MiR Robot Reference Guide 2.1 - en

Reference Guide (en)
Date: 09/2020
Revision: v.2.1
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: support@mir-robots.com
CVR: 35251235
MiR robot Reference Guide (en) 09/2020 - v.2.1 ©Copyright 2017-2020: Mobile Industrial Robots A/S. 2
Table of contents
1. About this document 6
1.1 Where to find more information 6
1.2 Version history 6
2. MiR robot interface 10
2.1 Signing in 10
2.2 Navigating the MiR robot interface 13
3. Dashboards 15
3.1 Dashboards 16
3.2 Widgets 19
4. Setup 27
4.1 Missions 27
4.2 Maps 63
4.3 Sounds 86
4.4 Transitions 88
4.5 I/O modules 91
4.6 Paths 92
4.7 Path guides 94
4.8 Marker types 97
4.9 Footprints 101
4.10 Users 105
4.11 User groups 108
5. Monitoring 113
5.1 Analytics 114
5.2 System log 115
5.3 Error logs 116
5.4 Hardware health 117
5.5 Safety system 118
5.6 Mission log 120
6. System 123
6.1 Settings 124
6.2 Processes 143
6.3 PLC registers 146
6.4 Software versions 150
6.5 Backups 151
6.6 Robot setup 152
6.7 Triggers 154
7. Help 158
7.1 Robot information 158
7.2 API documentation 159
7.3 Remote access 160
7.4 Service book 161
7.5 Manual 162
8. Hook 163
8.1 Controlling MiR Hook 164
8.2 Carts 167
8.3 Settings 173
8.4 Setup 174
9. Modbus register reference 176
9.1 Status messages 176
9.2 PLC triggers 177
9.3 Mission triggers 177
9.4 Action commands 177
1. About this document

This document describes the MiR robot interface and is intended for administrators of the
system and users responsible for updating the system regularly.
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. This document is in
print in the box with the robots. Quick starts are available in multiple languages.
• User guides provide all the information you need to operate and maintain MiR robots,
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.
• Getting started guides describe how to set up products 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.
• REST API references for MiR robots, MiR hooks, and MiR Fleet.
• MiR network and WiFi guide specifies the performance requirements of your network
and how you must configure it for MiR robots and MiR Fleet to operate successfully.
1.2 Version history

This table shows current and previous versions of this document and their interrelations with
software releases.
Release SW
Revision Description
date version
1.0 2017-03-02 First edition. 2.0
1.1 2017-10-30 General improvements. 2.0.2
Continue/Pause button added to top bar.
Pause action added to Missions.
1.2 2017-12-06 Update to SW version 2.0.14: new widgets, 2.0.14
improved mapping editor.
Release SW
date version
Jumping from 2.0.2 to 2.0.14 to align with old
webinterface versions 1.8.14/1.9.14.
1.3 2018-01-26 Update to SW version 2.0.15: 2.0.15
• Redesigned Dashboard with flexible widgets

and new options, for example control of
Bluetooth functions.
• New feature: Path guides for precise control
of robots´ paths between two positions.
• New mapping method: Cartographer.
• Positions & Mapping section removed and
fully integrated in Mapping section.
1.4 2018-04-19 Update to SW version 2.0.17. 2.0.17
New features in the interface:
• New Hook widget: Hook widget described in

chapter 3 Dashboard.
• Modbus: a section, Triggers, is added to
chapter 6 System, and a new chapter, 11
Modbus registers, has been added.
New features in the robot interface:
• New section, Mission log, has been added to

the Monitoring menu.
• A WiFi watchdog parameter has been added
to the Advanced settings section.
• Minor corrections and improvements
throughout the document.
Release SW
date version
• The Directional zones functionality is added to
section 4.3 Maps.
• I/O module feature replaces Bluetooth

feature. Changes to chapters 3. Dashboards,
4.2 Missions, and 4.3 Maps. Chapter 4.9 I/O
modules replaces 4.9 Bluetooth relays.
• Sound feature has been updated. Changes to
chapters 4.2 Missions, and 4.3 Maps.
• A speed control functionality is added to the

Mission editor.
• Map zones have been reconstructed and new

zone settings are available.
2.0 2020-03-30 Update to SW version 2.8.0 2.8.0
• Marker types, used for robots driving with

shelves, has been added to the Setup section.
Release SW
date version
• A graphic Footprint editor has been added to
the Setup section.
2.1 2020-09-11 Updated to SW 2.10.0 2.10.0
• Changes in cart calibrations for MiR hooks.

• Removed default users.
2. MiR robot interface
This section gives a quick overview of the MiR robot interface.
The interface is responsive and automatically adapts to your use of smartphone, tablet, or
PC.
2.1 Signing in
The interface comes with three default access levels:
• Distributor - the MiR distributor

• Administrator - the end-customer’s production engineer with technical responsibility for
the robot
• User - the daily operator(s) of the robot
There are two ways in which you can sign in to the MiR robot interface:
• Username and password

• PIN code
System permissions are handled per user group whereas login credentials are handled per
individual user. Read more in the sections Users on page 105 and User groups on page 108.
Accessing the interface

The user interface is accessed by connecting to the robot's WiFi and opening your preferred
web browser. Enter the IP address of the robot or enter mir.com in the browser's address
bar.
The interface can be accessed via Google Chrome, Apple Safari, Mozilla
Firefox, and Microsoft Edge.
Username and password

Enter your username and password to sign in to the robot interface.
After signing in the first time, we recommend to change the passwords of the
default users: Distributor, Administrator, and User. See Users on page 105 to
change the passwords.
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.
PIN code
Select the PIN code tab and enter a four-digit PIN code. This PIN code will now function as an
access code to the interface. There is no preconfigured PIN code.
2.2 Navigating the MiR robot interface

To access a section in the MiR robot interface, first select an item on the main menu, then
select the relevant sub-menu. The section appears in the main window.
For example, to go to the Sounds section, select Setup on the main menu, then select
Sounds on the submenu bar.
Top bar
The top bar shows information on the current state of the robot, and you can start and pause
the robot by selecting the button.
3. Dashboards
3. Dashboards
This section describes the items in the Dashboards menu.
The Dashboards menu displays all dashboards currently available on the robot.
In the subsection Dashboards, you can create new dashboards and edit existing ones. Select
Dashboards to open the list of dashboards, and select the Create dashboard button to open
the dashboard designer.
The Dashboards menu contains the following

items:
3.1 Dashboards 16
3.2 Widgets 19
3. Dashboards
3.1 Dashboards
Dashboards are an easy way for different user groups to control the robot giving direct
access to the individual key functions. A dashboard is made up of a number of widgets, each
representing a feature in the system, such as a particular mission, the map the robot is
running in, or the current mission queue.
Create dashboard
Enter a name in the Name field to create a new dashboard. Select Create dashboard to
continue to the design section. Design the dashboard by adding widgets that represent the
features you want to assign to the dashboard.
3. Dashboards
Dashboard designer
Design the dashboard by selecting widgets from the menus in the top bar. Resize the widgets
by pulling the arrow in the lower right-hand corner and rearrange their order by selecting
and dragging them. Some widgets require further settings. For example, you must select a
particular mission for mission buttons. To do this, select the pen icon in the lower left corner
and select the wanted action.
3. Dashboards
Edit dashboard
The dashboard design can be edited and widgets added or removed.
Select Edit next to the dashboard you want to edit.
You can change the name of the dashboard and select Design to make changes in the
dashboard widgets.
Delete dashboard
You can delete all dashboards that are created by you or another member of the user group
you belong to.
Select Delete next to the dashboard you want to delete. In the next dialog, select Delete
dashboard to delete the dashboard.
3. Dashboards
3.2 Widgets
This section describes the dashboard widgets.
Maps
Locked map
A Locked robot map widget makes the active map of the selected robot visible on the
dashboard. The robot is always shown in the middle of a locked map. Select the robot you
want shown on the dashboard.
Map
A Map widget makes the active map visible on the dashboard. You can add and edit
positions and markers in the widget and adjust the robot's position.
3. Dashboards
Missions
Mission button
You can start a mission from the dashboard by adding a Mission button widget and
selecting a predefined mission.
Pause/Continue button
The Pause/Continue button functions the same way as the pause/continue icon on the top
bar of the robot interface, but may be inserted as wizard if you want it in a larger size.
Mission queue
You can have the mission queue displayed on the dashboard by selecting a Mission queue
widget.
Mission action log

The Mission action log widget displays the individual actions being performed during the
execution of a mission.
3. Dashboards
Mission group
You can select a mission group and have all missions from that group displayed on the
dashboard by adding a Mission group widget.
PLC registers
PLC button/display
Get easy access to PLC functions from the dashboard. A PLC widget can be designed as a
button, for example, to shift between two stages, or a display button, for example, for
monitoring read-out values.
I/O module
I/O configuration
The I/O configuration widget lets you program one or more actions that you want the I/O
module to perform when the outputs are in a certain state and when you select the button.
Add states to the widget and configure the conditions that trigger the state and the outputs
that the robot sets on the I/O module when you select the widget. Use the Reset section to
configure a default output configuration.
I/O module
The I/O module widget lets you connect and disconnect I/O modules from the dashboard.
I/O status
The I/O status widget shows the current status of the selected I/O module.
3. Dashboards
Hook
Cart actions
This widget lets you queue the following missions: Pick up cart, Place cart.
Use the check boxes to define which missions are available in the widget. You must select at
least one option (either Pick up cart or Place cart).
When you select the widget, the robot adds the mission shown in the widget to the mission
queue. In the Place cart mission, the robot releases the gripper, lowers the hook, and leaves
the cart in the current position. In the Pick up cart mission, the robot tries to find a cart
within the hook camera's sight and pick it up. For the Pick up cart mission to work, it is
necessary that the hook camera detects the QR code or AprilTag at the robot's current
position.
3. Dashboards
Hook brake
This widget lets you activate and deactivate the hook brake manually. The text in the widget
shows the action that it executes when you select it and changes depending on the state of
the hook brake. For example, if the brake is active (the arm is locked), the widget reads
Deactivate hook brake, and selecting the widget deactivates the brake.
After you select the widget, it shows the current action and you have an option to undo the
action until it is over. For example, if the brake is active and you select the widget, it shows
Deactivating... Click to undo.
Hook gripper control

This widget lets you open and close the hook gripper. This widget shows the current action
(closing or opening) and lets you undo it during execution.
Hook height
This widget lets you set the height of the hook manually. Use the arrows to change the value.
3. Dashboards
Selecting the height value opens the following dialog:
Hook information
This widget shows the following information about the hook:
• Hook brake state

• Hook gripper state
• Hook height
• Hook angle
3. Dashboards
Miscellaneous
Distributor
This widget shows information about the distributor if any distributor data has been entered
in the Distributor data section under System > Settings.
Error log button

The Error log button allows you to get an error log via the dashboard. The error log is a list
of all detected system errors. Each entry is shown with a description, an indication of which
module is affected, and the time when the error occurred.
Joystick
Make one or more joysticks available directly on the dashboard. Different speeds can be
selected for the joysticks; slow, medium or fast. The standard joystick in the top bar is fast,
except when mapping where it runs medium speed.
3. Dashboards
Log-out button
The Log-out button allows you to log off via the dashboard.
Pause/Continue button
The Pause/Continue button functions the same way as the pause/continue icon on the top
bar of the robot interface, but may be inserted as wizard if you want it in a larger size.
Robot summary
The Robot summary widget makes it possible to have information about the robot on the
dashboard: name, serial no., battery percentage, remaining battery time, uptime, and
moved distance.
4. Setup
4. Setup
This section describes the items in the Setup menu.
The Setup menu contains the following items:
4.1 Missions 27
4.2 Maps 63
4.3 Sounds 86
4.4 Transitions 88
4.5 I/O modules 91
4.6 Paths 92
4.7 Path guides 94
4.8 Marker types 97
4.9 Footprints 101
4.10 Users 105
4.11 User groups 108
4.1 Missions
A mission is a predefined series of actions that the robot can be set to perform. A mission
can be a simple transportation task between defined positions or a more complex job that
includes both moving between positions and performing actions, such as unloading a pallet,
moving to a charging station when the battery is low, or sending an email on arrival at a
position.
4. Setup
Missions are started by adding a given mission to the mission queue. The robot will perform
the missions in the order they are added, and an operator may rearrange the queued
missions if needed.
In MiR Fleet, missions are controlled in the Scheduler. The Scheduler makes it possible to
prioritize missions in queue and to set a start time.
Start mission
You can enqueue a mission in one of the following ways:
• From a dashboard
You can configure a Mission button widget on a dashboard.
• From the Missions menu

To enqueue a mission in the Missions menu, select Queue mission for the mission you
want to add to the robot's mission queue.
4. Setup
If there are variable parameters in a mission, for example a variable position, you will be
asked to select the position when adding the mission to the queue.
The selected parameters are shown in blue text.
Creating a mission
MiR robots function through missions that you create. A mission is made up of actions, such
as: move actions, logic actions, docking actions, and sounds, which can be put together to
form a mission with as many actions as needed. Missions themselves can also be embedded
into other missions.
Most actions have adjustable parameters, for example which position to go to. Most actions
can also use variables, enabling the user to choose the value of a parameter each time the
mission is used. This can be practical in cases where the robot performs the same series of
actions in different areas of the site that require different parameter settings in the mission
actions.
When you create a mission, you can save it in the default Missions group, or you can choose
to save it in any of the available actions groups. The actions groups are found in the top bar
of the mission editor window, and you can distinguish missions from actions by the small
icons shown next to their names: missions have a target icon , and actions have a running-
man icon .
4. Setup
Figure 4.1. Different actions can be created and put together to make up a mission.
You can find more information about mission groups in Mission groups on the next page.
The Mission section also comes with a set of template missions that you can use and/or
modify.
When you create a mission, you must fill in the following information:
4. Setup
• Name
The name must be unique and is used to identify the mission. For example, Go to charging
station, Deliver spare parts or Warehouse to production line 1.
• Mission group
Select which group you want the mission to be part of.
• Site
If you are using more than one site, select which site you want the mission to belong to.
Select + Create mission to create a new mission that you can add actions to.
Mission groups
Each mission group has a number of predefined actions that can be selected when you build
the mission. One mission can contain actions from several groups. When you save the new
mission, it will be placed in the selected group and can be used as a separate mission or as
an embedded mission in other missions.
4. Setup
Create mission group

If you don't want to use any of the default group names, you can create your own group(s)
and save missions here. New groups will be shown in the top bar next to the default groups
and contain any mission(s) you want to add to it.
4. Setup
Mission editor
A mission is built from actions that you pick from the menus in the top bar. You can also pick
already created missions and embed them in new missions.
Actions and missions are grouped together in the top bar menus. All predefined actions are
identified by a running-man icon. User created missions are placed together with actions in
the group to which you append them and can be distinguished from actions by a target icon
next to their names.
When you have picked the actions you want in your mission, do the following:
1. Drag the actions up or down with the four-headed arrow at the far left of the action line
to sort them in the desired order. The actions are executed in a top-to-bottom order.
2. Set the parameters for the selected action by selecting the gear icon at the far right of
the action line.
4. Setup
Change mission settings

To change the name and mission group of a mission, select the gearwheel next to the name
of the mission in the mission editor.
Save mission
When you have completed the mission by adding all actions and sorted them in the desired
order, select Save to save the mission.
Save mission as
You can duplicate a mission by saving it with a new name. That way it is easy to create a
new mission based on an existing one.
4. Setup
In the Mission editor window, select Save as.
Name the copy of the mission, and select which site and mission group it should belong to.
Mission actions
Actions used in missions are in the Groups tool bar at the top of the window.
4. Setup
Variables
All actions that require the user to specify something, for example, a position, a number of
retries, a distance, or a subject text, have the option to define a variable. We recommend
naming variables in the form of a question that describes what the value you are inserting
should be used for. The question pops up on the operator’s user interface every time the
mission is queued or embedded in another mission, and the user must select an answer
before the mission can begin.
4. Setup
Create variables
In the Name field, enter a question that describes what the variable is used for, for example,
“Which position should the robot move to?”. In the Default value field, enter a default
position.
Move
This action group contains the actions in the following table.
Action description Parameter descriptions
Adjust localization
An Adjust localization action adjusts the No adjustable parameters.
robot to the correct position on the map.
This is useful if it has to move through an
area with many dynamic obstacles where
the localization is likely to drift.
Check position status Position
A Check position action makes the robot Select a position from the drop-down list,
check the status of a position or marker or select the XYZ icon to define a
for a given amount of time. Positions and variable.
markers can be in the states free or Option
occupied.
Select if the robot should check if a
4. Setup
If the condition in the action is satisfied, position is empty or occupied, or select

the robot continues executing the mission. the XYZ icon to define a variable
Otherwise, the robot reports an error.
Timeout (seconds)
Example: Use this action for the following
Enter the maximum time during which
purposes:
the robot checks the position status. If the
• Check whether the load is on the pallet position status does not match the option
rack before docking to the rack. selected for this position and the time
• Check whether the cart is in position expires, the robot shows an error.
before picking it up with the hook.
• Check whether the target position is
free.
Docking Marker
A Docking action sends the robot to dock Select a marker from the drop-down list,
to a marker. or select the XYZ icon to define a
variable.
Move Position
A Move action defines a map position the Select a position from the drop-down list,
robot should move to. or select the XYZ icon to define a
variable.
Retries (Blocked Path)
Set the number of times the robot should

try to reach the position if the path is
blocked, or select the XYZ icon to define a
variable. If, after the set number of
retries, the path is still blocked, the robot
stops and produces an error message.
Distance threshold
Depending on how accurately the robot is

required to position itself on the goal
position, the threshold can be increased
4. Setup
or decreased. The default is 0.1 m.
Move to coordinate X
A Move to coordinate action defines an X, Enter the X (horizontal) map position the
Y position on the map the robot should robot should move to, or select the XYZ
move to. The map's origin (the 0,0 icon to define a variable.
position with 0 orientation) is located at Y
the point where the robot began
mapping. Enter the Y (vertical) map position the
robot should move to, or select the XYZ
If you don't know the map's origin, you icon to define a variable.
can create a fixed position with those
values as a reference point. Orientation
Enter the orientation in degrees, that is

the way the robot should turn relatively to
the 0-orientation when arriving on the
position, or select the XYZ icon to define a
variable. A positive value rotates the
robot counterclockwise, and a negative
value rotates it clockwise.
Retries (Blocked Path)
Set the number of times the robot should

try to reach the position if the path is
blocked, or select the XYZ icon to define a
variable. If, after the set number of
retries, the path is still blocked, the robot
stops and produces an error message.
Distance threshold
Depending on how accurately the robot is

required to position itself on the goal
position, the threshold can be increased
or decreased. The default is 0.1 m.
4. Setup
Planner settings Planner settings
A Planner settings action allows you to set Desired speed: sets the desired speed of
the desired speed of the robot, to change the robot while it runs this mission.
the settings for how much the robot is Path deviation: sets the maximum
allowed to deviate from its planned path, distance the robot is allowed to deviate
and to set how it should filter out from its path before it generates a new
obstacles when driving. path. Setting the value to 0 means no
Path deviation and obstacle clearing can deviation is allowed.
be used, for example, if you want your Path timeout sets the amount of time
robot to follow its path without it the robot will wait for the path to clear
attempting to maneuver around any before generating a new one. If you set
dynamic obstacles, the so-called Line- the value to -1 the robot will wait
following mode. indefinitely for obstacles to move out of
its way instead of generating a new path.
Obstacle history clearing sets how the

robot will clear its obstacle history during
driving. The available options are, No
clearing, Clear all, Clear in front of
robot.
Relative move X
A Relative move action defines an X and a Enter a value in meters for how much the
Y distance you want the robot to move robot should move forward or backward
and an orientation you want it to turn from its current position. A positive value
relative to its current position. A Relative moves the robot forward, and a negative
move can be used, for example, to undock value moves it backward. Select the XYZ
a robot from a marker. icon if you want to define a variable.
Enter a value in meters for how much the

robot should move left or right from its
current position. A positive value moves
the robot to the right and a negative
4. Setup
value moves it to the left. Select the XYZ

CAUTION icon if you want to define a variable.
When using a Relative move action,
Orientation
be aware that the robot can move
into Forbidden zones and through Enter a value in degrees for how much
walls on the map. The robot will still the robot should turn (yaw) when
drive with Collision avoidance and finalizing the Relative move. A positive
will not hit any obstacles it can value moves it counterclockwise, and a
detect. negative value moves it clockwise. Select
the XYZ icon if you want to define a
variable.
Maximum linear speed
Enter a value in meters per second for

the maximum forward or backward speed
during the Relative move, or select the
XYZ icon to define a variable.
Maximum angular speed
Enter a value in meters per second for

the maximum turning speed during the
Relative move, or select the XYZ icon to
define a variable.
Collision detection
Select the check box to turn on automatic

Collision detection.
Collision detection makes the robot look

for obstacles while it executes the action,
and the robot will either stop or slow
down to avoid colliding with the obstacle.
Once the obstacle is no longer in the way,
the robot will finish the action.
In most situations we recommend
4. Setup
enabling Collision detection, but in cases

where the robot needs to turn around its
own center in tight spaces, it can be a
good idea to disable it to prevent the
robot from stopping when it gets too
close to surrounding obstacles or walls.
Collision detection is not a safety

function. If a person enters the
Protective field of the robot while
Collision detection is disabled, the
robot will still enter Protective stop.
Set footprint Footprint
A Set footprint action makes it possible to Select a footprint, or select the XYZ icon
change the robot's default footprint. This to define a variable.
can be necessary, for example, if the
robot carries a top module with larger
proportions than the robot's own or you
want to extend the footprint when the
robot tows a cart. The footprint is shown
as a shadow around the robot on the map.
Switch map Entry Position
A Switch map action is required if the In the map you are switching to, select
robot needs to switch automatically from the position the robot should start from
one map to another within a mission. The after the map transition, or select the XYZ
maps must have overlapping areas where icon to define a variable.
the robot can locate itself in the physical The Switch map action must be preceded
environment. Switch map actions are the by a Move action to the position in the
basis for Transitions (Setup > current map that physically overlaps the
Transitions), which handle map switches Entry position in the other map that the
automatically once they are set up. robot is switching to. The overlap of the
these two positions in the physical area is
4. Setup
Contact your distributor for the important for the robot to localize itself in
guide How to set up transitions the new map.
between maps.
Battery
Action descriptions Parameter descriptions
Charging Minimum Time
A Charging action is used to make the Set a minimum amount of time the robot
robot go to a charging station for should charge before it moves on, or
automatic battery recharge. The action is select the XYZ icon to define a variable.
defined by setting a minimum charging The system will compare the set
time and a minimum charging minimum time with the minimum
percentage. When the first of those are percentage, and when the first of those
reached, the action is completed. For two requirements is fulfilled, the mission
example, if you set the minimum time to continues.
30 minutes and the minimum percentage You may skip defining a minimum time by
to 80%, the robot will charge for selecting the Ignore value check box. The
minimum 30 minutes or until it reaches a robot will then charge until the minimum
battery level of 80%. You may also choose battery percentage level is reached.
to ignore either time or percentage.
Minimum Percentage
A Charging action must be preceded by a
Docking action where the robot moves to Enter the minimum battery percentage
a previously defined charging marker in the robot should charge to before it
front of the charging station. moves on, or select the XYZ icon to define
a variable. The system will compare the
set minimum percentage with the
minimum time, and when the first of
those two requirements is fulfilled, the
mission continues. You may skip defining
a minimum percentage by selecting the
4. Setup
Ignore value check box. The robot will

then charge until the minimum charge
time is reached.
Charge until new mission in queue
Select this check box if you want the robot

to continue charging until it receives a
new mission. If selected, the robot stays
in the charging station until it receives a
new mission, but not until at least one of
the criteria for minimum time or
minimum percentage is reached.
If deselected, the robot leaves the

charging station when either of the two
charging criteria are reached regardless
of queued missions.
Logic
Break
A Break action is used to interrupt a Loop No adjustable parameters.
action.
See Loop for more information.
Continue No adjustable parameters.
A Continue action is used to abort the rest

of a loop action and continue from the
start.
4. Setup
If Compare
An If action makes it possible to check Select either Battery Percentage, PLC

battery level, number of pending missions, Register, Pending Missions, or I/O
PLC registers, or input from I/O modules input, or select the XYZ icon to define a
and then define which actions or missions variable.
should be performed if the conditions Module
return either true or false. You may use
one or more actions or missions to define For I/O inputs, select an I/O module from
both true and false conditions. the drop-down list, or select the XYZ icon
to define a variable.
Battery Percentage: An If action on
battery percentage checks if the battery Index
percentage is below, above, or equal to a For PLC registers: enter the required
set limit and, depending on the result, index number (Integer registers 1-100,
either sends the robot to a charging Floating point registers 101-200), or
station or continues the mission. The True select the XYZ icon to define a variable.
action could be a previously defined
charging mission. The False action could Operator
be any alternative actions or missions, but
Select the arithmetic operator you want
may also be left blank. In that case, the
to use, or select the XYZ icon to define a
robot will continue to the next step in the
variable.
mission.
Operators are arithmetic operators used
Pending missions: An If action on pending
to specify the compare mission, for
missions checks if the number of pending
example, use the < operator to specify “If
(queued) missions is below, above, or
Battery percentage is below 50 percent”.
equal to a set number. You then set
actions that define what the robot should The available operators are:
do if the set condition returns true or
false. An example could be to send the • == ‘equal to’
robot to a charging station if the number • != ‘not equal to’
of queued missions exceeds a certain • > ‘greater than’
amount. • >= ‘greater than or equal to’
• < ‘lesser than’
PLC Register: An If action on a PLC
• <= ‘lesser than or equal to’.
register checks if the register is set to a
4. Setup
certain value, for example, register 6=1, Value

indicating that a lift is lowered when the
Enter the value for the selected register,
robot arrives at a shelf. The True action
or select the XYZ icon to define a
(the lift is lowered) could then be a Wait
variable.
for PLC register action, for example, wait
for register 6 to reset to 0.
I/O input: An If action on an I/O input

checks if the register is set to a certain
value, for example, register 6=1,
indicating that a lift is lowered when the
(the lift is lowered) could then be a Wait
for PLC register action, for example, wait
for register 6 to reset to 0.
Loop Iterations
A Loop action makes it possible to have Set the number of times the robot should
the robot repeat a mission either a run the loop, or select the XYZ icon to
specified number of times or indefinitely define a variable.
(until stopped by an operator). Drag Content
actions or predefined missions into the
loop action to define the sequence of Insert the actions that should be
actions the robot will repeat. A loop can performed in each loop iteration.
be interrupted with a Break action.
Pause
A Pause action pauses the mission No adjustable parameters.
execution until an operator selects
Continue.
This can be used in missions where the

robot should wait for an operator to do
something, for example, placing items on
the robot and manually sending the robot
on to another position by selecting
4. Setup
Continue.
Prompt user Question
A Prompt user action can be used when it Write a question which can be answered
is required to stop and ask the operator with a yes or a no, or select the XYZ icon
what the next step in the mission should to define a variable.
be. The action consists of a Yes action, a User group
No action, and a Time-out action. The
operator will be asked, for example, “Do Select which User group the mission is
you want to go to position X?”. If the intended for, or select the XYZ icon to
operator answers Yes, the robot will go to define a variable.
position X. If the operator answers No, the Timeout (seconds)
robot will carry on to the defined No
action, for example, move to an Set a timeout for when the robot should
alternative position. If the operator does continue if the user does not answer the
not answer yes or no within a given time, question. If the timeout is reached, the
the Time-out action will be executed, for robot will execute the actions in the
example, sending an email. Timeout scope.
Return
A Return action is used to abort a mission. No adjustable parameters.
It can be used, for example, as catch
action in a Try/Catch action.
Wait Time
A Wait action pauses the mission in a Set an amount of time the robot should
given period of time. wait before moving to the next action in
the mission.
While Compare
A While action makes it possible to check Select either Battery Percentage, PLC
battery level, number of pending missions, Register, Pending Missions, or I/O
PLC registers, or input from I/O modules input, or select the XYZ icon to define a
and then define which actions or missions variable.
4. Setup
should be performed while these Module

conditions return true. You may use one or
For I/O inputs, select an I/O module from
more actions or missions to define the
the drop-down list, or select the XYZ icon
while conditions.
Battery Percentage: A While action on
Index
battery percentage checks if the battery
percentage is below or above a set limit For PLC registers: enter the required
and, depending on the result, either sends index number (Integer registers 1-100,
the robot to a charging station or Floating point registers 101-200), or
continues the mission. select the XYZ icon to define a variable.
PLC Register: A While action on a PLC Operator
register checks if the register is set to a
certain value, for example, register 6=1, Select the arithmetic operator you want
indicating that a lift is lowered when the to use, or select the XYZ icon to define a
robot arrives at a shelf. variable.
Pending missions: A While action on Operators are arithmetic operators used

pending missions checks if the number of to specify the compare mission, for
pending (queued) missions is below, above example, use the < operator to specify “If
or equal to the set number. You then set Battery percentage is below 50 percent”.
an action that defines what the robot The available operators are:
should do if the set condition returns true.
An example could be to send the robot to • == ‘equal to’
a charging station if the number of queued • != ‘not equal to’
missions exceeds a certain amount. • > ‘greater than’
• >= ‘greater than or equal to’
I/O input: A While action on an I/O input
checks if the register is set to a certain • < ‘lesser than’
value, for example, register 6=1, • <= ‘lesser than or equal to’.
indicating that a lift is lowered when the Value
(the lift is lowered) could then be a Wait Enter the value for the selected register,
for PLC register action, for example wait or select the XYZ icon to define a
for register 6 to reset to 0. variable.
4. Setup
Error handling
Create log Description
A Create log action is used to create user Enter a description for the log type you
generated error logs. The error logs are want to create, or select the XYZ icon to
stored under Monitoring > Error logs. define a variable. An example of a
This is useful in, for example, a Try/Catch description could be “Mission x fail log”
action where a log is created when
catching an unsuccessful try.
Throw error Message
A Throw error action is used to enter an Enter the message you want displayed on
error message that will be shown in the the user interface when the mission is
user interface when the mission is run. run, or select the XYZ icon to define a
You can, for example, use this with a variable.
Try/Catch action, to make the robot report
an error if it fails to execute its main
mission.
Try/Catch Try
A Try/Catch action is a way to reinforce Select the action(s) that should be

missions by defining an alternative action attempted.
if the first choice action fails. This will in Catch
many cases prevent a mission from
discontinuing in case, for example, a Select the action that should be
position is blocked. A Try/Catch action performed if the action(s) within Try
consists of a Try action, which the robot fails.
should attempt to complete, and a Catch
action that is used in case the Try action
fails.
4. Setup
Sound/Light
Play sound Sound
A Play sound action sets a sound, Select a sound from the list, or select the XYZ icon
for example, a beep, a horn, or a to define a variable.
voice message that the robot will If you want to hear the sounds before selecting
play at a given stage in the one, go to Setup > Sounds. You can hear the
mission or for the whole duration sounds on your computer by selecting the headset
of the mission. There is a icon.
selection of standard sound bites
to choose from, or you can Volume
upload your own sounds to the Set the volume of the sound (0-100), or select the
robot in the section Setup > XYZ icon to define a variable. 100% is
Sounds. approximately 80 dB.
Mode
Select how the sound should be used in the

mission:
Full length plays the sound from start to finish,

starting at the point in the mission where it is
inserted and ending when the sound file finishes.
Loop keeps repeating the sound file until the

mission is completed.
Custom length plays the sound for the duration of

time you set under Duration. If the set duration
exceeds the duration of the sound file itself, the
sound file will loop for the duration of the set
time.
4. Setup
You can insert a Stop sound action

anywhere in the mission. This will stop the
playing of the current sound no matter which
mode you have selected.
Duration
Set an amount of time the sound should play, or

select the XYZ icon to define a variable.
Show light Effect
A Show light action sets a Select a light effect from the drop-down list, or
combination of light effect, select the XYZ icon to define a variable.
speed, color, and intensity of the Speed
robot's status lights at a given
point in the mission. Select a fast or slow speed from the drop-down
list, or select the XYZ icon to define a variable.
Color 1
Select a color from the drop-down list, or select

the XYZ icon to define a variable. If you select two
different colors for Color 1 and 2, the robot will
alternate between the two.
Color 2
Select a color from the drop-down list, or select

the XYZ icon to define a variable. If you select two
different colors for Color 1 and 2, the robot will
alternate between the two.
Intensity
Set the intensity of the light, or select the XYZ icon

to define a variable. The intensity is defined as a
percentage where 100 is full intensity.
4. Setup
Timeout (seconds)
Set an amount of time the light should show, or

Stop sound
Stop playing the current sound. No adjustable parameters.
PLC
Set PLC register Register
A Set PLC register action is used to set a Select a specific PLC register, or select the
value in a register. The register can be XYZ icon to define a variable. Registers 1
set in three ways: to 100 are reserved for integers and
registers from 101-199 for floating point
• Set: sets a value every time the numbers.
mission is executed.
Action
• Add: adds a value every time the
mission is executed. Select an action from the drop-down list,
• Subtract: subtracts a value every time or select the XYZ icon to define a variable.
the mission is executed. The options are Set, Add, and Subtract.
Value
Enter a value for the selected register, or

select the XYZ icon to define a variable. If
the selected register is between 1 and
100, the value must be an integer. If the
selected value is between 101 and 200,
the value must be a floating point
number.
4. Setup
Set and reset PLC register Register
A Set and reset PLC register action is Select a specific PLC register, or select the
useful in missions where the robot is XYZ icon to define a variable. Registers 1
requested to set a value in a PLC register to 100 are reserved for integers and
and reset the register to the original registers from 101-199 for floating point
value when the action is finished. numbers.
Value

number.
Reset value

number.
Wait for PLC register Register
A Wait for PLC register action is used to Select a specific PLC register, or select the
wait for a value and continue to the next XYZ icon to define a variable. Registers 1
action when the value is found in the set to 100 are reserved for integers and
register. registers from 101-199 for floating point
numbers.
Value
4. Setup

number.
Timeout (seconds)
Define how long the robot should wait for

the value in the set register before giving
an error.
Email address
This action group is only available after it has been enabled under System > Settings >
Features.
Send email Recipient
A Send email action is used to send email Select a recipient from the drop-down
messages to selected recipients as part of list, or select the XYZ icon to define a
a mission, for example, to let an operator variable. The recipients on the list come
know that the robot has arrived at a from the Users section.
specific location. Recipients must be set Subject
up in the Users section (Setup > Users)
with an email address. Furthermore, an Type a subject of the email, or select the
email account must be set up in the robot XYZ icon to define a variable.
under System > Settings > Email Message
configuration.
Write the message that the robot should
send to the selected email address when
the mission is executed, or select the XYZ
icon to define a variable.
4. Setup
I/O module
Features.
Connect Bluetooth Module
A Connect Bluetooth action is used when Select a Bluetooth module from the drop-
the robot must connect and stay down list, or select the XYZ icon to define
connected to a Bluetooth module. a variable. Bluetooth modules are set up
in the I/O modules section (Setup > I/O
modules).
Disconnect Bluetooth
A Disconnect Bluetooth action is used No adjustable parameters.
when the robot must close the connection
to a Bluetooth module.
Set output Module
A Set output action is used when the robot Select an I/O module from the drop-down
needs to send a command to an I/O list, or select the XYZ icon to define a
module. variable. I/O modules are set up in the
section Setup > I/O modules.
SMTP port
Enter which output port relay should be

activated (1-4) , or select the XYZ icon to
define a variable.
Operation
Set operation to On or Off, or select the

XYZ icon to define a variable. For
example, select On if the I/O module is
used to open a door.
4. Setup
Timeout (seconds)
Set an amount of time the relay should

stay on, or select the XYZ icon to define a
variable.
Set and reset I/O Module
A Set and reset I/O action is useful in Select an I/O module from the drop-down
missions where the robot is requested to list, or select the XYZ icon to define a
set an output on an I/O module and make variable. I/O modules are set up in the
sure the output is reset to the original section Setup > I/O modules.
value in case the robot is paused, goes
into Protective stop, or the mission is Output
aborted, for example, in raise and lower
shelf missions. Enter which output port relay should be
activated (1-4) , or select the XYZ icon to
define a variable.
Operation

example, select On if the I/O module is
used to open a door.
Timeout (seconds)
Set an amount of time the relay should

stay on, or select the XYZ icon to define a
variable.
Wait for input Module
A Wait for input action is used when the Select an I/O module from the drop-down
robot needs to wait for an I/O module to list, or select the XYZ icon to define a
respond. variable. I/O modules are set up in the
section Setup > I/O modules.
4. Setup
Input
Enter the input port number, or select the

XYZ icon to define a variable.
Value

example, select Off if the Wait for input
action is used to stop a conveyor belt.
Timeout (seconds)
Define how long the robot should wait for

the input to match the state set in Value
before giving an error.
Safety system
MiR250, MiR500, and MiR1000 only
Features.
Mute protective fields Sound
A Mute protective fields action makes the Select a sound from the list, or select the
robot mute selected protective fields XYZ icon to define a variable.
while it is executing a number of actions. If you want to hear the sounds before
Drag the actions you want the robot to selecting one, go to Setup > Sounds. You
perform into the Mute protective fields can hear the sounds on your computer by
action. selecting the headset icon.
Volume
4. Setup
Set the volume of the sound (0-100), or

100% is approximately 80 dB.
Front, Rear, and Sides
Select whether to mute or unmute the

protective fields to the front, rear, or
sides of the robot.
Cart
MiR100 Hook and MiR200 Hook only
Features.
Pick up cart Position
Go to a position and pick up a cart. Select a position from the drop-down list,
or select the XYZ icon to define a variable.
Cart
Select either a specific cart or Any valid

cart from the drop-down list. If a specific
cart is chosen and another cart is at the
position, the action will produce an error.
Place cart Position
Place the cart currently attached to the Select a position from the drop-down list,
robot at a specific position. or select the XYZ icon to define a variable.
Release cart
Choose whether or not to release the cart
4. Setup
after arriving at the position.
Reverse into place
You can choose to allow the robot to

reverse into place. Yes, with collision
check means that the robot will scan the
area and check for obstacles before
moving the cart to the drop-off position.
Yes, without collision check means that
the robot will move the cart into place
without scanning for obstacles. This can be
necessary when the robot docks into
alignment fixtures.
Shelf
Features.
This action group contains the following template missions that you can add to other
missions and configure.
Pick up MiR500/MiR1000 shelf Marker position
This template mission sends a Select a marker from the drop-down list,
MiR500/MiR1000 robot to a shelf position or select the XYZ icon to define a
to pick up a shelf, changes the footprint of variable.
the robot, and then makes the robot move Marker type
away from the shelf position.
Select a marker type from the drop-down
list, or select the XYZ icon to define a
variable.
Shelf footprint
Select a footprint, or select the XYZ icon
4. Setup
Mute front
Select Muted to mute the Protective field

set in front of the robot.
Mute rear
Select Muted to mute the Protective field

set behind the robot.
Mute sides
Select Muted to mute the Protective

fields to the sides of the robot.
Undocking distance

robot should move forward or backward
from its current position. A positive value
moves the robot forward, and a negative
value moves it backward. Select the XYZ
icon if you want to define a variable.
Pick up Shelf I/O Module
This template mission sends a robot with For I/O inputs, select an I/O module from
a shelf lifting application controlled with the drop-down list, or select the XYZ icon
I/O modules to a shelf position to pick up to define a variable.
a shelf and changes the footprint of the Marker position
robot.
Select a marker from the drop-down list,
or select the XYZ icon to define a
variable.
Marker type

4. Setup
variable.
Shelf footprint

Pick up Shelf PLC Marker position
This template mission sends a robot with Select a marker from the drop-down list,
a shelf lifting application controlled with or select the XYZ icon to define a
PLC registers to a shelf position to pick up variable.
a shelf and changes the footprint of the Marker type
robot.
variable.
Shelf footprint

Place MiR500/MiR1000 shelf Mute front
This template mission makes the robot Select Muted to mute the Protective field
place a shelf at the current position, set in front of the robot.
changes the robot's footprint to the Mute rear
default value, and then makes the robot
move away from the shelf position. Select Muted to mute the Protective field
set behind of the robot.
Undocking distance

robot should move forward or backward
from its current position. A positive value
moves the robot forward, and a negative
4. Setup
value moves it backward. Select the XYZ

icon if you want to define a variable.
Place Shelf I/O Module
This template mission makes a robot with For I/O inputs, select an I/O module from
a shelf lifting application controlled with the drop-down list, or select the XYZ icon
I/O modules place a shelf at the current to define a variable.
position and changes the robot's footprint
to the default value.
Place Shelf PLC

This template mission makes a robot with No adjustable parameters.
a shelf lifting application controlled with
PLC registers place a shelf at the current
position and changes the robot's footprint
to the default value.
UR
Features.
Run UR program Program name
A Run UR action is used to communicate Enter the name of the UR program

with a Universal Robots application. The (without the urp extension), or select the
action starts a .urp file saved on the XYZ icon to define a variable.
Universal robot. The program name is
[program name].urp. Leave out .urp when
you type the name. The MiR robot will
continue until the given UR program has
4. Setup
been executed.
4.2 Maps
In the Maps section, you create or edit the maps the robot uses to navigate by. All maps
must belong to a site, which is the overall container for one or more maps used in the same
facility. A site may, for example, have one map per floor or one per section of a large
production hall. Maps must be contained in the same site for the robot to be able to move
from one map to another.
Import and export sites

A site can be exported and imported into other robots.
A site contains the following information:
• Zones
• Cart calibrations
• Cart types
• Carts
• Dashboards
4. Setup
• Docking offsets (for the positions - not the global ones for the robot)
• I/O modules
• Maps
• Marker-types
• Missions
• Mission groups
• Path guides
• Path guides positions
• Paths
• Position transitions
• Positions/Markers
• Robot name
• Sessions (the site file itself)
• Sounds
• User group permissions
• User groups
• Users
• Widgets
To export a site, select Export next to the site you want to export. The exported file is named
[Site name]_[Robot name]_[SW version]_[Date].site
To import a site, select Import site and select the site file.
Site files must be imported to a robot with the same software version as the
robot the site file was exported from. If you want to import a site file from
another software version, you must update or downgrade your robot to that
version first, import the file, and then update or downgrade back to the
desired software version.
4. Setup
Create map
To create a map, first enter a name for the map and select the site the map should belong
to. When you select Create map, you are directed to the map editor where you find the tools
to draw the map and add various features.
Name
Enter a name that describes the map.
The name is used to identify a certain area of the site.
One way of naming maps is to select names that relate to the area of the map, for example,
Ground floor or Hall A.
Site
Select which site the map should be part of, or select Create/Edit to create a new site or
edit the name of an existing site.
4. Setup
Select Create site to create a new site. Name the site and select OK.
Select Create map to save the map.
Mapping tools
The built-in mapping functionality makes it possible to draw a map by manually driving the
robot around the facility using the joystick while the robot uses the laser scanners to map the
area.
Two mapping methods

Recording of maps can be done using two different mapping methods: Cartographer (default
method) and Hector.
• The Cartographer method records multiple smaller maps and then compiles those into
one map after the recording session.
• The Hector method records and compiles data in one map during the mapping.
The tools used are the same for both methods, and when you start mapping you’ll not be
able to see which method is activated. However, to obtain the best result, there are different
mapping patterns recommended for the two mapping methods.
4. Setup
• Cartographer: Mapping in a circular pattern and closing loops.

• Hector: Mapping in a branch pattern, while going back over your own tracks several
times.
To change between the two mapping methods, go to System > Settings > Mapping.
For more information about creating maps, see your product's user guide or
contact your distributor for the guide How to create maps.
The map recording and editing tools are all found on the icon tool bar, and the drop-down
list contains all the features you can add to your map. Different tools are displayed on the
icon toolbar depending on which feature you have selected from the drop-down list.
Mapping tools
Press the 3-dots icon to open the Upload, download and record map dialog box.
This toolbar has options for recording a new map or uploading/downloading existing ones.
You may upload a map from your computer in .png format. For example, if CAD drawings of
the facility are available, it is possible to use those after converting them to .png instead of
mapping the area with the robot, but you can also upload maps previously created with the
robot and downloaded to your PC.
When you download a map, only the recorded map data is saved. Any added
features such as positions and zones are not saved with the map file. If you
want to save a map including all details, you can do so by exporting the whole
site that the map belongs to.
4. Setup
The Download, upload and record map dialog has the following options.
• Upload and overwrite

The Upload and overwrite option erases the existing map and replaces it with the map
you upload.
• Upload and append
The Upload and append option adds the uploaded map to the existing one.
• Download map
The Download map option saves the map to your PC as a PNG file.
• Record and overwrite
The Record and overwrite option erases the existing map and replaces it with the map
you record.
• Record and append
The Record and append option adds the recorded map to the existing one.
Recording a map
Select Record and overwrite or Record and append to start the mapping engine. If you
select Record and overwrite, you will be asked if you want to overwrite current data.
A blinking icon indicates that the recording has started, and you can now activate the joystick
and start moving the robot around the area.
4. Setup
The joystick switches to medium speed when used during mapping. This
ensures better coverage of the mapped area.
As the robot moves, the laser scanners will detect physical obstacles, and those will be
recorded in the map as walls. In the editing afterward, you can remove all obstacles that
should not stay on the map, such as carts or boxes that were present at the time of recording
but will not stay permanently.
During mapping, you may add positions based on the current position of the robot. If
necessary, the positions can be edited after the mapping is finished.
To stop the mapping engine, press the record icon in the upper-left corner of the recording
window.
After the mapping engine stops, you can rotate the map and align it using the grid.
Drag the map to rotate it. Route planning works better with horizontal or vertical paths. For
example, if there is a long passage, route planning works best when the passage is either
vertical or horizontal, that is when its walls on the map are parallel to the map borders.
On desktop computers, holding the Shift key when dragging the map rotates the map in
increments of 11.25 degrees.
4. Setup
When you have finished the editing, select the check mark in the upper left-hand side corner
to save the map. You'll be asked if you want to activate the new map. If you do this, you'll be
able to see the robot on the map and may create positions using the robot's live-view.
The grid and the rotation feature will only be present this one time. If you
want to open the grid and rotation feature again, you must download the map,
and then upload it again.
Editing a map
When the map recording is done, modify the map by removing unwanted "noise", adding
virtual walls, preferred or unpreferred drive zones, positions, and other features to get a
reliable map that allows the robots to maneuver smoothly and efficiently in the area.
4. Setup
Left-hand side tool bar

The left-hand side tool bar has the basic tools for saving, undoing, and navigating in the map
you are working on. Furthermore, different tools appear on the tool bar depending on which
map layer you select from the Object types drop-down list. These are presented on the
following pages.
The toolbar contains the following elements:
• Find position
Select the magnifying glass to search for a position on the map.
• Download, upload and record map
Select to upload, download and record maps.
• Undo icon
Select one or more times to undo your last operation(s). While you are drawing a shape
or line in the map, the Undo tool is not available. But as soon as you finish by selecting the
check mark, you can undo the whole shape or line.
• Save icon
Select to save the changes to the map. For the changes to take effect, you'll need to
reload the map.
• Navigate icon
Select to view the map with all added details, and drag to move the view.
Select object list

The Select object-list contains all features that you can add to the map, such as markers,
positions, zones, walls, and floors. See detailed descriptions in Object types on page 74.
4. Setup
Right side tool bar

The right side tool bar has tools for controlling the map view and synchronizing the robot’s
position with the map view.
• Send robot to target

Select to move the robot to any map location. Use this tool to move the robot to a spot
without having to create a position.
• Show the whole map
Select to zoom out to view the whole map.
4. Setup
• Keep robot in center

Select to view the robot in the center of the window. Otherwise, the map is centered.
• Adjust robot position
Select one or more times to adjust the robot on the map. When the red lines showing the
scanners' live view align with the map lines (walls), the robot is adjusted. It may be
necessary to first set the start position (see below).
• Set robot's start position
When you activate a map, the robot's actual position in the physical environment must be
synchronized with the map. This is done by trying to align the robot's live sensors (shown
as red flickering lines) with the black lines of the map. Select somewhere on the map that
matches the robot's physical location as much as possible, and rotate the robot icon to
turn the robot correctly, then select Adjust robot position a couple of times until the
lines overlap. Setting the start position might require a couple of retries.
• Zoom in
Zoom in on the map.
• Zoom out
Zoom out on the map.
4. Setup
Object types
The Object types list lets you add elements such has walls, positions and zones to your map.
Walls and Floors let you remove unwanted objects and add straight lines to create a more
legible map. The other objects define the positions and markers robots can go to as well as
different types of zones that set the rules for where and how the robots move.
Walls
When mapping, physical objects detected by the scanners are recorded as “walls” in the
system. These mark areas on the map were the robot cannot drive.
Apart from real walls, these objects could also be shelves, chairs, tables, and even people
passing by. Some of these recordings are regarded as "noise" and will, if they are not
removed, potentially send the robot on unnecessary detours during its path planning. It is
therefore recommended to remove the objects that are not permanent.
4. Setup
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 the Eraser tool to remove recorded walls, and the Erase by selection tool to remove
walls you've drawn.
Use the Draw new line tool to add new walls to the map, and replace the coarse pixelated
lines. The tool works by adding lines between each point you add to the map. Select the
check mark when the line is done.
Use the Select shape or line tool to change an added object. You can add extra points or
move the existing ones to change the shape. To erase a whole shape, select the Erase shape
or line tool and select a shape to delete it.
Floors
When mapping, the floor is created automatically. The floor on the map marks the areas
where the robot is able to drive. You can use the Floor tool to touch up the existing floor if
there are areas where the floor is missing.
Use the Eraser tool to remove unwanted floor from the map.
Use the Draw a new shape tool to add a new floor or patch up the exiting one. The tool
works by filling the area between each point you add to the map with gray color. You may
add as many points as needed and drag to where you want them on the map. Select the
check mark when the shape is done. The gray shape will be converted to white indicating
that it represents floor.
When you are using the floor tools, you cannot affect the walls on the map. If
you make a shape that overlaps walls while you are using the Draw a new
shape tool, the walls will not be removed from the map when the shape is
converted to floor.
Use the Select shape or line tool to change an added object. You can add extra points or
drag the existing ones to change the shape. To erase a whole shape, select the Erase shape
or line tool and select a shape to delete it.
4. Setup
If you want straight lines, hold down the shift key while drawing a line or an
area.
Positions
Positions are defined as X-Y coordinates in the map and are used in missions.
Positions are used either as destination positions or as waypoints on a route. To define a

position, select the Position tool, then select somewhere on the map, and rotate the position
icon until the arrow points in the direction you want the robot to face at this position. In the
dialog window that opens, it is then possible to adjust the position and the orientation
manually or select Use robot position to use the current position of the robot.
When you select overlapping positions, a list of the overlapping positions is displayed. This
enables you to easily select the position you want.
4. Setup
The Use robot position button is available only if you are editing the currently
active map.
Optional positions:
• Elevator and elevator entry positions are used by robots that are inside or waiting for an
elevator. These should only be used if the robot is connected to MiR Fleet and MiR Fleet
has an elevator set up.
• Emergency positions are positions that the robots go to when commanded to evacuate a
zone from MiR Fleet.
• Cart positions for picking up and dropping off carts are available if a MiR hook is applied.
• Shelf positions for picking up and placing shelves are available if a shelf lift is applied.
• Staging positions used as waiting positions become available when the robot is part of a
fleet.
Hook, Shelf, or Fleet must be enabled in the Features section under System >
Settings > Features before the positions can be viewed.
Markers
Markers are position types used by the robot to dock to physical V, VL, L, or straight bar-
shaped objects. Markers are used when you want the robot to position itself accurately
relative to a physical object.
4. Setup
To define a marker, first place the robot either facing front or rear to the marker, depending
on which way you want the robot to dock. For charging station markers, the robot must
always be placed facing front.
When you select the Marker tool, the quickest way to set the position is to use Detect
marker. If the robot can detect the marker, the position, offset, and orientation fields will
automatically fill. Otherwise, move the robot a bit closer, and try again. The values can be
adjusted manually afterward if required.
The Detect marker button is available only if you are editing the currently
active map.
You can see and edit the entry position of a marker by selecting the marker and then Show
entry position(s). The entry position stays visible until you select the marker again and
select Hide entry position(s).
Zones
Zones are either used to influence the robot's global planner or to trigger actions
automatically when a robot enters the zone—see Figure 4.2 for the division of zone types.
Zones that trigger an action always have zone settings that you must set when creating the
zone. These zones apply both when the robot operates autonomously and when it is driven in
Manual mode.
4. Setup
Figure 4.2. Zones that only affect the robot's global planner are in the blue square, and the zones that only take
affect when a robot enters the zone are in the green square.
It is possible to create overlapping zones so that multiple events have affect at the same
time, for example blinking and slowing down the speed of the robot when it drives in a
certain zone.
Each zone has its own color on the map. To add a zone, select it on the drop-down list, then
select the shape or line tool on the icon bar and draw the shape or line where you want it on
the map.
Draw a new shape
To create a zone shape:
• In the toolbar, select Draw a new shape and create a shape by placing the corners of the
shape on the map.
• You can edit the shape by dragging the corners.
Draw a new line
To create a zone line:
• In the toolbar, select Draw a new line and create a line by placing points on the map.
• Select Line settings to change the width of the line. Use one of the presets or enter a
custom width. Select Close to save line settings.
4. Setup
You can only create zone lines for zones that affect the global planner.
Hold down the shift key while drawing a line or an area if you want straight
lines.
Select the check mark on the tool bar to finish the shape or line.
To edit or remove a shape or line, select the zone type on the drop-down list. Then, to edit,
select the Select shape or line tool and select the object. You can change a shape or line by
pulling the points, adding or removing points, or by changing the thickness of a line. To add
extra points, first select an existing point, then select where you want to add the point. Pull
to change the shape if needed. To delete a line or shape, select the Erase shape or line tool
and select the object to delete.
4. Setup
Zone settings: Zone settings allow the user to customize a certain zone to
their needs. One or more actions can be set. While the robot is in the zone, it
will perform the actions. When the robot leaves the zone, it will go back to the
default settings.
Only zones that trigger an action have zone settings—see Speed, Sound and
light zones, Planner zones, I/O module zones, Limit-robots zones (Fleet), and
Evacuation zones (Fleet).
Directional zones
Directional zones let you organize the motion of robots by specifying which direction the
robot's global path can go. When you create a directional zone, you specify its direction, and
the map shows the direction with arrows drawn on the zone.
The directional zones apply the following limitations to the robots' global planner:
• The global path is not allowed to move in the direction opposite to the direction of the
arrow.
• The global path can move perpendicular to the direction of the arrow or at any angle less
than 90° to the arrow.
There are two types of directional zones: directional shape and directional line. A directional
shape is a shape on the map with a direction defined. The direction on a shape can have any
value from 0° to 360° with an increment of 45°.
A directional line is a line with a direction defined. The direction of a line is from one of its
ends to the other end. To reverse the direction of a line, select a line and select Reverse
direction in the toolbar.
Preferred zones
The robot tries to plan its global path to go through Preferred zones. It will drive out of the
zone to avoid obstacles.
Unpreferred zones
The robot tries to avoid planning its global path through Unpreferred zones but may go into
it if there are no other possibilities.
4. Setup
Forbidden zones
The robot's footprint never enters a Forbidden zone.
Critical zones
The robot's global planner can plan a path that brings the robot closer than usual to detected
obstacles when there is a Critical zone in that area. This is useful in narrow passages where
the robot can just fit. The safety system and local planner are still active, meaning the robot
will still avoid and stop for obstacles.
Speed
The robot slows down or increases its speed when driving in a Speed zone. Slowing down
may be used if the robot is driving in a zone with many people, and speeding may be used to
traverse a zone free of people and obstacles quickly.
Zone settings
• Name
Enter a name for the zone.
• Desired speed
Enter the speed (m/s) the robot should drive with in this zone. Default: 0.8, minimum: 0.1,
maximum: 1.5 m/s
Sound and light zones
The robot can play a sound and blink its status lights when driving in this zone. You can use
this zone to warn people about the presence of the robot.
Zone settings
• Light
The robot drives with the status lights flashing.
• Sound
Select the sound you want the robot to play.
Planner zones
The robot can ignore date from its laser scanners and localize with encoders, decrease its
field of view to run smoothly in populated areas, optimize the wait-time and deviation of
paths, and ignore obstacles when in this zone.
4. Setup
Zone settings
• No localization
The robot ignores laser scanner data and only uses its motor encoders to localize itself.
Useful for special driving, like ramps.
• Look-ahead
Look-ahead is used to define a decreased field of view. Maximum is 3 meters (default).
Minimum is 0.
• Path timeout
Maximum amount of time the robot keeps trying to complete the current path before
generating a new global path. Default is 5 seconds. Minimum is -1, which means that the
feature is disabled.
• Path deviation
Maximum allowed distance the robot can deviate from the path before generating a new
global path. Default is 0.5 meters. Minimum is 0. Maximum is 3 meters.
• Ignore obstacles
With this action, The robot ignores all obstacles detected with the 3D cameras. This is
useful, for example, if you experience problems with the robot stopping in front of
windows because of sunlight.
• Obstacle history clearing
Select how the robot will clear its obstacle history while driving. No clearing: the robot
remembers all obstacles and only clears those in the field of view of the cameras. Clear in
front of robot: the robot disables obstacle history in a cone shape in front of the robot,
starting with the width of the footprint and increasing the width by 0.3 m per meter. Clear
all: the robot disables obstacle history altogether and only avoids obstacles that it detects
with its sensors while driving.
I/O module zones
The robot activates an I/O module when entering the zone. An I/O module zone may be used
instead of controlling I/O activation through a mission.
Zone settings
• I/O module
Select the I/O module you want to use.
4. Setup
• PLC registers
Index: Index is the register number and spans from 1–200. Registers 1–100 are reserved
for integers and registers from 101–199 for floating point numbers.
Entry action: An Entry action is used to set a value in a register. The register can be set in
three ways: Set: sets a value every time the mission is executed. Add: adds a value every
time the mission is executed. Subtract: subtracts a value every time the mission is
executed.
Entry value: Enter the value that will apply to the Entry action.
Exit action: An Exit action is used to set a value in a register. The register can be set in
three ways: Set: sets a value every time the mission is executed. Add: adds a value every
time the mission is executed. Subtract: subtracts a value every time the mission is
executed.
Exit value: Enter the value that will apply to the Exit action.
Limit-robots zones (Fleet)
Limit-robots zones apply only when robots are controlled by MiR Fleet. Only a defined
number of robots may be in the zone at the same time. This zone is used to keep an area
clear of too many robots, for example in areas where MiR Hook robots unload and pick up
carts.
Zone settings
• Robot limit
Enter the number of robots that are allowed to drive in the zone. Minimum is 1.
Evacuation zones (Fleet)
Evacuation zones make it possible to evacuate all robots in case of an emergency situation.
One or more Evacuation zones can be created on the map and will appear on a list under
Evacuation zones. It is possible to evacuate one certain zone or all zones at once.
Select Evacuate all zones to evacuate all zones (in the top bar or under Evacuation zones),
or select the toggle switch under Evacuate next to a specific Evacuation zone to evacuate
that zone. All robots will leave the selected Evacuation zones and go to the nearest
Emergency positions.
To reset the Evacuation zones when the emergency is over, use the toggle switches under
Evacuated to deactivate the zones. When the zones are reset, the robot(s) will wait at their
Emergency position(s) for new missions.
4. Setup
Evacuation zones should only be used in case of an emergency as all missions are
discontinued.
There must be at least one Emergency position per robot when Evacuation
zones are applied.
Zone settings
• Evacuation zones (Fleet)

Select whether or not the evacuation zone is active. 0 is inactive and 1 is active.
Delete map
You can delete maps that are created by you or another member of the user group you
belong to.
Select Delete next to the map you want to delete. In the next dialog box, select Delete
map to delete the map.
4. Setup
4.3 Sounds
In the Sounds menu, you can upload new sounds to the robot or edit the volume and length
of the sounds.
Sounds are used in missions and can be used as alerts or to attract people's attention, for
example, when the robot has arrived at a position.
4. Setup
Edit sound
You can rename any of the user added sounds on the robot and adjust the volume.
Select the Play icon to listen to the sound on the robot itself.
Select the Listen icon to listen to the sound on your computer.
The volume can only be checked by playing the sound on the robot itself.
The Edit sound dialog box contains the following fields:
• Name
You can change the names of user uploaded sounds. The names of the standard system
sounds cannot be changed.
• Volume (0-100)
The maximum of 100 is approximately 80 dB.
• Note
You can write a small note about the selected sound (optional).
• Delete
You can delete user uploaded sounds from the robot.
Select Save changes to save the settings.
4. Setup
4.4 Transitions
Transitions are used to handle changeovers from one map to another within the same site.
Map transitions are used, for example, where two adjoining production halls have separate
maps.
A transition entry consists of two robot positions: a start position and a goal position, one in
each map at a physical point where the two maps overlap. Furthermore, it requires pre-
defined missions that include Switch map actions.
Going from map A to map B and from map B to map A requires two different
missions.
Once the transition is set up in the user interface, the robot handles switches from one map
to another automatically. You just set up your mission as you would in a single map-
environment, and the system will include the switch positions, the Switch map mission, and
the transition action automatically. When the robot transitions to another map, it stops for a
short while to position itself on the new map.
4. Setup
Create transition
To create a transition, select a start position and a goal position on two different maps at a
point where the maps overlap. The positions must have been predefined as Robot positions
on the two maps.
The Create transition dialog box contains the following fields:
• Site
Select the site in which the two maps are represented.
Both maps must be part of the same site for a map transition to be possible.
• Start position
Select the start position of the transition.
The start position must be a Robot position and must be created in advance in a place
where the two maps overlap. Start and goal positions must be placed on the exact same
spot physically but named differently, for example, "Map A_posA" and "MapB_posA" to
indicate the relation between the two.
• Goal position
Select the goal position of the transition.
The goal position must be a Robot position and must be created in advance in a place
where the two maps overlap. Start and goal positions must be placed on the exact same
spot physically but named differently, for example, "Map A_posA" and "MapB_posA" to
indicate the relation between the two.
4. Setup
• Mission
Select a mission that includes a Switch map action.
The Switch map mission must be created in advance and must include two Switch map
actions: the first Switch map action must include the "from" map and the defined start
position, and the second Switch map action must include the "to" map and the defined
goal position.
Select Create transition to save the settings.
Edit transitions
To edit a transition you must select a start position and a goal position in two different maps
at a point where the maps overlap. The positions must have been predefined as Robot
positions in the two maps.
4. Setup
Delete transitions
You can delete transitions that are created by you or another member of the user group you
belong to.
If you delete a transition, the start and goal positions and attached mission are deleted as
well.
4.5 I/O modules

I/O modules (Bluetooth and WISE) are used for receiving and giving input and output to be
able to communicate with external devices. Outputs are used to signal information from the
robot to the external device, and inputs are used to receives signals from the device.
WISE modules work in the range of 0-3, Bluetooth modules work in the range of 1-4.
For more information about how to use WISE modules with MiR robots,

contact your distributor for the guide How to use WISE I/O modules.
4. Setup
Create I/O connection

To create an I/O connection, you must choose an I/O module type (Bluetooth or WISE) and
enter a name and an IP address.
Select Create to save the settings.
Delete I/O connection

You can delete I/O modules that are created by you or another member of the user group
you belong to.
4.6 Paths
Paths are saved routes between two positions.
4. Setup
The first time the robot runs the route between two positions, the calculated path is saved
and used every time the robot runs the same route, thereby saving time for route
calculation. A path is automatically recalculated only in the event that one of its positions is
modified.
If you find that an automatically calculated path is unnecessarily long, for example, if the
robot had to go around a dynamic obstacle at the time it was created, you can delete it, and
the robot will then calculate a new path the next time it runs between those two positions.
You can use Preferred zones and Unpreferred zones to influence where you want the robot
to plan its path. After it has created the path using the zones, it will continue to use this path
even if you removes the zones. Likewise, if the robot has already created paths between the
affected positions, and you add zones afterward, the zones will not take effect until you
remove the previous paths.
• View a path
The path is shown as a dotted line between two positions on the map. The view can be
used to check if calculated paths look appropriate.
4. Setup
Delete path
Paths can be deleted if you want the robot to recalculate the route between two positions.
Select Delete next to the path you want to delete. In the next dialog, select Delete path
to delete the path.
4.7 Path guides

A path guide makes it possible to define paths that the robot should follow between two
positions by defining waypoint positions between the start and goal. Path guides can be very
useful in locations where you want the robot to follow a certain path, for example, along a
wall.
In environments where multiple robots operate, an obvious application of path guides would
be to create right-hand drive paths where two robots can pass each other without stopping
to recalculate each time they meet. This is done by creating one path guide going from A to
B and another one in the opposite lane going from B to A.
To create a path guide, you must first create a number of robot positions that act as
waypoints on the map. The positions must be placed on the path in succession, and they must
be oriented in the driving direction.
When the positions are made, you create the path guide. A path guide consists of one or
more start positions, one or more goal positions, and a number of waypoints in between. You
may use the same path to go between more start and goal positions.
4. Setup
When you set up missions that include positions used as start and end positions, the robot
will automatically use the path guide.
Two examples
The following two examples illustrate how robots avoid planning around each other every
time they pass while crossing the production hall.
Example 1 Example 2
Path guide 1: south to north Path guide 2: north to south
Path guide 1 forces the robot to follow one lane going south to north, and Path guide 2
forces the robot to follow another lane going north to south. The same two positions are
used for start and end positions but reversed in the two path guides.
4. Setup
Create a path guide

To create a path guide, first enter a name for the path guide and select the map it should
belong to. After selecting Create path guide, you are directed to the section where you
select start and goal positions as well as the waypoints that make up the path guide between
them.
• Add start
Select one or more start positions for this path guide.
• Add waypoint
Select the waypoints created for this path guide.
The waypoints must point in the driving direction.
• Add goal
Select one or more end positions for this path guide.
4. Setup
Delete path guide

You can delete path guides that are created by you or another member of the user group
you belong to.
Select Delete next to the path guide you want to delete. In the next dialog box, select
Delete path guide to delete the path guide.
4.8 Marker types

To set up the robot for lifting, moving, and placing shelves or tables, marker types with
unique names and dimensions must be set up in the robot interface. This will enable the
robot to dock and undock correctly.
Create marker type

To create a marker type, you must first select if it is a Bar shelf marker or a Leg shelf
marker.
Bar shelf markers are used for MiR100 and MiR200 robots.
Leg shelf markers are used for MiR250, MiR500, and MiR1000 robots.
After selecting the marker type, you must enter the dimensions of the shelf plus positional
offsets, which the robot uses to fine-adjust its position when docking to the shelf.
4. Setup
• Name
Enter a name for the marker type.
Marker types are used in missions to define pick up and place shelf actions.
The marker type name must be unique and is used to identify the marker type.
• Shelf type
Select which shelf marker type you want to create.
The selection must fit the type of shelf you are going to use:
Bar shelf markers for MiR100 and MiR200 are for shelves with two side bars.
Leg shelf markers for MiR250, MiR500, and MiR1000 are for shelves with four legs.
4. Setup
• Bar length in meters
For Bar shelf markers: Enter the length of one of the side bars in meters with up to two
decimals.
For Leg shelf markers: Enter the distance between a pair of legs on one side of the robot
in meters with up to two decimals.
• Bar distance in meters
Enter the width of the area under the shelf where the robot can dock.
For Bar shelf markers: Enter the distance between the side bars in meters with up to two
decimals.
For Leg shelf markers: Enter the distance between a pair of legs on opposite sides of the
robot in meters with up to two decimals.
4. Setup
• Orientation offset in degrees
Enter the orientation offset in degrees.
An orientation offset is used to rotate the robot's final orientation when docking to the
shelf. A positive rotates the robot counter-clockwise.
Minimum offset value is 0.
• Offset X in meters
Enter the marker type's X-offset in meters with up to two decimals.
An X-offset is used to move the robot further forward or backward when docking to the
shelf. A positive value moves the robot forward.
• Offset Y in meters
Enter the marker type's Y-offset in meters with up to two decimals. A positive value will
move the robot to the left.
A Y-offset is used to move the robot further to the left or right when docking to the shelf.
• Leg asymmetry in meters (Only for Leg shelf markers)
Enter the value in meters that defines the offset between the two front shelf legs.
The value must be measured on the shelf that you are going to use.
Minimum value: 0 (the legs are symmetric).
Maximum value: 0.5.
Select Create marker type to save the settings.
4. Setup
Delete marker type

You can delete marker types that are created by you or another member of the user group
you belong to.
Select Delete next to the marker type you want to delete. In the next dialog box, select
Delete marker type to delete the marker type.
4.9 Footprints
A footprint is the amount of space the robot occupies including its top module and load. It
consists of a horizontal shape around the robot, slightly bigger than the robot itself, and a
maximum height. The horizontal shape is defined as coordinates relative to the robot's
center.
If your robot carries a load with larger dimensions than the robot itself, you must change the
footprint to fit the dimensions of the load to ensure that the robot plans its routes so the load
does not collide with obstacles. You can choose from the list of default footprints or you can
define your own.
4. Setup
Create footprint
To create a new footprint, first enter a name, then select Create footprint to continue to the
footprint editor.
• Name
The name is used to identify the footprint.
Select Create footprint to save the settings and continue to the footprint editor.
Edit footprint
You can edit a footprint in either a simple or an advanced mode:
Simple mode lets you change the footprint length X and width Y
Advanced mode lets you add and remove points and reshape the footprint as long as it
forms a convex shape.
• Use the Toggle icon to switch between simple and advanced edit modes.
• Drag the points to change the size and shape of the footprint, or select a point and enter
the X and Y values at the bottom-left corner of the editor.
• Select the Arrow+ icon to add extra points to the shape.
• Select the Arrow- icon to remove points from the shape.
• Select the Edit height button to open the footprint height editor.
• Select the Save icon to save the changes.
4. Setup
Delete footprint
You can delete footprints that are created by you or another member of the user group you
belong to.
If you delete a footprint, any missions where it is used will have an undefined
footprint value instead, and the mission cannot be executed by robots.
Select Delete next to the footprint you want to delete. In the next dialog box, select
Delete footprint to delete the footprint.
4. Setup
Migrate footprint
A migrated footprint comes from a site file with a software version that is lower than the
version in which the footprint editor was introduced (SW 2.8.0).
You can edit name, robot type, and height of the migrated footprint.
4. Setup
4.10 Users
All users of the robot, from daily operators to system administrators, must have a user
profile in the system. Users are administered in the Users section where you set up, edit, and
delete system users.
4. Setup
Create user
In Create users you set up new users by entering their data, such as name, email, user
credentials, and access rights. Access rights are given by associating each user with a User
group that delimits which sections of the user interface the user has access to.
User groups should be defined prior to setting up Users.
The Create user dialog box has the following fields:
• Name
Enter the name of the user.
The name is shown in the upper right-hand corner of the web interface when the user is
logged in and is not to be confused with the Username.
• Username
Enter the name that the user should use to sign in to the system.
4. Setup
• Password
Enter a password that the user should use to sign in to the system. Passwords are case
sensitive.
Users can change their own password when logged in by selecting their login name in the
upper right-hand corner of the window and changing the password in the window that
pops up.
• Email address
Enter the user's email address. Email addresses can be used as part of a mission, for
example, to notify a user about a completed mission.
• User group
Select a user group for the user. Each user must be attached to a pre-defined user group.
The user group specifies which parts of the system the user has access to. User group
permissions are defined for each system command or feature and are granted as read-
only or write permissions.
• SingleDashboard user
Select the option if the user's only task is to control the robot(s) from a dashboard, for
example, if the user's task is to start missions from a tablet attached to a top module.
SingleDashboard users do not have access to any other parts of the user interface.
Select a dashboard for the SingleDashboard user.
When the SingleDashboard user signs in, the selected dashboard will be the one that's
available to this user.
• PIN code
Select this option if the user is allowed to enter the system using a PIN code. We only
recommend this for users with minimum access.
Each PIN code user must have a unique code.
Select Create user to save the settings.
Edit user
In Edit user you can change the settings of a user's profile.
Any of the settings can be changed, except for the password. Users can change their own
passwords by selecting the user name in the upper right-hand corner of the window and
changing the password in the Edit user dialog.
4. Setup
Delete user
When you select Delete user, all settings and updates made in the system by the user in
question stay unchanged. Only the user's personal data is removed.
Select Delete next to the user you want to delete. In the next dialog box, select Delete
user to delete the user.
4.11 User groups

The User groups section is used to create user groups and assign permissions to each group.
A user group defines which sections of the user interface users have access to and whether
the access rights should involve viewing only or give full write access. To edit permissions for
a group, select the key icon next to the name of the user group to open the User group
permissions section.
The MiR user interface comes with a number of default user groups:
• Distributors have full read/write access to the user interface and can administer the
permissions of the Administrators and Users groups.
• Administrators per default have full read/write access to the user interface and can
administer the permissions of the Users group.
• Users per default have access to view the whole user interface and permission to create
and edit dashboards.
Users with write access to the User groups section can also create additional user groups.
4. Setup
When setting up users in the Users section, each user must be assigned to a
user group.
Create user group

Besides the default user groups, you can create as many additional user groups as needed.
The number of user groups needed depends on how many different tasks and permission
levels are required. Several users carrying out the same tasks can belong to the same user
group.
Fill out the name field to create a new user group.
You can give permissions to all sections of the user interface that you have access to.
The Create user group dialog has the following field:
4. Setup
• Name
The name must be unique and is used to identify the group of users it represents.
One way of naming user groups is to select names that characterize the tasks of the users
in the particular group. For example, a group of users operating the robot by starting and
queuing missions could be named Operators.
Select Create user group to create the user group.
4. Setup
User group permissions

You can assign permissions to all parts of the system that are available to the user group the
creator belongs to.
Select which sections of the system the user group should have access to. User group
permissions are divided into groups of related items, and you can select a whole group or
individual items in a group.
The user group will have access to all the items you select for the group. All other items will
be visible but not editable to the users of the group.
4. Setup
Delete user group

To delete a user group, you must be signed in as user of the user group that created the
group.
When you delete a user group, all users belonging to that group will be
deleted as well. To avoid deleting one or more users of the group you are
about to delete, go to the Users section and associate those users with a
different user group.
Select Delete next to the user group you want to delete. In the next dialog, select
Delete user group to delete the group.
5. Monitoring
5. Monitoring
This section describes the items in the Monitoring menu.
The Monitoring menu contains the following

items:
5.1 Analytics 114
5.2 System log 115
5.3 Error logs 116
5.4 Hardware health 117
5.5 Safety system 118
5.6 Mission log 120
5. Monitoring
5.1 Analytics
Analytics gives a graphic overview of the robot's driven distance over a specified period of
time.
You can select a period either by specifying a fixed start and end date or by selecting one of
the buttons spanning from current week to the last 365 days. In addition, you can choose
whether to see a chart per day or per month, and you can see a graph showing the
accumulated distance for the selected time period in addition to the default bar graph view.
• Start date
Select the first day of the period you want to see.
• End date
Select the last day of the period you want to see.
• Grouping
Select Day or Month to set how you want to view the graph.
5. Monitoring
5.2 System log

The system log contains events that are logged by the operating system components. The
system log contains information about system state at a given time (shown by color-codes),
the affected module, a short explanation, and a time stamp.
The system log is mainly used by technical supporters for troubleshooting.
The System log table has the following columns:
• State
Shows the state of the system with a visual color-indication at the time of logging.
• Module
Shows which module the logged event has taken place in.
• Message
Describes the logged event.
• Time
Records when the event happened in the following format: hh:mm:ss.
5. Monitoring
5.3 Error logs

Error log is a list of all detected system errors. Each entry is shown with a description, an
indication of which module is affected, and the time when the error occurred.
Error logs are mainly used by MiR technical supporters for troubleshooting.
When further examination of a log entry is required, it can be downloaded in an encrypted

file format and sent to MiR Support. Each file contains detailed information plus a recording
of the last 30 seconds of robot action(s) before the error occurred.
It is also possible to create a user generated log with a recording of the last 30 seconds of
the robot's actions.
Select Generate log to record the last 30 seconds of the robot's actions.
Select Delete all to delete the entire error log.
5. Monitoring
The Error logs table has the following columns:
• Description
Describes why the error log was created.
• Module
Identifies which of the robot's modules has caused the error, for example
/Hook/Connection.
• Time
Records when the error log was created in the following format: yyyy–MM–ddThh:mm:ss.
• Functions
The icons in this column allow you to download, view, or delete the error log.
• Download
Downloads the log entry to your device in an encrypted file format when you select it.
• View
Displays information for the selected log entry only.
• Delete error log
Deletes the log entry when you select it.
5.4 Hardware health

Hardware health allows you to check the condition of the robot's hardware components,
such as motor controllers, lasers scanners, and cameras.
The components are collected under groups. Some groups are only displayed if they are
enabled under System > Settings > Features. If all sub components are OK, the group will be
marked with a green dot and OK, whereas if one or more components in a group are not in
perfect condition, the group will be marked with a yellow or red dot and read Warning or
Error respectively.
To find out more about the condition, you can expand the group by selecting the arrow next
to the group name and see which components are not functioning correctly and why. Each
sub component can be further expanded into one or more sub parts for further information
on the condition.
5. Monitoring
5.5 Safety system

Safety system provides a live view of the input from the laser scanners and the state of the
emergency stop button.
The purpose of the feature is mainly to be able to check if the robot has stopped
unexpectedly due to a physical obstacle, or if someone has manually engaged the
emergency stop button.
5. Monitoring
Emergency stop
Released (green) indicates that the emergency stop button is not engaged.
Activated (red) indicates that the button has been manually engaged.
Front scanner
Free (green) indicates that the laser scanner is not seeing any obstacles.
Blocked (red) indicates that a physical obstacle is blocking the scanner.
Rear scanner
Free (green) indicates that the laser scanner is not seeing any obstacles.
Blocked (red) indicates that a physical obstacle is blocking the scanner.
5. Monitoring
5.6 Mission log

Mission log contains the list of all missions that the robot has executed and the mission that
is running now. Select the eye icon in the Functions column to see the list of actions
executed in a particular mission.
The mission log contains the following columns:
• Mission
Identifies the name of the mission.
• State
Indicates the current state of the mission.
• Message
Displays a service message associated with the mission.
• Start time
Displays the start time of the mission.
• Ran for
Displays the duration of the mission.
• Started by
Identifies the user or service that put the mission into queue.
• Functions
Select View in the Functions column to open the Mission action log for a certain mission.
5. Monitoring
You can enter a text string in the Filter field to show the missions where either
the mission name or the state contains the entered string.
Mission action log

The mission action log contains the list of actions that the robot has executed within the
selected mission and the action that the robot is executing now.
The mission action log contains the following columns:
• Action
Identifies the name of the action.
• State
Indicates the current state of the action.
• Message
Displays a service message associated with the action.
• Start time
Displays the start time of the action.
• Ran for
Displays the duration of the action.
5. Monitoring
Enter a text string in the Filter field to shows the actions where either the
action name, the state, or the message contains the entered string.
6. System
6. System
This section describes the items in the System menu.
The System menu contains the following items:
6.1 Settings 124
6.2 Processes 143
6.3 PLC registers 146
6.4 Software versions 150
6.5 Backups 151
6.6 Robot setup 152
6.7 Triggers 154
6. System
6.1 Settings
Settings contains the robot's parameter settings.
The settings are divided into sub groups, and all parameters have context help texts.
6. System
Mapping
In Mapping you can change the algorithm used for mapping. It is possible to choose
between Cartographer and Hector, see Mapping tools on page 66.
6. System
Error handling
Change how often you are alerted of hardware errors and set timeouts for Protective stops
and skid detections.
6. System
3D cameras
Configure the robot settings of the robot's cameras including camera setup, camera type,
serial number, and filter configuration.
There are two types of camera setups. The settings under Advanced settings differ
depending on your robot's camera configuration. If your robot uses a Left and Right setup, or
has a top camera, the settings also include the calibration transform values for each
camera.
6. System
Battery
Define which battery type the robot is using, how many batteries, and for how long batteries
should be recharged. Under advanced settings, you can configure how the battery should be
charged once it has almost finished charging.
6. System
Planner
Configure the maximum amount of time the robot should use to plan its route, the speed
and acceleration it should drive with, the footprint and height of the robot, how far it may
deviate from the planned path, and whether it should enable light indicators while driving.
Under advanced settings, you also have the option to modify how the robot should clear its
obstacle history, charging station docking thresholds, and how the robot should drive when is
has a hook.
6. System
Localization
Define the thresholds for invalid localization adjustments and enable the use of odometry
correction on slopes.
6. System
Serial interface
Set the baud rate, data bits, stop bits, and response delay of the serial interface. Register
connected FTDI adapters for external interfaces.
6. System
Motor controller
Set the gear ratio, ampere limit, and stall detection parameters of the motor controller.
Update the motor encoder ticks for different hardware versions if the robot's database has
been reset using the USB restore solution.
If your robot has a NUC7 robot computer, you can also use this page to detect
the motor controller after USB restoring the robot.
6. System
UR interface
Set the IP address of an attached Univeral Robot arm.
Docking
Disable undocking when the robot leaves a docking station, and set offsets and threshold for
docking to charging stations, shelves and markers.
6. System
Relative move
Set the PID gains for the control system when performing a Relative move, or set the robot
to use the method applied before software version 2.4.0.
6. System
Ultrasound sensors
Enable the use of ultrasound sensors to detect objects right next to the robot at the start of
any motion.
6. System
Calibration
Set global docking offsets that are applied every time the robot docks to markers, charging
station, and shelves.
6. System
Features
Enable the use of various external devices such as hooks, shelves, and I/O modules.
6. System
Email configuration
Set up the email account of the robot, used when sending email prompts to users.
6. System
WISE configuration
Set up your user account for connection to WISE modules.
6. System
Distributor data
Edit data about the distributor selling the robot.
6. System
Safety system (MiR250, MiR500, and MiR1000 only)

Configure the robot's personnel detection means system. You can modify which sounds the
robot should play when its personnel detection means are muted and how loud the sounds
should be.
Advanced
The settings in this group are intended for technical supporters. In Advanced you can set the
calibration of the front and back laser scanners, the distance between the robot's wheels,
the diameter of towing wheels, the type of encoding used by the Modbus communication,
and enable software lock.
WiFi
In the WiFi section you can see current wireless networks on the robot, add new networks,
and delete existing ones.
6. System
Add connection
You can set up new WiFi connections by selecting from a list of available wireless networks.
The Add connection dialog contains the following fields:
• Select a network
Select the network you want to connect to from the list of available networks. If you
cannot see the network you are looking for, try selecting Reload.
• Security type
Select a security protocol.
• Password
If required, enter a password to be used as log-in to the network.
• DNS servers
Enter DNS servers using the format: xxx.xxx.xxx.xxx. Use semicolon (;) as the delimiter.
• Use static IP
To use a static IP address, select this check box and fill in the following fields: IP address,
Netmask, Gateway.
6. System
Date & time

You can set the system date and time manually by entering values in the fields or
automatically by selecting Load from device. The latter option sets the system time to the
time of the computer connected to the robot.
Modified defaults
Modified defaults displays an overview of all values that have been modified from their
default values.
6.2 Processes
The Processes section displays the software modules that control the system processes on
the robot. The modules are grouped according to functionality and, unless locked, each
element in a group can be turned on and off individually.
As a rule, processes are turned on and off automatically as they apply. Therefore, the
buttons should be used with care and only in the rare case that they are not turned on or off
automatically or for test of a module, for example, the camera.
Core systems
Core systems is a group of modules that control the core functions of the robot.
6. System
Local systems
Local systems is a group of modules that the robot uses when in operation, for example,
missions or local and global planners. Localization handles the AMCL navigational system
and odometry. These two systems calculate the position of the robot on the map in which it
is currently located.
6. System
Sensors & cameras

Sensors & cameras is a group of sensor modules. Cameras handle sensor data from the
cameras. Sensors handles data from laser scanners
States
States covers mapping and calibration modules.
• Mapping is turned on during mapping of a new site. It creates a map based on the
manual driving of the robot, recording walls and obstacles in the mapped area.
• Calibration is turned on during IMU calibration of the robot's lasers and odometry.
6. System
Options
Options is a group of modules that are turned on individually when an optional feature is
applied, for example, a WISE module.
6.3 PLC registers

The PLC registers feature is only visible in the System menu if it has been enabled in
Features.
6. System
PLC registers can be accessed through a serial interface using the robot’s USB port (via
RS232 adapter) or through a REST interface using the robot’s Ethernet connection. Registers
are used for handshake signals, for example, communication between a robot and a
conveyor PLC.
In the PLC registers section, you can create and edit values for PLC-controlled devices.
Registers are shared by missions in which PLC registers are used to either set a value or wait
for a value.
You may change the default PLC register labels by selecting the edit icon next to the label
and enter a text that describes what the particular register should be used for. For example,
registers 8 and 9 could be labeled "Lower shelf" and "Raise shelf".
PLC registers can also be set through a dashboard widget.
6. System
The PLC registers section contains the following:
• Integers
Registers 1-100 are 32 bit integers, that is whole positive or negative numbers.
Registers 1-100 are used, for example, in shelf applications where registers 13 and 14 are
used to lower and raise the shelf device respectively.
If Modbus is enabled, the corresponding holding register addresses are displayed next to
the PLC register.
NOTICE
One PLC register uses two holding register addresses.
• Floats
Registers 101-200 are 64 bit floating point numbers, that is positive or negative decimal
numbers.
Registers 101-200 can be used where decimals are required, for example, to obtain
precise information on distance travelled.
If Modbus is enabled, the corresponding holding register addresses are displayed next to
the PLC register.
NOTICE
One PLC register uses two holding register addresses.
6. System
Set register
To set a register, enter the register number you want to use and the value.
Alternatively, you can set a register by selecting the register on the list and entering the
value.
Delete register
You may delete a register by selecting Delete. Note that you delete only the register value
and not the label.
6. System
6.4 Software versions

In the Software versions section, you can update the robot to run the newest software and
see a list of all previous versions installed on the robot.
Select Upload software, and select the software file on your computer to start the upload.
You can follow the update process on-screen. When finished, restart the robot, and sign in to
the interface again. The robot is now ready to operate with the new software version.
If a hook is mounted on the robot, the hook must be updated to the same
software version. Go to Hook > Software versions and follow the same
procedure as for updating the robot. We recommend updating the hook
before you update the robot.
6. System
6.5 Backups
In the Backups section, you can create a backup of the current system state and restore to a
previous version of the software.
It can be useful to create a backup (snapshot) if you want to be able to revert to the exact
state of the current software, including data such as settings, missions, and reports at a later
stage.
Select Backup to create a backup of the current version.
Delete backup
Select Delete next to the backup you want to delete. In the next dialog box, select
Delete backup to delete the backup.
6. System
6.6 Robot setup

This section contains the robot configuration and calibration properties.
Configuration
You can edit the name of the robot in the Name field.
Serial shows the 9- or 15-digit serial number of the robot. The serial number is also found in
the Help section under Robot information and on the product label on the robot.
Security pack shows the last time a new security pack was installed on your product.
Laser scanners (MiR100, MiR200, MiR500, and MiR1000

only)
In the Laser scanners group you find the serial numbers of the front and rear laser scanners
and the functions for activating and swapping the two scanners.
The Detect button is used by the system to identify the two scanners. It should be used with
great caution as it will make the robot move backwards when it should move forwards and
vice versa.
The Swap button swaps the front and rear laser scanners. It should be used with great
caution as it will make the robot move backwards when it should move forwards and vice
versa.
3D cameras
The 3D cameras group shows the status of the cameras and their serial numbers.
6. System
Serials
The Serials group lists the serial numbers of the robot's hardware components, for example
NUC, BIOS, and SSD hard drive.
Charging relay (MiR100 and MiR200 only)

The Charging relay buttons turn the robot's internal charging relay on or off. The charging
relay is used when automatic charging is carried out by connecting the robot to a charging
station.
Inertial measurement unit

The IMU gain (Inertial Measurement Unit) is a calibration of the gyro’s 360 degree rotation.
To calibrate the gyro, select Start calibration and make sure the robot has enough space to
rotate around itself. The robot will start spinning on the spot while the progression of the
calibration is shown in percentage. After a couple of minutes the calibration is finished and
you get to decide if you want to keep the new calculated value.
If the value deviates significantly from the original one, it will show in red color and you can
choose to discard the calibration and restore to the default value.
To perform the calibration, the robot must have an active map.
Laser scanner calibration (MiR100 and MiR200 only)

The Laser scanner calibration is a calibration of the laser scanners to improve the robot's
docking precision. To calibrate, place the robot approximately 2 m in front of a wall, and
select the Calibrate front scanner or Calibrate rear scanner button. The robot now moves to
a start position.
Measure the distance from the front of the laser scanners to the wall and enter the distance
in the dialog box in robot the interface. Follow the instructions in the interface until the
calibration is completed.
For detailed instructions on how to calibrate the scanners, see the how to-article Calibrate
the laser scanners in the How to section of the MiR website.
After a calibration, the robot must be restarted.
6. System
Download SICK configuration for current robot software

version
For MiR250, MiR500, and MiR1000 robots you can download MiR's supported SICK
configurations for various robot applications. Select Other SICK configurations to see
configurations for previous robot software versions.
Encoder test
The encoder test runs the robot through a sequence where it moves forward at both a slow
and a faster speed and then moves back again. While it is moving, stand behind the robot
and observe whether the robot is drifting slightly to the left or right. You are prompted to
enter your observations in the test dialog box.
When the test is finished, the results from the test are displayed in a table. The results
include notes on what you observed and the number of recorded encoder ticks for each drive
wheel. If the robot has a tendency to drift to either side, but the number of encoder ticks
recorded for each drive wheel is almost the same, it indicates that there is an issue with the
encoders. If the encoder ticks represent the robot's driving behavior accurately, there may
be another issue with the robot. Contact you distributor for further assistance.
6.7 Triggers
The Triggers feature is visible in the System menu if Modbus is set to true under System >
Features.
The robot can be set up to use Modbus TCP/IP communication. In the Triggers section you
can set up links between robot missions and Modbus coil IDs, which will enable remote
devices to add missions to the robot's mission queue.
Before you can establish a Modbus connection and create triggers, the Modbus feature must
be activated under Features in the System > Settings section.
6. System
Create trigger
To create a trigger, first enter a unique name, then enter a coil ID between 1001 and 2000,
and finally assign the mission you want the robot to perform when the coil is activated.
The Create trigger dialog box contains the following fields
• Name
Enter a name that describes the trigger.
• Coil ID
Enter a coil ID that should be used for this trigger. The number must be an integer
between 1001 and 2000.
An integer is a whole positive or negative number.
6. System
• Mission
Select the mission that you want the robot to perform when the coil is activated.
• Select parameter (variables only)
Select the parameter that should be used for this mission. Variable parameters are
displayed if the selected mission was created with a variable parameter, for example, for
positions.
Select Save to save the settings.
Edit trigger
Edit details of the selected trigger. You can rename the trigger and change the coil ID
and/or the mission that the robot will perform when the coil is activated.
Delete trigger
You can delete triggers created by you or another member of the user group you belong to.
6. System
7. Help
7. Help
This section describes the items in the Help menu.
The Help menu contains the following items:
7.1 Robot information 158
7.2 API documentation 159
7.3 Remote access 160
7.4 Service book 161
7.5 Manual 162
7.1 Robot information

This menu item contains the following information:
• Robot name
This field shows the robot name.
• Robot serial
This field shows the robot serial number.
• Robot software version
This field shows the robot software version.
If you have a MiR hook mounted to the robot, the following information is also displayed:
• Hook name
This field shows the hook name.
• Hook serial
This field shows the hook serial number.
7. Help
• Hook software version

This field shows the hook software version.
7.2 API documentation

All functionality found in the robot interface can also be accessed through the robot's REST
API. The REST API is what the robot interface uses to communicate with the robot.
You can connect to the robot using either https://mir.com:443/api or https://mir.com/api.

Alternatively, you can use the robot's IP address instead of mir.com if you are not connected
to the robot's own WiFi.
For authorization, please refer to the example on this page, automatically generated when
you enter your username and password.
If you want to try to use REST API, you can enter your username and password and then
select Launch API documentation. Each endpoint you can use is documented, and you can
select Try it out to send an API request using the entered authorization.
If you are using a software version below 2.10.0, the format is

http://mir.com:8080 or http://mir.com/api
7. Help
7.3 Remote access

MiR Remote enables the MiR Technical Support team to remote access the robot's software.
In many cases, this helps to solve a software problem quickly.
You have command of the remote session, which means that you can retrieve access at any
time by selecting the Disconnect button.
During the remote access session, you can continue using the robot if the problem you need
solved allows it.
Port 8888 must be open on your network for MiR Remote to work.
7. Help
7.4 Service book

In the Service book you can enter notes about the robot, for example, about changes made
in the robot. The notes can be read by all user groups and cannot be deleted.
7. Help
7.5 Manual
A copy of this reference guide is available in the interface. To access the guide, go to: Help >
Manual.
8. Hook
8. Hook
MiR100 Hook and MiR200 Hook only
The Hook menu is visible only if you enable it in System > Settings > Features.
This section describes the items in the Hook menu.
The Hook menu contains the following items:
8.1 Controlling MiR Hook 164
8.2 Carts 167
8.3 Settings 173
8.4 Setup 174
8. Hook
8.1 Controlling MiR Hook

Preparing a MiR hooks to pick up and deliver carts accurately involves a number of setup
and test procedures some of which are found in the Hook section others in different sections
of the user interface. In brief, the steps are as follows:
1. Set Hook to True under System > Settings > Features. This will open the Hook section in
the main menu bar of the user interface.
2. In the Hook menu, go to Manual control and perform a homing.
3. Create minimum one cart type and one cart in the Carts section.
4. Calibrate the relation between robot and cart in the Carts section.
5. Create a mission to test and confirm that the setup was done correctly.
Manual control
The manual control section lets you perform the following actions:
• Open and close the gripper.

• Activate and deactivate the hook brake.
• Perform homing (maximum height calibration).
• Change the height of the hook manually.
8. Hook
Hook state provides information on the position of the hook and the status of the gripper
and the brake. The Live marker section shows the ID code readout.
For more detailed instructions on setting up a MiR hook, see the MiR100 Hook
or MiR200 Hook user guide. For instructions on mounting a hook mechanically,
see the MiR Hook 100 or MiR Hook 200 Mounting guide.
Open / Close
Use these buttons to open or close the hook gripper.
Activate / Deactivate brake

Activate or deactivate the hook brake. The hook brake locks the hook arm and prevents it
from swinging horizontally.
Activating the hook brake makes it easier to perform the cart calibration since even small
hook movements may affect the calibration.
8. Hook
NOTICE
Do not drive the robot in manual mode with the brake activated as this may
damage the motors or the brake.
Deactivate the brake if you need to move the hook arm manually.
Home
Use the Home function to raise the hook to its highest position. The homing function is used
to calibrate the hook height encoder. The robot raises the hook arm to its maximum height
and resets the encoder.
Change height
Use the Change height function to lower or raise the hook to a set position. The function
should be used to find the entry, lock, and drive heights for a specific cart. Note down the
heights and use them when you create a new cart in the system.
Hook state
This group shows the following information:
• Status: The status of the hook gripper.

• Height above floor: The height of the gripper above the floor.
• Hook angle: The angle of the hook. 0 degrees is the angle at which the hook arm is
parallel to the robot. Use this readout to align the hook arm.
• Brake status: The status of the hook brake.
Live marker
This group shows the information that the hook camera reads from the cart's ID tag.
8. Hook
8.2 Carts
All carts that are to be used with the MiR hooks must be set up in the robot interface.
The setup includes carts, cart types, and calibration of the relation between cart and MiR
Hook:
• Cart types are common types sharing the same length, width, and height.
• Carts are individual carts based on a cart type and specifications of entry, grip, and drive
heights plus the ID of the QR code or AprilTag attached to the cart.
• Calibrations define the entry, lock, and drive heights of the hook when it picks up a
particular cart.
Create cart
Each cart to be used with MiR100 Hook or MiR200 Hook must be set up individually. The
name must be the exact QR code or AprilTag name and all carts must be attached to a cart
type specifying length, width, and height.
8. Hook
The Create cart dialog contains the following fields:
• Type
Select the type of cart that fits the cart you are about to create, or select Create/Edit to
create a new type.
The cart type must match the length, width, and height of the cart you are creating.
For more information, see Type below.
• Calibration
Select an existing calibration or select Create/Edit to create a new one.
The calibrations list shows details of the calibrations that are already available in the
system. You may edit or delete existing calibrations or create new ones.
A calibration consists of a name, the exact position of the robot in relation to the cart
when picking up, and the entry, lock, and drive heights of the hook.
For more information, see Calibration on page 170.
Select Create cart to save the settings.
Type
All carts must be attached to a named cart type, specifying length, width, height, and locked
wheels offset of the cart.
Select Create/Edit to open the Cart types window.
8. Hook
The cart types list shows details of the cart types that are already available in the system.
You may edit or delete existing cart types or create new ones.
8. Hook
Create cart type

The Create cart type dialog contains the following fields:
• Name
Enter a name for the cart type you are about to create.
The name must be unique and is used to identify a group of carts.
One way of naming cart types is to select names that characterize the tasks of the carts in
the particular group. For example, tall cage-type carts used for laundry transport could be
named Laundry carts.
• Width in meters
Enter the width of the cart type in meters.
Measure from side to side of the cart.
• Height in meters
Enter the height of the cart type in meters.
Measure from floor to the highest point of the cart.
• Length in meters
Enter the length of the cart type in meters.
Measure the length from the rear end to the gripping bar.
• Locked wheels offset in meters
Enter the offset in meters.
Measure the distance from the line going through the centers of the locked wheels to the
front of the gripping bar.
The locked wheels can be either at the front or the back of the cart. For
information on towing different types of carts, see the user guide for your MiR
hook.
Calibration
The calibration specifies the entry, lock, and drive heights that the MiR hook should use to
pick up a specific cart. As part of the calibration, the hook camera detects the ID tag's
position on the cart. This information is used by MiR hook to position itself precisely every
time it picks up a cart. So once calibrated, the ID tag should not be moved on the cart, and if
it happens, the calibration must be redone.
8. Hook
Calibrations can be reused by multiple carts. This simply requires that the ID tags are placed
in the exact same positions on the carts sharing the calibration and that the carts are of the
same type.
Create calibration
A calibration consists of a name, the exact position of the robot in relation to the cart when
picking up, and the entry, lock, and drive heights of the hook.
8. Hook
The Create calibration dialog contains the following fields:
• Name
Enter a name for the calibration you are about to create.
The name must be unique and is used to identify a specific calibration that can be used by
the same cart types and with the ID tag attached in the exact same position.
• Depth and Sideways offset
The depth and sideways offsets describe the location of the 3D hook camera in relation to
the ID tag.
Select Detect to live-update the positions every time you move the hook. The camera
should point as closely to the middle of the ID tag as possible and have a distance of
approximately 160 mm to the marker. This means that the offsets should be as close to 0
as possible.
• Entry height in mm
The hook's current height is automatically shown in the Entry height in mm field. To
change the height, select Set height and enter a new height in mm.
Entry height is the height the hook will use to go under a cart before gripping it. The
height should be measured as the distance between the floor and the bottom plate of the
hook. It will typically be set to about 50 mm lower than the lock height.
• Lock height in mm
Set the height the hook should raise to, to grip and lock itself to the cart.
The lock height should be set so that the lower gripper hook is right under the gripping
bar of the cart without lifting the wheels.
If you are unsure of the lock height, you may go to the Manual control section to find the
correct height by using the Change height, Close and Open functions.
• Drive height in mm
The drive height can, in almost all cases, be set to the same value as the lock height.
Select OK to save the settings.
Edit cart
If you change the name of the cart, make sure the name corresponds to a specific
ID marker. Alternatively, use Detect to auto-fill the Name field using the camera live view.
Delete cart
You can delete carts that are created by you or another member of the user group you
belong to.
8. Hook
Select Delete next to the cart you want to delete. In the next dialog, select Delete cart
to delete the cart.
8.3 Settings
All settings of the robot are found and may be edited under Hook > Settings. The Robot
setup section is divided into sub groups.
Motor controller
The settings in this group are intended for technical supporters.
This group contains settings related to the motors in MiR Hook. The motors control the
following parts:
• The hook brake

• The hook gripper
• The hook height actuator
Hook distributor data

Edit data about the distributor selling the hook.
8. Hook
Advanced hook
The settings in this group are intended for service technicians.
This group contains calibration parameters and limits.
8.4 Setup
In the Setup section you can change the name of the hook, and find the serial number and
its integrated components. Also, the hook encoder can be zero calibrated, for example, if the
encoder has been replaced.
Configuration
In the Configuration group you may change the name of the hook and read the serial
number.
Serial
Shows the 9- or 15-digit serial number of the hook. The serial number is also found in the
Help section under Robot information and on the identification label on the MiR hook.
Motor controllers
The motor controllers group lists the serial numbers of the motor controllers for actuator
and brake.
The magnifier icon is used to automatically find and enter the number of a motor controller,
for example, if it has been replaced.
If both serial numbers must be re-entered, first disconnect one of the controllers and select
the magnifier icon on the one that is not disconnected, then reconnect the controller and
select the magnifier icon on the second controller.
Be sure to select the correct motor controller when you select the magnifier
icon, as the system will not automatically detect if they are swapped.
Serials
The Serials group lists the serial numbers of hook hardware components, for example, NUC,
BIOS, and SSD hard drive.
8. Hook
Hook encoder offset

The hook encoder group shows the horizontal angle of the hook arm and makes it possible to
make a new zero calibration of the hook by selecting the Set 0-value button.
The hook encoder has already been zero-set from the factory, and it should
only be calibrated again if the encoder has been replaced.
Hook angle
Hook angle shows a live view of the hook's horizontal position.
Offset
Offset shows the hook angle offset value. Default is 0.
9. Modbus register reference

The tables in this chapter list the possibilities for the robot to communicate with external
PLC devices through Modbus TCP/IP.
9.1 Status messages

Title Description Permission Data type Registers
Software Robot software R int16array [4001, 4002,

version version 4003]
Mode The current mode of R int16 [4004]

the robot
State The current state of R int16 [4005]

the robot
Error code The last error R int16 [4006]

registered on the
robot. 0 if no errors
were detected.
Battery level Remaining charge R int16 [4008]

[%]
Uptime The robot’s uptime R int32 [4009,

40010]
Distance run The distance run by R float32 [40011,

the robot from the 40012]
beginning of time.
Position X Position X in global R float32 [40013,

coordinates 40014]
Position Y Position Y in global R float32 [40015,

coordinates 40016]
Position Orientation of the R float32 [40017,

Orientation robot in global 40018]
coordinates
[degrees]
Length of Number of missions R int16 [40019]

mission queue pending or executing
9.2 PLC triggers

PLC Value of PLC R/W int32 [41001,41002]...[41199,

integer register 41200]
PLC float Value of PLC R/W float32 [42001,42002]...[42199,

register 42200]
9.3 Mission triggers

Title Description Permission Data type Coils
Trigger Description of R/W Boolean [1001]...[2000]

name trigger
9.4 Action commands

Continue robot Address of the coil used to R/W Boolean [1]

trigger the Continue action
on the robot
Pause robot Address of the coil used to R/W Boolean [2]

trigger the Pause action on
the robot
Cancel current Address of the coil used to R/W Boolean [3]

mission cancel the ongoing mission,
if any
Clear mission Address of the coil used to R/W Boolean [4]

queue clear the entire mission
queue
Clear error Address of the coil used to R/W Boolean [5]

clear the errors on the
robot
Continue robot Address of the coil used to R/W Boolean [6]

trigger the Continue action
on the robot

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Reference Guide (en)

Copyright © 2017-2020 by Mobile Industrial Robots A/S.

Contact the manufacturer:

Mobile Industrial Robots A/S

1.1 Where to find more information 6

1.2 Version history 6

2.2 Navigating the MiR robot interface 13

4.5 I/O modules 91

4.7 Path guides 94

4.8 Marker types 97

4.9 Footprints 101

4.10 Users 105

4.11 User groups 108

5.1 Analytics 114

5.3 Error logs 116

5.4 Hardware health 117

5.5 Safety system 118

5.6 Mission log 120

6.1 Settings 124

6.2 Processes 143

6.3 PLC registers 146

6.4 Software versions 150

6.5 Backups 151

6.6 Robot setup 152

6.7 Triggers 154

7.1 Robot information 158

7.2 API documentation 159

7.3 Remote access 160

7.4 Service book 161

7.5 Manual 162

8.1 Controlling MiR Hook 164

8.2 Carts 167

8.3 Settings 173

8.4 Setup 174

9.1 Status messages 176

9.2 PLC triggers 177

9.3 Mission triggers 177

9.4 Action commands 177

1. About this document

1.1 Where to find more information

1.2 Version history

• Redesigned Dashboard with flexible widgets

New features in the interface:

• New Hook widget: Hook widget described in

New features in the robot interface:

• New section, Mission log, has been added to

New features in the robot interface:

New features in the robot interface:

• I/O module feature replaces Bluetooth

New features in the robot interface:

• A speed control functionality is added to the

New features in the robot interface:

• Map zones have been reconstructed and new

• Marker types, used for robots driving with

• Changes in cart calibrations for MiR hooks.

• Distributor - the MiR distributor

• Username and password

Accessing the interface

Username and password