MIR 200 Operation & User’s Manual

2 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 © 2017-2020 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: [email protected] CVR: 35251235

3 Table of contents 1. About this document 7 1.1 Where to find more information 7 1.2 Version history 8 2. Product presentation 9 2.1 Main features of MiR200 10 2.2 Top modules 11 2.3 External parts 11 2.4 Internal parts 16 3. Safety 19 3.1 Safety message types 19 3.2 General safety precautions 20 3.3 Intended use 24 3.4 Users 25 3.5 Foreseeable misuse 26 3.6 Warning label 27 3.7 Residual risks 27 4. Getting started 29 4.1 In the box 29 4.2 Unpacking MiR200 30 4.3 Connecting the battery 32 4.4 Powering up the robot 38 4.5 Connecting to the robot interface 39 4.6 Driving the robot in Manual mode 41

4 4.7 Checking the hardware status 43 4.8 Mounting the nameplate 43 4.9 Shutting down the robot 45 5. Battery and charging 46 5.1 Charging the robot 46 5.2 Disconnecting the battery 48 5.3 Battery storage 50 5.4 Battery disposal 50 6. IT security 52 6.1 Managing users and passwords 52 6.2 Software security patches 52 7. Navigation and control system 54 7.1 System overview 54 7.2 User input 56 7.3 Global planner 56 7.4 Local planner 58 7.5 Obstacle detection 59 7.6 Localization 65 7.7 Motor controller and motors 69 7.8 Brakes 70 8. Safety system 71 8.1 System overview 71 8.2 Collision avoidance 75 8.3 Overspeed avoidance 80

5 8.4 Stability 80 8.5 Emergency stop circuit 80 8.6 Robot computer 81 8.7 Light indicators and speakers 82 9. Commissioning 84 9.1 Analysis of the work environment 84 9.2 Risk assessment 86 9.3 Creating and configuring maps 87 9.4 Markers 98 9.5 Positions 101 9.6 Creating missions 102 9.7 Creating a footprint 105 9.8 Making a brake test 109 9.9 Creating user groups and users 110 9.10 Creating dashboards 113 9.11 Updating MiR200 software 114 9.12 Creating backups 115 9.13 System settings 115 10. Usage 123 10.1 Creating markers 123 10.2 Creating positions 128 10.3 Creating the mission Prompt user 130 10.4 Creating the mission Try/Catch 135 10.5 Creating the mission Variable footprint 141

6 10.6 Testing a mission 144 11. Applications 146 11.1 Mounting a top module 146 12. Maintenance 148 12.1 Regular weekly checks and maintenance tasks 148 12.2 Regular checks and replacements 149 12.3 Battery maintenance 152 13. Packing for transportation 153 13.1 Original packaging 153 13.2 Packing the robot for transportation 154 13.3 Battery 154 14. Disposal of robot 155 15. Payload specifications 156 16. Interface specifications 164 16.1 Application interface 164 16.2 Emergency stop 165 17. Error handling 167 17.1 Software errors 167 17.2 Hardware errors 168

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 7 1. About this document This user guide explains how to set up and start operating your MiR200 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 MiR200 along with instructions for proper maintenance of the robot. You will also find information regarding safety and specifications needed to commission a safe MiR200 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. • 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. Simple http requests can be used to control robots, hooks and 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 8 1.2 Version history This table shows current and previous versions of this manual and their interrelations with hardware releases. the robot Revision Release date Description HW 1.0 2017-11-24 First edition. 1.0 1.1 2018-08-17 Updated for hardware release 1.2. Updates and improvements throughout the manual. 1.2 1.2 2018-11-28 Updated for hardware release 2.0. Updates and improvements throughout the manual. 2.0 1.3 2019-06-26 Updated for hardware release 3.0. Updates and improvements throughout the manual. 3.0 1.4 2019-08-20 Updated for hardware release 5.0. Updates and improvements throughout the manual. 5.0 3.0 2020-10-01 New manual structure. New chapters: Warning label, Mounting the nameplate, Battery and charging, IT security, Navigation and control system, Safety system, Usage, Disposal of robot, Error handling and Glossary. As a result of the new manual structure, the MiR200 User Guide has been aligned with the top module version history. Therefore, version 2.0 is skipped and is instead named 3.0. 5.0 3.1 2020-10-30 Updates and improvements throughout the manual. 5.0

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 9 2. Product presentation MiR200 is an autonomous mobile robot that can transport loads up to 200 kg indoors within production facilities, warehouses, and other industrial locations where access to the public is restricted. Users operate MiR200 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 39. The robot can be set up to run a fixed route, be called on demand, or perform more complex missions. The robot interface of MiR200 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 54. 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. Specifications for MiR200 are available on the MiR website.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 10 2.1 Main features of MiR200 The main features of MiR200 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 200 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 135. • 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 87.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 11 2.2 Top modules The following top modules are available for MiR200: • MiR Hook 200 A hook may be mounted on the robot enabling it to automate the internal transport of carts. To learn more about the top modules, go to the MiR website. 2.3 External parts This section presents the parts of MiR200 that are visible on the outside. Figure 2.1. MiR200 external parts.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 12 Pos. Description Pos. Description 1 Top cover: access to internal parts—see Internal parts on page 16 2 Swivel wheel: four pcs., one in each corner 3 Drive wheel: two pcs., differential control 4 Behind the removable corner cover: HDMI port and USB service port - connects to the robot computer 5 Scanner reset button (yellow) and On/Off button (blue) 6 Ultrasound sensors: two pcs., for detection of transparent objects (side)—see Obstacle detection on page 59 7 3D depth camera: two pcs., both in the front—see Obstacle detection on page 59 8 Pad connectors: two pcs., for connection to charging pins on MiR Charge 24V charging station 9 S300 safety laser scanner (front)—see Obstacle detection on page 59 10 Side cover 11 Behind removable rear corner cover: Charging port with switch 12 Ultrasound sensors: two pcs., for detection of transparent objects (rear)—see Obstacle detection on page 59 13 Rear cover 14 S300 safety laser scanner (rear)—see Obstacle detection on page 59 15 RJ45 Ethernet—see Interface specifications on page 164 16 Application power: for connection to top modules such as hooks—see Interface specifications on page 164 Table 2.1. Identification of the external parts in Figure 2.1.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 13 Pos. Description Pos. Description 17 Antenna socket 18 USB interface - connects to the robot's PC 19 Emergency stop interface: with added options for connection to small units and I5 input on SICK scanners— see Interface specifications on page 164 Identification label MiR200 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 MiR200 is located on the back left side of the chassis underneath the router. Figure 2.2. Placement of the identification label.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 14 Figure 2.3. Example of a MiR200 identification label. Nameplate Every MiR application is delivered with a nameplate that must be mounted to the robot. The nameplate of MiR200 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 43. Figure 2.4. Example of a MiR200 nameplate. Control panel MiR200 has a control panel in the rear-left corner of the robot.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 15 The control panel buttons Figure 2.5. The MiR200 control panel. Pos. Description Pos. Description 1 Scanner reset 2 Power Table 2.1. MiR200 control panel. Scanner reset Pressing this button restarts the scanners after 5-7 seconds. This can be useful if you experience issues with the safety laser scanners. Power Pressing this button for three seconds turns the robot on or shuts it off. Operating modes MiR200 has two operating modes: Manual mode and Autonomous mode.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 16 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 41. Autonomous mode In this mode, the robot executes the programmed missions. The robot enters this mode automatically when you press Continue in the robot interface. 2.4 Internal parts This section presents the parts of MiR200 that are visible on the inside after removing the top cover. 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 covers, turn off the robot, and disconnect the battery—see Disconnecting the battery on page 48.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 17 Figure 2.6. Internal parts of MiR200. Pos. Description Pos. Description 1 Breaker: automatic fuse between battery and components 2 Robot power off relay: releases the latching relay (pos. 17) when the robot is shutting down. 3 Motor controller: manages the two motor drives 4 Brake relay: short circuits motor windings for faster braking 5 Battery connector for extra battery 6 Safe torque off relay (controlled by Safety PLC) 7 CAN bus connection for 8 Battery disconnect switch Table 2.1. Identification of internal parts in Figure 2.6.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 18 Pos. Description Pos. Description Battery Management System, logging data such as number of charge cycles 9 Router: local network, 2.4 and 5 GHz 10 Battery with connector: main power to the robot 11 Safety PLC 12 Optocoupler: emergency stop signal to motor controller 13 Loudspeaker 14 MiR board: interface board for gyroscope, accelerometer, ultrasound, light, on/off circuit, and CAN bus communication 15 24 V power supply: secures stable voltage for the robot computer and PLC 16 Latching relay: activates the 24 V power supply turning on the robot 17 Transient protection module: provides circuit protection for the power supplies by absorbing voltage spikes from battery or top mounted applications 18 Robot computer

19 3. Safety Read the information in this section before powering up and operating MiR200. Pay particular attention to the safety instructions and warnings. NOTICE Mobile Industrial Robots disclaims any and all liability if MiR200 or its accessories are damaged, changed, or modified in any way. Mobile Industrial Robots cannot be held responsible for any damages caused to MiR200, accessories, or any other equipment due to programming errors or malfunctioning of MiR200. 3.1 Safety message types This document uses the following safety message types. WARNING Indicates a potentially hazardous situation that could result in death or serious injury. Carefully read the message that follows to prevent 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.

20 3.2 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. 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.

21 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 the original charger. WARNING Attempting to charge batteries outside the robot can lead to electrical shock or burns. • Never charge the batteries outside the robot.

22 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 the original 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 MiR200.

23 WARNING Load falling or the 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 specifications on page 156. CAUTION Load placed directly on top of the robot cover may cause damage to the cover of the robot. • Ensure that the load is not placed directly on top of the robot cover. 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.

24 NOTICE Moving the robot by hand forcefully may cause damage to the top cover. • If the robot is stuck, push or pull gently on the top cover corners to move the robot. 3.3 Intended use MiR200 is intended to be commissioned and used in indoor industrial environments where access for the public is restricted. MiR200 is intended to be commissioned according to the guidelines in Commissioning on page 84. This is a prerequisite for safe usage of MiR200. MiR200 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. MiR200 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 MiR200. • Are within the requirements in Payload specifications on page 156. If used with custom modules, all obligations of a manufacturer apply to the individual who performs the modifications in accordance with the machinery directive. MiR200 is designed for and all risks are considered when used with one of the following types of top modules: • MiR Hook 200 to tow carts. MiR200 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 MiR200 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.

25 The following list gives examples of modules that are foreseeable misuse of MiR200: • Top modules (including total payload) that increase the footprint of MiR200 • 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 84 to ensure a safe system. 3.4 Users MiR200 is only intended to be used by personnel that have received training in their required tasks. There are three types of intended users for MiR200: commissioners, operators, and direct users. Commissioners Commissioners have thorough knowledge of all aspects of commissioning, safety, use, and maintenance of MiR200 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 MiR200, and ergonomic loading and unloading methods if relevant. • Ensuring the safety of nearby personnel when the robot is accelerating, braking, and maneuvering. Operators Operators have thorough knowledge of MiR200 and of the safety precautions presented in this user guide. Operators have the following main tasks:

26 • Servicing and maintaining MiR200. • 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 MiR200. • Fastening loads to MiR200 securely. • Loading and unloading from a paused robot. All other persons in the vicinity of MiR200 are considered indirect users and must know how to act when they are close to the robot. 3.5 Foreseeable misuse Any use of MiR200 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 specifications on page 156 • 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

27 NOTICE If the robot is misused, the warranty becomes void. Only use the robot as described in Intended use on page 24. 3.6 Warning label MiR200 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 3.1. The warning label must be placed on the robot or top module. 3.7 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 MiR200: • 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. It will only drive 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 52.

28 NOTICE Other significant hazards may be present in a specific robot installation and must be identified during commissioning.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 29 4. Getting started This section describes how to get started with MiR200. NOTICE Read Safety on page 19 before powering up MiR200. 4.1 In the box This section describes the contents of the MiR200 box. Figure 4.1. The robot and accessories

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 30 The box contains: • The MiR200 robot • The robot kit which contains: • One Emergency stop box, external antenna, and four pcs. M10x40 bolts • One charging cable • One external charger, 24 V DC, 10 A • A MiR200 document folder containing a USB flash drive and the following printed documents: • MiR200 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: • MiR200 User Guide • MiR200 Quick Start • MiR Network and WiFi Guide • MiR Robot Reference Guide • MiR Robot REST API Reference • Getting the robot online • CE Declaration of Conformity 4.2 Unpacking MiR200 This section describes how to unpack the robot. Keep the original packaging for future transportation of MiR200. Follow these steps to unpack the robot: 1. Place the box with the robot so that there is 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. 3. Remove the lid from the box.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 31 4. Take the folder with the printed documents and the USB flash drive out of the box. 5. Remove the walls of the box and the protective foam blocks. 6. Place the lid of the box so that you can use it as a ramp at the robot's front or rear end. Align the lid so that it is flush with the base of the box.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 32 4.3 Connecting the battery Follow these steps to connect the battery to the robot: 1. Grab the two rounded corners and carefully lift off the cover. 2. Connect one of the two battery cables to the plug on top of the battery box. The second cable is for an extra battery.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 33 3. Switch on the three relays placed in the corner by the front laser scanner. Start with the outer relay that is closest to the robot frame and continue towards the center of the robot. The outer relay is the 32 A main power relay. 4. Ensure that the Battery disconnect switch, placed in the rear right corner, is on (the two yellow indicators pointing to On).

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 34 5. Connect the two ESD cables attached to the robot frame, next to the loudspeaker, and inside the cover.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 35 6. Put the cover back on and make sure to fit it correctly over the connector openings.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 36 7. Mount and connect the Emergency stop box on top of the robot cover. If a top module is going to be mounted on top of the robot, the Emergency stop must be placed in a position where it is easy to reach—see the mounting instructions for your top module.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 37 8. Connect the antenna to the connector on top of the robot cover. Remove the plastic cap from the connector before fixing the antenna. The antenna can be lowered and rotated in all directions to fit under a top module.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 38 4.4 Powering up the robot Follow these steps to power up the robot: 1. Press the Power button in the corner to turn on the robot. The status lights waver yellow, and the robot starts the software initialization process. When the initialization process ends, the robot goes into Protective stop. 2. Press the reset button on the Emergency stop when the button lights up. The status lights switches to yellow constant light, indicating that the robot is paused and ready to

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 39 operate. 4.5 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 40 Follow these steps to connect to the robot interface: 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. 2. In a browser, go to the address mir.com and sign in.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 41 3. Switch to Manual mode, and drive the robot down the ramp—see Driving the robot in Manual mode below. 4.6 Driving the robot in Manual mode CAUTION When driving the robot in manual mode, it is possible to drive the robot into Forbidden zones and Unpreferred 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 42 To drive the robot in Manual mode, follow these steps: 1. In the robot interface, select the joystick icon. The joystick control appears. 2. 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 43 4.7 Checking the hardware status To check that all hardware components work as intended, follow these steps: 1. Sign in to the robot interface—see Connecting to the robot interface on page 39. 2. Go to Monitoring > Hardware health. 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. 4.8 Mounting the nameplate Before using MiR200, you must mount its unique nameplate to it. The nameplate contains information specific to your MiR application—see Nameplate on page 14.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 44 NOTICE The nameplate must be mounted as described in the following steps. If mounted incorrectly, the CE mark is invalid. The following steps describe how to mount the nameplate correctly: 1. Locate the area below the side cover near the swivel wheel at the rear end of the robot— see External parts on page 11. 2. Clean the area marked in the image below with a degreasing agent. If you cannot access the area, either lift the robot to an appropriate height or remove the top cover to gain access. 3. Mount the nameplate on the cleaned area.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 45 4.9 Shutting down the robot Follow these steps to shut down MiR200: 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. 4. When the robot finishes the shutdown process, the status lights are off. When you shut down the robot for transportation, service, or repair, the battery must be disconnected—see Disconnecting the battery on page 48.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 46 5. Battery and charging The robot is powered by a lithium battery that can be charged with a MiR cable charger or a MiR Charge 24V charging station. 5.1 Charging the robot This section describes how to charge MiR200 using a MiR cable charger. The robot is delivered 40-60% charged. To avoid fast discharging and depleting the battery, we recommend that you turn off the robot while charging with a cable. If you are charging two robots right after each other with a cable, wait approximately one minute between unplugging the first robot and plugging in the second. This will ensure that the charger registers that a new robot is being charged.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 47 To charge MiR200 using the cable charger, connect the cable charger to the charging interface on the robot in the rear-left corner. Follow these steps to do this: 1. Remove the rear corner by pulling it towards you. You may have to apply a bit of force the first couple of times. 2. Attach the charger to the robot’s charging socket and to a power outlet. Turn on the rocker switch on the robot to begin charging. Use only the original charging cable.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 48 3. Look at the indicator lights on the charger to confirm that the robot starts charging. If the plug is not connected properly to the socket, the robot will not start the charging. 4. Turn off the rocker switch and disconnect the charging cable from the robot. Slide the corner cover back on. The robot detects both cable and activated charging-button. If either the charging switch is turned on or the cable charger is connected, the robot enters Protective stop. For information about the charging time, see specifications on the MiR website. 5.2 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. Follow these steps to disconnect the battery: 1. Turn off the robot.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 49 2. Turn the Battery disconnect switch to Off (the two yellow indicators pointing to Off). 3. Remove the top cover.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 50 4. Disconnect the battery by unplugging the blue battery cable from the battery box. 5. Place the top cover back on the robot. 5.3 Battery storage The battery should be stored in an area at room temperature with a non-condensing relative air humidity—see specifications on the MiR website. 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. To preserve the battery, disconnect the battery from the robot before storing the robot. 5.4 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 Battery disposal symbols. on the next page.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 51 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 5.1. Battery disposal symbols.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 52 6. IT security IT security is a set of precautions you can take to prevent unauthorized personnel from accessing MiR200. This section describes the main IT-security related risks and how to minimize them when commissioning MiR200. MiR200 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. 6.1 Managing users and passwords Managing your users and passwords is the main way you can control access to MiR200. 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 MiR200 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 MiR200, 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. 6.2 Software security patches To improve the security of MiR200, 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 53 Security patches are included from software version 2.8.3 and higher. 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 54 7. 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. 7.1 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 7.1 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 ultrasound 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 55 Figure 7.1. Flow chart of the navigation and robot 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 56 7.2 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 87. • A goal destination on that map—see Markers on page 98. • The current position of the robot on the map. This usually only needs to be provided when a new map is activated. Figure 7.2. 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. 7.3 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 57 Figure 7.3. 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 7.4. The dotted line from the start position of the robot to the goal position is the global path generated by the robot computer.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 58 7.4 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 7.5. 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 interfaces. The arrows in the images here are visual aids used in this guide only.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 59 Figure 7.6. 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 69. 7.5 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 ultrasound sensors

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 60 What a human sees What the laser scanners see What the 3D cameras see A chair placed in the corner of a room is detectable by the robot. In the robot interface, the red lines on a map are obstacles detected by the laser scanners, and the purple clouds are an aggregate of the 3D camera and laser scanner data. The scanners only detect the four legs of the chair. The 3D cameras detect more details of the chair when the robot gets close enough to it. This view cannot be seen in the robot interface. Table 7.1. Description of how the robot sees obstacles with its sensors. Safety laser scanners Two safety laser scanners, diagonally placed on one front and one rear corner of the robot, scan their 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 61 Figure 7.7. 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 87. 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 1950 mm in front of the robot. • Horizontally in an angle of 118° and 180 mm to the first view of ground.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 62 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 7.8. The two 3D cameras can see objects up to 1800 mm above floor height.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 63 Figure 7.9. The two 3D cameras have a horizontal view of 118°. 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 64 Ultrasound sensors Four ultrasound sensors are placed on the robot: two at the front or rear and two at the front of the robot, but with an angle looking to the front sides. Figure 7.10. Two ultrasound sensors are placed at the front of the robot (left) and two at the rear of the robot (right). On robots where the last four digits of the 12-digit serial number are 0905 or lower, the ultrasound sensors are placed on the front and sides of the robot. On robots where the last four digits of the 12-digit serial number are 0906 and up, the ultrasound sensors are placed on the rear and sides of the robot. The ultrasound sensors are used to detect objects which cannot be seen by the camera or the laser scanners. Pos. Minimum range Maximum range Front 10 mm 200 mm Front side 200 mm 300 mm Rear 10 mm 350 mm Table 7.2. Range of the ultrasound sensors.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 65 Be aware that soft material such as foam or clothes can absorb sound and may not be detected by the sensors. 7.6 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 148—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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 66 Failed localization Successful localization Figure 7.11. 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 67 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

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 68 • 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

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 69 • 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. 7.7 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 70 7.8 Brakes Once the approximated position of the robot determined from localization is the same as the goal position calculated by the global planner, the brake relay is engaged to bring the robot to a stop.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 71 8. Safety system The robot's safety system is responsible for stopping or slowing down the robot and its top module in situations where personnel are at risk of injury. MiR200 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. 8.1 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 relays to bring the robot to a category 0 stop (stopping by “immediate removal of power to the machine actuators" according to IEC 60204-1). This is known as bringing the robot into Emergency stop or Protective stop, depending on the function—see Types of stop below. There is also an Emergency stop electrical interface that enables you to connect any number of Emergency stop buttons to your robot. These Emergency stop buttons can, for example, be mounted to a top module. The Emergency stop buttons must be connected in series with two identical circuits to ensure redundancy. Types of stop There are three different stopped states: • Operational stop • Protective stop • Emergency stop Protective stop and Emergency stop are monitored by the safety PLC.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 72 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 relays are switched so the robot's top module and all moving parts of the robot do not receive power. You can hear the safety relays 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 Collision avoidance on page 75. The robot will resume its operating state after two seconds. • The robot finishes the startup process The reset button on the Emergency stop will flash after startup. Press the reset button on the Emergency stop 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 73 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 press the flashing Emergency stop reset button. If the robot is in Emergency stop, it will immediately resume an operating state after you press the flashing Emergency stop reset button. MiR200 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 148. • Use the robot interface to stop the robot in non-emergency situations.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 74 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 MiR200: • Collision avoidance 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. • Emergency stop circuit The Emergency stop circuit goes through the Auxiliary emergency stop interface and connects to the top module. It is possible to connect multiple emergency stop buttons to the circuit. When the circuit is broken, the robot goes into Emergency stop. These functions are described in further detail in the following sections. The diagram in Figure 8.1 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 contactors to cut off power to the robot motors and the top module whenever a Protective or Emergency stop is triggered. Also, the safety PLC sends information to the robot computer to be displayed in the robot interface (in Monitoring > Hardware health) and to indicate the robot's status through the status lights and the speaker.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 75 Figure 8.1. Overview of components involved in each safety function and interface. When a safety function is triggered, the safety PLC switches the STO and brake relays so the brakes, motors, and safe power supply to the top module no longer receive power. 8.2 Collision avoidance The collision avoidance 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 76 Drives when the area is clear Stops when an obstacle is detected Figure 8.2. Collision avoidance 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 means. 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. WARNING The Protective field sets are configured to comply with the safety standards of MiR200. 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 77 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. Robots with serial number 204203005 and higher have an improved SICK configuration and the speed intervals are therefore different. The colors and cases in Table 8.1 correspond to the field set shown in Figure 8.3. Case Speed (serial numbers 204203004 and lower) Speed (serial numbers 204203005 and higher) Protective field range Comments 1 -1.40 to 0.20 m/s -2.000 to 0.150 m/s 0-20 mm Reversing, standstill, and slowly forwards 2 0.21 to 0.40 m/s 0.151 to 0.400 m/s 0-120 mm 3 0.41 to 0.80 m/s 0.401 to 0.680 m/s 0-290 mm 4 0.81 to 1.10 m/s 0.681 to 0.800 m/s 0-430 mm 5 1.11 to 2.00 m/s 0.801 to 2.000 m/s 0-720 mm Forwards at maximum speed Table 8.1. Range of the robot's Protective fields within its forward speed interval cases.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 78 Figure 8.3. The illustration shows the field set contours when the robot drives forward. The range of the active field changes with the robot's speed. Field set when driving backward The field set for driving backward is the same as the field set for driving forward. Robots with serial number 204203005 and higher have an improved SICK configuration and the speed intervals are therefore different. The colors and cases in Table 8.2 correspond to the field set shown in Figure 8.4. Case Speed (serial numbers 204203004 and lower) Speed (serial numbers 204203005 and higher) Protective field range Comments 1 -0.14 to 1.80 m/s -0.150 to 2.000 m/s 0-30 mm Forward, standstill and slowly backwards 2 -0.20 to -0.15 m/s -0.400 to -0.151 m/s 0-120 mm 3 -0.40 to -0.21 m/s -0.680 to -0.401 m/s 0-290 mm Table 8.2. Range of the robot's Protective fields within its backward speed interval cases.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 79 Case Speed (serial numbers 204203004 and lower) Speed (serial numbers 204203005 and higher) Protective field range Comments 4 -1.50 to -0.41 m/s -0.800 to -0.681 m/s 0-430 mm Backward at max. speed Figure 8.4. 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 100 mm.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 80 8.3 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 a Protective stop. This ensures that the robot cannot drive if its speed cannot be controlled. 8.4 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 a Protective stop. This ensures that the robot cannot drive if it has lost control of the speed of each drive wheel. 8.5 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.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 81 Emergency stop button released Emergency stop button pushed Emergency stop circuit faulty Figure 8.5. 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. 8.6 Robot computer The robot computer is connected to the safety PLC via an Ethernet cable. The safety PLC sends all of the statuses of its various inputs to the robot computer so the information can be sent to the robot interface. This enables you to identify which part of the safety system may be causing a Protective or Emergency stop. Additionally, the robot computer sends the current robot state to the power MiR board, which regulates the status lights making them indicate which state the robot is in.

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 82 8.7 Light indicators and speakers The robot uses its status lights and speaker to let people in the environment know what the robot is currently doing or planning to do. Status lights The LED light band running all the way around the robot indicates the robot’s current operational state. Colors may also be used as part of missions, but as standard, status lights indicates the statuses described in Table 8.1. 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 Table 8.1. Status light colors

MiR200User Guide (en) 10/2020- v.3.1©Copyright 2017-2020: Mobile IndustrialRobots A/S. 83 Cyan wavering (MiR Fleet robots only) Waiting for MiR Fleet resource 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. 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. CAUTION It is the responsibility of the commissioner to ensure that the warning sounds are audible in the robot's work environment.

84 9. Commissioning This section describes how to commission MiR200. Commissioning should be done without payload, except when doing brake tests where the robot should have a payload 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. • Create operating hazard zones. • Make a brake test. • Create user groups and users. • Create dashboards. • Update robot software. • Change the relevant system settings. 9.1 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. MiR200 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 109.

85 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 50. 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. 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 MiR200 operates in is suitable for its IP rating—see specifications on the MiR website.

86 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 65. 9.2 Risk assessment To achieve a safe installation, it is necessary to make a risk assessment of MiR200 in the environment it will be used in. This is the responsibility of the commissioner. The risk assessment must cover both MiR200 itself and also take into account potential load transfer stations, work cells, and the work environment. NOTICE Mobile Industrial Robots takes no responsibility for the creation and performance of the risk assessment, but we provide information and guidelines that may be used in this section. For more guidelines, see the guide MiR100 and MiR200 Risk Analysis found on the robot product page under Manuals on the MiR website. 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 Unexpected start for potential exposed persons • 1.3.7 Risk related to moving parts • 1.7.1 Information and warning on the machinery • 1.7.2 Warning of residual risks • 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:

87 • Intended use and foreseeable misuse. • A list of residual risks. • Training required for personnel. 9.3 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 9.1. Example of a map without any added zones, positions, or markers. The robot must have a map for every area that it operates in. It is important to create robust and reliable maps for the robot to perform effectively and safely.

88 Figure 9.2. 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.

89 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.

90 Cleaning up a map The robot navigates best when using a clean map with as little noise as possible. Figure 9.3 is an example of what a map can look like after the mapping process but where it still needs further editing. Figure 9.3. Example of a map that includes too much noise and dynamic obstacles.

91 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.

92 • 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 and if you use a relative move action (except 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.

93 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.

94 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 3 m 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 9.4. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with replanning of paths.

95 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 9.5. 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 force the global planner to make a path through the corridor.

96 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 9.6. 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.

97 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 9.7. 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.

98 9.4 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 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 9.8. The entry position is automatically created approximately one meter in front of the marker and can be moved in the map editor. Figure 9.8. 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

99 robot. It consists of a V shape with an interior angle of 120° and sides of 150 mm. Figure 9.9. The icon used for V-markers in the interface and an illustration of how robots can dock to the marker. 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 9.10. 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

100 can be on any side of the robot. The marker is shaped liked an L, and the dimensions are 400 mm x 600 mm and must have a defined angle of 90˚. Figure 9.11. The icon used for L-markers in the interface and an illustration of how robots can dock to the marker. 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 9.12. 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.