signal
Type Description
no. name
1 Test output Output 24 V out test signal. Sends test pulses (not on
2 constantly).
2 Safeguarded Input When inactive, the robot enters Protective stop. If

stop 2 this pin and the other Safeguarded stop pin are
unequally set for a period greater than three
seconds, the robot must be restarted.
3 Shared Input When inactive, the robot goes into Emergency stop.
emergency
stop in 2
4 Reduced Input When inactive, the robot drives with reduced speed.
speed 2
Pin Signal
Type Description
no. name
5 Locomotion Output Is active when the robot is standing still.

2
6 Shared E- Output Is active when the robot is standing still.

Stop out 2
7 SAFE_ Safe return for output signals.

RETURN
18.3 Connector list

Table 18.8.
Description of the connectors used for the different interfaces
Connector Description Manufacturer Part number
Power Cable connector, M23, 6 Phoenix 1619775

way, male Contact
GPIO Single wire connector, Phoenix 1952322

female, pitch 3.5mm 8 Contact
way.
Ethernet Cable assembly, 1m, M12, Lumberg 0985 806

4 way to RJ45 103/1M
Auxiliary emergency Cable connector, 8 + 2 Neutrik NC10MXX-14-

stop way, XLR, male B
Auxiliary safety Single wire connector, Phoenix 1851287

functions - long female, Pitch 3,81mm, 7 Contact
connector way
Auxiliary safety Single wire connector, Phoenix 1851274

functions - short female, pitch 3,81mm, 6 Contact
connector way
Antenna Cable connector, RP-SMA, AMPHENOL RSMA1111A1-

male, gold RF 3GT50G-1A-50
Figure 18.8. Connector dimensions for the Power connector.
19. Error handling
19. Error handling

The robot enters an error state when it can't solve a problem on its own.
Figure 19.1. The robot interface when entering an error state.
Errors include:
• Hardware faults
• Failed localization
• Failure to reach destination
• Unexpected events in the system
An error triggers a Protective stop. The robot is paused until a user acknowledges the error
and clears it.
19.1 Software errors

Software errors such as localization and failure to reach the goal destination can be
prevented with the proper setup of maps and missions:
• Always test your missions under full observation and normal work environment conditions
before leaving the robot to execute the missions autonomously—see Testing a mission on
page 184.
19. Error handling
• Use Try/Catch actions to make the robot react in a specific way if it fails to execute
certain actions—see Creating the mission Try/Catch on page 164.
• Use Prompt user actions in missions that require intervention from users—see Creating
the mission Prompt user on page 159.
• Define forbidden areas with Forbidden or Unpreferred zones on the map—see Creating
and configuring maps on page 113.
• Remove noise from maps—see Creating and configuring maps on page 113.
• Create Directional or Preferred zones to guide the robot around areas that are difficult
for the robot to travel through—see Creating and configuring maps on page 113.
To clear an error, select the red warning indicator in the interface, and select Reset.
For more details on setting up missions and error handling, see MiR Robot Reference Guide
on the MiR website.
19.2 Hardware errors

If the error is a fault in the hardware, either you will not be able to clear it, or the error will
return until the fault is fixed. If this occurs, you can try to fix the issue with these actions:
• Turn your robot off and then on again. This resets the robot components and may resolve
the issue.
• Check that the Emergency stop button is released.
• Check your robot for any physical damage such as cracks, dents, or severe scratches or
contamination such as dust, dirt, and grease. Pay special attention to the 3D cameras,
safety laser scanners, and drive wheels.
19. Error handling
• Sign in to the robot interface and go to Monitoring > Hardware health. The interface
displays which component is failing and often for what reason. This can help identify the
source of the error. If an internal component is failing, turn off the robot, disconnect the
battery, and have the commissioner or operator visually check the internal component for
obvious faults.
Figure 19.2. The interface in Hardware health displays which component is failing and often for what reason.
• For further troubleshooting, contact your distributor for specific MiR troubleshooting
guides or assistance from MiR Technical Support.
For a full list of MiR error codes, contact your distributor for the document
Error codes and solutions.
Glossary
A
Autonomous mode
Mode in which the robot drives autonomously based on the missions you assign to it.
C
Commissioner
Commissioners have thorough knowledge of all aspects of commissioning, safety,
use, and maintenance of MiR250 and have the following main tasks: commissioning
the product, including creating maps and restricting the user interface for other
users; making the risk assessment; determining the payload limit, weight
distribution, and safe methods of fastening of loads to MiR250; and ensuring the
safety of nearby personnel when a MiR robot is accelerating, braking, and
maneuvering.
D
Direct user
Direct users are familiar with the safety precautions in the user guide and have the
following main tasks: assigning missions to MiR250 and fastening loads to MiR250
properly.
Dynamic obstacle
Dynamic obstacles are obstacles that are moved around, such as pallets, crates, and
carts. These should not be included when creating a map.
E
Emergency stop
Emergency stop is a state the robot enters when an Emergency stop button has
physically been pressed. When the robot is in Emergency stop, the status light of the
robot turns red, and you are not able to move the robot or send it on missions until
you bring the robot out of Emergency stop. To do this, you must release the
Emergency stop button and then press the Resume button.
G
Global path
The global path is the route the robot calculates that leads it to its goal position.
I
Identification label
The identification label is the label that is mounted to the product in production. The
label is used to identify the components in your MiR application. It identifies the
product model, the hardware version, and the product serial number.
L
Local path
The local path is the route the robot creates within its immediate vicinity that guides
it around obstacles while still following the global path.
Localization
The method used by the robot to determine its position on the map relative to where
it is in the work environment.
M
Manual mode
The mode in which you can drive the robot manually using the joystick in the robot
interface.
Marker
A marker of a physical entity that the robot can dock to. This enables the robot to
position itself accurately relative to the marker.
MiR application
A MiR application is either a single MiR product or a combination of MiR products
that is able to execute certain tasks. A MiR application is often a MiR base robot
combined with a MiR top module. If a custom top module is used, the CE mark on
the nameplate of the base robot does not extend to the top module.
MiR robot interface
The MiR robot interface is the web-based interface that enables you to
communicate with your MiR robot. It is accessed by connecting to the robot's WiFi
and then going to the site mir.com or by entering the robot's IP address in a
browser.
Muted Protective fields

When the Protective fields are muted, the robot moves at a reduced speed, and the
Protective field sets are minimized so the robot does not enter Protective stop until it
is very close to an obstacle.
N
Nameplate
The nameplate is the label delivered with your MiR application that must be
mounted before you commission the robot. The nameplate identifies the MiR
application model, application number, mechanical and electrical specifications, and
includes the CE mark of your application.
Noise
With MiR robots, noise in maps refers to recorded data that originates from
interfering elements. This can be physical obstacles that make the robot record walls
where there are none or more subtle interferences that can make recorded walls
appear pixelated.
O
Operating hazard zone
Operating hazard zones are areas where the robot drives with muted Personnel
detection and areas with inadequate clearance for personnel to work close by the
robot.
Operator
Operators have thorough knowledge of MiR250 and of the safety precautions
presented in the User guide of MiR250. Operators have the following main tasks:
servicing, maintaining, and creating and changing missions and map positions in the
robot interface.
P
Payload
The payload is the weight the robot carries. Total payload capacity is the maximum
weight the robot can carry, including the weight of any top modules, shelves, carts,
or other devices.
Position
A position is a set of X-Y coordinates on the map that you can send the robot to.
Protective field sets

The Protective fields sets are a part of the Personnel detection safety function. They
are contours surrounding the robot that change size depending on the speed of the
robot. When a safety laser scanner detects a person or object within the active field,
the robot enters Protective stop until the field is clear.
Protective stop
Protective stop is a state the robot enters automatically to ensure the safety of
nearby personnel. When the robot enters Protective stop, the status light of the
robot turns red, and you are not able to move the robot or send it on missions until it
is brought out of Protective stop. The robot goes into Protective stop in a number of
situations: if a safety laser scanner detects an object in its active protective field,
when the robot finishes the startup process, when the robot has switched between
Manual mode and Autonomous mode, if the safety system detects a fault, or if the
motor control system detects a discrepancy.
S
Static landmark
Static landmarks are obstacles that cannot be moved, such as walls, columns, and
fixed structures. These must be included on the map and are used by the robot to
localize itself.

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Copyright © 2020-2021 by Mobile Industrial Robots A/S.

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Mobile Industrial Robots A/S

1.1 Where to find more information 8

1.2 Version history 9

2.1 Main features of MiR250 11

2.2 Top modules 12

2.3 External parts 13

2.4 Internal parts 21

4.1 Safety message types 29

4.2 General safety precautions 30

4.3 Intended use 33

4.5 Foreseeable misuse 36

4.6 Warning label 36

4.7 Residual risks 37

5. Accessing the internal parts 38

5.1 Front compartment 39

5.2 Rear compartment 40

5.3 Side compartments 41

5.4 Top compartments 42

6.2 Unpacking MiR250 45

6.3 Connecting the battery 49

6.4 Powering up the robot 51

6.5 Connecting to the robot interface 54

6.6 Driving the robot in Manual mode 55

6.7 Moving the robot by hand 58

6.8 Checking the hardware status 60

6.9 Mounting the nameplate 61

6.10 Shutting down the robot 63

7. Battery and charging 65

7.1 Charging the robot 65

7.2 Disconnecting the battery 66

7.3 Enabling fast swap 67

7.4 Swapping out the lithium-ion battery 68

7.5 Battery storage 69

7.6 Battery disposal 70

8.1 Managing users and passwords 72

8.2 Software security patches 72

9. Navigation and control system 74

9.1 System overview 74

9.2 User input 76

9.3 Global planner 76

9.5 Obstacle detection 79

9.7 Motor controller and motors 87

10. Safety system 89

10.1 System overview 89

10.2 Personnel detection 94

10.3 Overspeed avoidance 99

10.4 Stability 100

10.5 Emergency stop circuit 100

10.6 Safeguarded stop 101

10.7 Locomotion 102

10.8 Shared emergency stop 103

10.9 Reduced speed 104

10.10 Safety stop 105

10.11 Light indicators and speakers 106

11. Commissioning 110