Reference guide (en)

Date: 03/2020

Revision: v.1.2

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

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

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

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

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

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mobile-industrial-robots.com

Phone: +45 20 377 577

Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 5

1.1 Where to find more information 5

1.2 Version history 6

2. MiR Fleet interface 8

2.1 Signing in 8

2.2 Navigating the MiR Fleet interface 10

2.3 Getting started 11

3. Dashboards 13

3.1 Dashboards 14

3.2 Widgets 16

4. Setup 19

4.1 Scheduler 20

4.2 Robots 22

4.3 Elevators 27

4.4 Missions 30

4.5 Maps 65

4.6 Sounds 83

4.7 Transitions 84

4.8 Users 88

4.9 User groups 91

4.10 Paths 94

4.11 Path guides 96

4.12 Marker types 99

4.13 Footprints 102

5. Monitoring 106

5.1 System log 106

5.2 Error logs 107

6. System 109

6.1 Settings 110

6.2 Software versions 114

6.3 Backups 114

6.4 Fleet setup 115

6.5 Evacuation zones 116

7. Help 117

7.1 MiR Fleet information 118

7.2 API documentation 118

7.3 Remote access 119

7.4 Manual 119

1. About this document

This document describes the MiR Fleet interface. The manual is intended for administrators

of the system and users responsible for updating the system regularly, for example defining

new missions or setting up new users in the system.

1.1 Where to find more information

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

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

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

available:

• Distributor site > Manuals

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

This page contains the following resources:

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

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

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

User guides are available in multiple languages.

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

robot solution.

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

operate in the workplace.

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

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

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

based, such as MiR Fleet and MiR AI Camera.

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

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

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

• MiR network requirements specify the performance requirements of your network

for MiR robots and MiR Fleet to operate successfully.

1. About this document

• Distributor site > Download

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

This page contains the following resources:

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

your product in the drop-down menu.

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

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

• Distributor site > FAQ

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

This page contains frequently asked questions regarding MiR products.

• Distributor site > How to

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

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

products.

• Distributor site > Troubleshooting

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

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

1.2 Version history

This table shows current and previous versions of this document and their interrelations with

hardware releases.

Revision

Release

date

Description

version

1.0 2019-01-17 First edition. 2.5.0

1.1 2019-03-06 Update to SW version 2.6.0.

New features in the fleet interface:

• Map zones have been reconstructed and new

zone settings are available.

• Minor corrections and improvements

throughout the manual.

2.6.0

1.2 2020-03-30 Update to SW version 2.8.0.

New features in the fleet interface:

2.8.0

1. About this document

Revision

Release

date

Description

version

• Marker types, used for robots driving with

shelves, has been added to the Setup section.

• A graphic Footprint editor has been added to

the Setup section making it easy to change

and create footprints.

2. MiR Fleet interface

This section gives a quick overview of the MiR Fleet 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 Fleet interface:

• Username and password

• PIN code

2. MiR Fleet interface

System permissions are handled per user group whereas login credentials are handled per

individual user. Read more in the sections Users on page88 and User groups on page91.

Accessing the interface

The user interface is accessed by connecting to the MiR Fleet WiFi and opening your

preferred web browser. Enter the IPaddress of the MiR Fleet or enter mir.com in the

browser's address bar.

The fleet interface can be accessed via Chrome, Safari, Firefox, and Edge.

Username and password

Enter your username and password to sign in to the MiR Fleet interface.

Default login credentials

The default usernames and passwords are:

Distributor

• Username: Distributor

• Password: contact MiR Support

Administrator

2. MiR Fleet interface

• Username: Admin

• Password: admin

User

• Username: User

• Password: user

PIN code

Select the PIN code tab and enter a four-digit PIN code. There is no preconfigured PIN code.

2.2 Navigating the MiR Fleet interface

To access a section in the MiR Fleet interface, first select an item on the main menu, then

the relevant sub-menu. The section appears in the main window.

2. MiR Fleet interface

For example, to go to the Sounds section,select Setup on the main menu, then select

Sounds on the submenu bar.

2.3 Getting started

The interface supports multi-level user access, and tailored dashboards. To get started, you

first need to set up how different users may operate the robot. You can set the access level

for each user and create individual dashboards that include the main functions they need to

operate MiR Fleet. Before the robot can operate, you must also set up the system by

creating maps and missions for the robot to use.

User setup

You must set up the various levels of users that will be operating MiR Fleet, and tailor each

group to the extent of access they require. You do this in the following steps:

1. Set up users, see Users on page88.

2. Define user groups, see User groups on page91.

3. Create dashboards tailored to different users’ tasks, see Dashboards on page14.

2. MiR Fleet interface

System setup

For a smooth running fleet, you must define one or more maps where the robots can

operate, including features, such as positions, and preferred or forbidden drive zones that

contribute to an organized workflow. To define the tasks the robots should execute within a

map, you must create new missions for each task. You do this in the following steps:"

• Create a map, see Maps on page65.

• Edit the map: add positions, drive zones etc., see Mapping tools on page68.

• Create missions, see Missions on page30.

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 14

3.2 Widgets 16

3. Dashboards

3.1 Dashboards

Dashboards are an easy way for different user groups to control the fleet giving direct

access to their 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 robots are

running in, or the current mission queue.

The system comes with a default dashboard and, in addition, you may create an unlimited

number of customized dashboards.

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 click-

dragging. 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.

Edit dashboard

The dashboard design can be edited and widgets added or removed.

3. Dashboards

Delete dashboard

You can delete all dashboards that are created by you or another member of the user group

you belong to.

3.2 Widgets

This section describes the dashboard widgets.

Maps

Locked fleet map

A Locked fleet map widget makes the selected map visible on the dashboard. Select the

map that should be used for the locked fleet map.

3. Dashboards

Locked robot 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.

Missions

Mission button

You can start a mission from the dashboard by adding a Mission button widget and

selecting a predefined mission.

Mission queue

You can have the mission queue displayed on the dashboard by selecting a Mission queue

widget.

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.

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.

Log-out button

The Log-out button allows you to log off via the dashboard. This is useful on small devices

where there is no other log-out button.

4. Setup

This section describes the items in the Setup menu.

The Setup menu contains the following items:

4.1 Scheduler 20

4.2 Robots 22

4.3 Elevators 27

4.4 Missions 30

4.5 Maps 65

4.6 Sounds 83

4.7 Transitions 84

4.8 Users 88

4.9 User groups 91

4.10 Paths 94

4.11 Path guides 96

4.12 Marker types 99

4.13 Footprints 102

4. Setup

4.1 Scheduler

Missions to be carried out by MiR Fleet robots are handled in Scheduler. You can schedule

which robot group should execute a mission, at what date and time, and set the priority of

the mission. Missions and robot groups must be created before proper scheduling can be

done. Go to Robot > Missions to create new missions, and go to Fleet > Robots to create

robot groups.

See also Robots on page22.

Schedule a mission

Schedule a mission by selecting the earliest start, a robot, and what priority the mission

should have. Selecting Run as soon as possible schedules the mission to the queue of

missions. Selecting High priority schedules the mission to run as the first mission before all

other scheduled missions.

4. Setup

Edit schedule for mission

Edit a mission if you want to change the parameters you selected when creating the mission.

4. Setup

4.2 Robots

You can add new robots to MiR Fleet by scanning the network for robots or adding them

manually.

Use the Scan for robots button to find available robots on the network and the Add robot

manual button if you want to add robots by entering their IP addresses.

In the overview of robots on the fleet, each robot has an icon in the top left corner indicating

its status.

• A blue checkmark indicates that the robot is active.

• A red cross indicates that the robot is not yet active or has been deactivated.

• A yellow exclamation mark indicates that the robot has a wrong software version. All

robots and MiR Fleet must have the same software version.

Select Show info to see all details on the robot's status, IP address etc. You can also open

the robot's own interface by selecting Show info and then the Go to robot interface button.

4. Setup

Add robot manually

Add a robot manually by entering the robot's IP address, and select or create a robot group

or charging group it should belong to. Deselect Active in MiR Fleet if the robot should not be

part of the active fleet. Select Factory reset the robot before adding it if you want to reset

the robot to default values before adding it to the fleet.

Note: Factory resetting the robot completely resets the robot's system to default factory

values.

Scan for robots

Scanning for robots is a fast way to add robots on the same network to the fleet. It searches

for the nearest robot WiFi addresses and lists the found robots on the screen. Subsequently

you can add the robots to the fleet.

4. Setup

Groups

Robots controlled by MiR Fleet can be organized in groups each of which are dedicated to

specific missions. Each robot can be assigned to one robot group and one charging group.

A robot group is a collection of mission groups that all robots in the group are allowed to

execute. For example, you can use robot and mission groups to restrict a group of MiR Hook

robots to only perform missions for transporting carts.

A charging group is used to organize charging stations into group based on, for example,

their location. This is useful if you have enabled auto charging, and you have a set of

chargers and robots in two isolated areas. Using charging groups ensures that robots from

one area do not try to dock to charging stations in the second area.

You can read more about mission groups in the section Creating a mission on page32.

Create robot or charging group

Create a group by selecting a name, and choose if it should be a robot group or a charging

group. If you create a robot group, deselect Allow all mission groups to select the specific

mission groups the robot group is allowed to run.

4. Setup

Edit group

Edit the name of the robot or charging group.

For robot groups, you can deselect Allow all mission groups to select from all available

missions groups.

Show info

You can open a detailed view of the individual robots connected to MiR Fleet.

4. Setup

Select Show info to see and edit the details of the robot, such as its name and robot group.

You can also view statistics of the particular robot's performance in percentage, such as

errors, idle time, charging time, and missions, and view the robot's map.

Select Go to robot interface to open the robot's interface in a new tab.

4. Setup

4.3 Elevators

In installations with an elevator, transitions from one map (floor) to another are handled

automatically by MiR Fleet. When an order is given to move to a position in a map

representing a different floor, the fleet control takes over and brings the robot into the

elevator and out again on the correct floor. MiR Fleetthen handles the map switch internally.

4. Setup

Create elevator

The steps for setting up an elevator are:

1. Set up name and IP address or the elevator, and set the elevator active or inactive in

Create elevator.

2. Add floors with information about maps, positions, entry, and exit missions in Edit

elevator.

The Create elevator dialog has the following fields:

• Name

Enter a name for the elevator

• IP address

Enter a valid IP address for the elevator. The IP address is provided by the elevator system

integrator.

• Turn in place

Select whether or not the robot is allowed to turn in the elevator. Turning in the elevator

might be relevant if the robot enters and exits the same elevator door and it must face

front in both instances.

• Active

Select whether or not the elevator should be actively used in the fleet.

4. Setup

Edit elevator

In Edit elevator you can add floors to elevators, and change the settings of an elevator.

Select +Add floor to add a new floor.

When you add a new floor, you must enter the following details:

• Floor

Enter the specific floor number. Floor designations must be numbers, for example,

Ground floor could be represented by 0, and Basement by -1.

• Map

Select the map that represents the floor. The map must include two robot positions that

will enable the switching from one map to another.

• Position in the elevator

Select the robot position representing the robot inside the elevator.

• Position in front of the elevator

Select the robot position representing the robot outside the elevator. This is the position

the robot goes to while waiting for the elevator to arrive and the doors to open.

4. Setup

• Entry mission

An entry mission is not mandatory. An example of an entry mission could be a sound the

robot plays as it enters the elevator. An entry mission must include a Move action with a

variable position.

• Exit mission

An exit mission is not mandatory. An example of an entry mission could be a sound the

robot plays as it exits the elevator.

• Door

Select 1 or 2 depending on the number of exits and entries in the elevator, and if the

robot should use the same door to enter and exit the elevator or exit through the one

opposite the entry.

1: The robot makes a 180° turn inside the elevator and exits through the same door it

entered.

2: The robot does not turn and exits through the door opposite the entry door.

Select Update elevator to save the settings.

Delete elevator

Delete an elevator by selecting Delete in the Edit elevator section.

4.4 Missions

A mission is a predefined series of actions that a robot within the fleet can be set to perform.

A mission can be a simple transportation task between defined positions or a more complex

task that includes both moving between positions and performing actions, such as opening

an automatic door via Bluetooth signal, sounding a horn, or sending an email on arrival at a

position.

4. Setup

Missions are started by adding them to the schedule. It is possible to add them to the

immediate mission queue by selecting Run as soon as possible when scheduling it.

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 Scheduler menu

To enqueue a mission:

• Select Missions to schedule and run a mission.

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

This section describes what a mission is and how to make one.

MiR robots function through missions that the user creates. A mission is made up of actions,

such as: move actions, logic actions, cart pick-up/delivery and sounds, which can be put

together as building blocks 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

also have adjustable variables where the user is asked a question regarding the variable

every time the mission is added to the queue. This can be practical in cases where the robot

performs the same series of actions in different areas of the facility that requires different

variables in the mission action.

When you create a mission, you can save it in the default Missions group, or 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

You can find more information about mission groups in the following section, Mission

groups and about actions in Mission actions on page38.

The Mission section also comes with a set of default missions that you can use and/or

modify.

Fill in the following information to create a misison:

• Name

The name must be unique and is used to identify the mission. For example, Go to charging

4. Setup

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 save the settings.

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, in the mission editor window, select the

gearwheel next to the name of the mission.

In the Mission editor window, move the mouse over the name of the mission, and select the

gearwheel.

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 save a copy of a mission and give it 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.

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 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,

“How far should the robot move?” In the Default value field, enter a default distance.

Move

This mission group contains the following actions.

Action description Parameter descriptions

Adjust localization

An Adjust localization action adjusts the

robot to the correct position in the map.

This is useful if it has to move through an

area with many dynamic obstacles where

the localization is likely to drift.

No adjustable parameters.

Check position status

Positions of the following types can have

the states free or occupied:

• Robot position

• Cart position

• Shelf position

• Pallet rack position

• Staging position

Position

Select a position from the drop-down list,

or select the XYZ icon to define a

variable.

Option

Select if the robot should check if a

position is empty or occupied, or select

the XYZ icon to define a variable

4. Setup

Action description Parameter descriptions

This action checks the state of the position

for a given amount of time. If the

condition in the action is satisfied, the

robot continues executing the mission.

Otherwise, the robot raises an error.

Example: Use this action for the following

purposes:

• Check whether the load is on the pallet

rack before docking to the rack.

• Check whether the cart is in position

before picking it up with the hook.

• Check whether the target position is

free.

Timeout (seconds)

Enter the maximum time during which

the robot checks the position status. If the

position status does not match the option

selected for this position (free, occupied,

etc.) and the time expires, the robot

shows an error.

Docking

A Docking action sets a position the robot

should dock to, for example, a charging

station or a V, VL, or L-marker.

Marker

Select a marker from the drop-down list

or select the XYZ icon to define a

variable.

Move

A Move action defines a map position the

robot should move to.

Position

Select a position from the drop-down list,

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 number of retries,

the path is still blocked, the robot stops

and produces an error message.

Distance threshold

4. Setup

Action description Parameter descriptions

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.

Move to coordinate

A Move to coordinate action defines an

X, Y position on the map the robot should

move to. The map's origin, i.e. the 0,0

position with 0 orientation, is located at

the point where the robot began mapping.

If in doubt of the map's origin, you may

create a fixed position with those values

as a reference point for the Move to

coordinate position you wish to create.

Enter the X (horizontal) map position the

robot should move to, or select the XYZ

icon to define a variable.

Enter the Y (vertical) map position the

robot should move to, or select the XYZ

icon to define a variable.

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 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

4. Setup

Action description Parameter descriptions

position, the threshold can be increased

or decreased. The default is 0.1 m.

Planner settings

A Planner settings action allows you to

set the desired speed of the robot, to

change the settings for how much the

robot is allowed to deviate from its

planned path, and how it should filter out

obstacles when driving.

Path deviation and obstacle clearing can

be used, for example, if you want your

robot to follow its path without it

attempting to maneuver around any

dynamic obstacles, the so-called Line-

following mode.

Planner settings

Default speed: sets the default speed of

the robot while it runs this mission.

Path deviation: sets the maximum

distance the robot is allowed to deviate

from its path before it generates a new

path. Setting the value to 0 means no

deviation is allowed.

Path timeout sets the amount of time

the robot will wait for the path to clear

before generating a new one. If you set

the value to -1 the robot will wait

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

A Relative move action defines an X and

a Y distance you want the robot to move

and an orientation you want it to turn

relative to its current position. A Relative

move can be used for example, to move

the robot away from docking positions in

narrow passages.

Enter a value in meters for how much the

robot should move forwards or

backwards from its current position. A

positive value moves the robot forwards

and a negative value moves it backwards.

Select the XYZ icon if you want to define

a variable.

4. Setup

Action description Parameter descriptions

When using a Relative

move, be aware that the

robot can move into

Forbidden zones and

through walls on the map.

The robot will still drive

with Collision detection and

will not hit anything, but if

there is a black line on the

map, and the wall does not

exist physically, it will drive

through it.

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

value moves it to the left. Select the XYZ

icon if you want to define a variable.

Orientation

Enter a value in degrees for how much

the robot should turn (yaw) when

finalizing the Relative move. A positve

value moves it counterclockwise and a

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 max. 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 max. turn 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

may be turned off if the robot needs to

turn around its own center in tight

spaces, for example, in an elevator. If

collision detection is on, the robot will try

to turn, but will go into emergency stop

4. Setup

Action description Parameter descriptions

as soon as it detects the surrounding

walls.

Set footprint

A Set footprint action makes it possible

to change the robot's default footprint.

This 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.

Footprint

Select a created footprint, or select the

XYZ icon to define a variable. Footprints

must be created in the footprint editor

found under Setup >Footprints.

Switch map

A Switch map action is required if the

robot needs to switch automatically from

one map to another within a mission, for

example, if the robot is operating in a

large site that includes more than one

map. The maps must have overlapping

areas where the robot can locate itself in

the physical environment. Switch map

actions are the basis for Transitions

(Setup > Transitions) which handle map

switches automatically once they are set

up. The robot automatically chooses the

start position when sent to a position in

another map.

Entry Position

In the map you are switching to, select

the position the robot should start from

after the map transition, or select the

XYZ icon to define a variable.

The Switch map action must be preceded

by a Move action to the position in the

current map that physically overlaps the

goal position you select here. The overlap

of the entry and goal positions in the

physical area is important for the robot to

localize itself in the new map.

4. Setup

Battery

This mission group contains the following actions.

Action descriptions Parameter descriptions

Charging

A Charging action is used to make the

robot go to a charging station for

automatic battery recharge. The action is

defined by setting a minimum charging

time and a minimum charging

percentage. When the first of those are

reached, the action is completed. For

example, if you set the minimum time to

30 minutes and the minimum percentage

to 80%, the robot will charge for

minimum 30 minutes or until it reaches a

battery level of 80%. You may also choose

to ignore either time or percentage.

A Charging action must be preceded by a

Docking action where the robot moves to

a previously defined charging position

near the charging station.

Minimum Time

Set a minimum amount of time the robot

should charge before it moves on, or

select the XYZ icon to define a variable.

The system will compare the set

minimum time with the minimum

percentage, and when the first of those

two requirements is fulfilled, the mission

continues.

You may skip defining a minimum time by

selecting the Ignore value check box. The

robot will then charge until the minimum

battery percentage level is reached.

Minimum Percentage

Enter the minimum battery percentage

the robot should charge to before it

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

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

4. Setup

Action descriptions Parameter descriptions

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

This mission group contains the following actions.

Action descriptions Parameter descriptions

Break

A Break action is used to interrupt a loop

action.

No adjustable parameters.

Continue

A Continue action is used to abort the rest

of a loop action and continue from the

start.

No adjustable parameters.

If actions make it possible to check battery

level, number of pending missions, PLC

registers, or input from I/O modules and

then define which actions or missions

should be performed if the conditions

return either true or false. You may use

one or more actions or missions to define

Compare

Select either Battery Percentage, PLC

input, or select the XYZ icon to define a

variable.

Module

For I/O inputs: select an I/O module from

4. Setup

Action descriptions Parameter descriptions

both true and false conditions.

Battery Percentage: An If action on

battery percentage checks if the battery

percentage is below, above, or equal to a

set limit and, depending on the result,

either sends the robot to a charging

station or continues the mission. The True

action could be a previously defined

charging mission. The False action could

be any alternative actions or missions, but

may also be left blank. In that case, the

robot will continue to the next step in the

mission.

Pending missions: An If action on pending

missions checks if the number of pending

(queued) missions is below, above or

equal to a set number. You then set

actions that define what the robot should

do if the set condition returns true or

false. An example could be to send the

robot to a charging station if the number

of queued missions exceeds a certain

amount.

PLC Register: An If action on a PLC

certain value, for example, register 6=1

indicating that a lift is lowered when the

robot arrives at a shelf. The True action

(the lift is lowered) could then be a Wait

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

the drop-down list, or select the XYZ icon

to define a variable.

Index

For PLC registers: enter the required

index number (Integer registers 1-100,

Floating point registers 101-200), or

select the XYZ icon to define a variable.

Operator

Select the arithmetic operator you want

to use, or select the XYZ icon to define a

variable.

Operators are arithmetic operators used

to specify the compare mission, for

example, use the < operator to specify “If

Battery percentage is below 50 percent”.

The available operators are:

• == ‘equal to’

• != ‘not equal to’

• > ‘greater than’

• >= ‘greater than or equal to’

• < ‘lesser than’

• <= ‘lesser than or equal to’.

Value

Enter the value for the selected register,

or select the XYZ icon to define a

variable.

4. Setup

Action descriptions Parameter descriptions

that a lift is lowered when the robot

arrives at a shelf. The True action (the lift

is lowered) could then be a Wait for PLC

Loop

A Loop action makes it possible to have

the robot repeat a mission either a

specified number of times or endlessly

(until stopped by an operator). Drag

actions or predefined missions into the

loop action to define the sequence of

actions the robot will repeat. A loop can

be interrupted with a Break action.

Iterations

Set the number of times the robot should

run the loop, or select the XYZ icon to

define a variable.

Content

Insert the actions that should be

performed in each loop iteration.

Pause

A Pause action pauses the mission

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

Continue.

No adjustable parameters.

Prompt user

A Prompt user action can be used when it

is required to stop and ask the operator

what the next step in the mission should

be. The action consists of a Yes action, a

No action and a Time-out action. The

Question

Write a question which can be answered

with a yes or a no, or select the XYZ icon

to define a variable. The operator will be

asked to answer yes or no to the

question, and if the answer is no, the

robot will carry on with the No action.

4. Setup

Action descriptions Parameter descriptions

operator will be asked, for example, “Do

you want to go to position X?”. If the

operator answers Yes, the robot will go to

position X. If the operator answers No, the

robot will carry on to the defined No

action, for example, move to an

alternative position. If the operator does

not answer yes or no within a given time,

the Time-out action will be executed, for

example, sending an email.

User group

Select which User group the mission is

intended for or select the XYZ icon to

define a variable.

Timeout (seconds)

Set a timeout for when the robot should

continue if the user does not answer the

question. If the timeout is reached, the

robot will execute the actions in the

Timeout scope.

Return

A Return action is used to abort a mission.

It can be used, for example, as catch

action in a Try/Catch action.

No adjustable parameters.

Wait

A Wait action pauses the mission in a

given period of time.

Time

Set an amount of time the robot should

wait before moving to next action in the

mission.

While

While actions make it possible to check

battery level, number of pending missions,

PLC registers, or input from I/O modules

and then define which actions or missions

should be performed if the conditions

return either true or false. You may use

one or more actions or missions to define

the while conditions.

Battery Percentage: A While action on

battery percentage checks if the battery

Compare

Select either Battery Percentage, PLC

input, or select the XYZ icon to define a

variable.

Module

For I/O inputs: select an I/O module from

the drop-down list, or select the XYZ icon

to define a variable.

Index

4. Setup

Action descriptions Parameter descriptions

percentage is below or above a set limit

and, depending on the result, either sends

the robot to a charging station or

continues the mission.

PLC Register: A While action on a PLC

certain value, for example, register 6=1

indicating that a lift is lowered when the

robot arrives at a shelf.

Pending missions: A While action on

pending missions checks if the number of

pending (queued) missions is below, above

or equal to the set number. You then set

an action that defines what the robot

should do if the set condition returns True.

An example could be to send the robot to

a charging station if the number queued

missions exceeds a certain amount.

I/O input: A While 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 robot

arrives at a shelf. The True action (the lift

is lowered) could then be a Wait for PLC

For PLC registers: enter the required

index number (Integer registers 1-100,

Floating point registers 101-200), or

select the XYZ icon to define a variable.

Operator

Select the arithmetic operator you want

to use, or select the XYZ icon to define a

variable.

Operators are arithmetic operators used

to specify the compare mission, for

example, use the < operator to specify “If

Battery percentage is below 50 percent”.

The available operators are:

• == ‘equal to’

• != ‘not equal to’

• > ‘greater than’

• >= ‘greater than or equal to’

• < ‘lesser than’

• <= ‘lesser than or equal to’.

Value

Enter the value for the selected register,

or select the XYZ icon to define a

variable.

Content

Insert the actions that should be

performed in each loop iteration.

4. Setup

Error handling

This mission group contains the following actions.

Action descriptions Parameter descriptions

Create log

A Create log action is used to create user

generated error logs. A Create log action

can be generated as an error log

(Monitoring > Error logs) under the

module name User, showing the

description entered here. This is useful in,

for example, a try/catch action where a

log is created when catching an

unsuccessful try.

Description

Enter a description for the log type you

want to create, or select the XYZ icon to

define a variable. An example of a

description could be “Mission x fail log”

Throw error

A Throw error action is used to enter an

error message that will be shown in the

user interface when the mission is run.

Message

Enter the message you want displayed on

the user interface when the mission is

run, or select the XYZ icon to define a

variable.

Try/Catch

A Try/Catch action is a way to reinforce

missions by defining an alternative action

if the first choice action fails. This will in

many cases prevent a mission from

discontinuing in case, for example, a

position is blocked. A Try/Catch action

consists of one action Try which the robot

should attempt to complete, and a second

action Catch which is used in case the Try

action fails.

Try

Select the action(s) that should be

attempted.

Catch

Select the action that should be

performed if the action(s) within Try

fails.

4. Setup

Sound/Light

This mission group contains the following actions.

Action descriptions Parameter descriptions

Show light

A Show light action sets a light that the

robot will show at a given point in the

mission. The action is a combination of

light effect, speed, color, and intensity.

Effect

Select a light effect from the drop-down

list, for example, 'Blink', or select the XYZ

icon to define a variable.

Speed zones

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.

Timeout (seconds)

4. Setup

Action descriptions Parameter descriptions

Set an amount of time the light should

show, or select the XYZ icon to define a

variable.

Play sound

A Play sound action sets a sound, for

example, a beep, a horn, or a voice

message that the robot will play at a

given stage in the mission or for the

whole duration of the mission. There is a

selection of standard sound bites to

choose from, or you can upload your own

sounds to the robot in the section Setup >

Sounds.

Sound

Select a sound from the list, or select the

XYZ icon to define a variable.

If you want to hear the sounds before

selecting one, go to Setup > Sounds. You

can hear the sounds on your computer by

selecting the headset symbol.

Volume

Set the volume of the sound (0-100), or

select the XYZ icon to define a variable.

100% is 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 in the Duration

window. If the set duration exceeds the

duration of the sound file itself, the sound

file will loop for the duration of the set

time.

You can insert a Stop sound action

4. Setup

Action descriptions Parameter descriptions

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.

Stop sound

Stop playing the current sound.

No adjustable parameters.

PLC

This mission group contains the following actions.

Action descriptions Parameter descriptions

Set PLC register

A Set PLC register 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.

Select a specific PLC register, or select the

XYZ icon to define a variable. Registers 1

to 100 are reserved for integers and

registers from 101-199 for floating point

numbers.

Action

Select an action from the dropdown list,

or select the XYZ icon to define a variable.

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

4. Setup

Action descriptions Parameter descriptions

100, the value must be an integer. If the

selected value is between 101 and 200,

the value must be a floating point

number.

Set and reset PLC register

A Set and reset PLC register action is

useful in missions where the robot is

requested to set a value in a PLC register

and reset the register to the original

value when the action is finished.

Select a specific PLC register, or select the

XYZ icon to define a variable. Registers 1

to 100 are reserved for integers and

registers from 101-199 for floating point

numbers.

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.

Reset 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.

Wait for PLC register

A Wait for PLC register action is used to

wait for a value and continue to the next

action when the value is found in the set

Select a specific PLC register, or select the

XYZ icon to define a variable. Registers 1

to 100 are reserved for integers and

4. Setup

Action descriptions Parameter descriptions

numbers.

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.

Timeout (seconds)

Define how long the robot should wait for

the value in the set register before giving

an error.

Email address

This mission group contains the following actions.

Action descriptions Parameter descriptions

Send email

A Send email action is used to send email

messages to selected recipients as part of

a mission, for example, to let an operator

know that it has arrived at a specific

location. Recipients must be set up in the

Users section (Setup > Users) with an

email address. Furthermore, an email

account must be set up in the robot under

System > Settings > Email configuration.

Recipient

Select a recipient from the drop-down

list, or select the XYZ icon to define a

variable. The recipients on the list come

from the Users section.

Subject

Type a subject of the email, or select the

XYZ icon to define a variable.

Message

Write the message that the robot should

4. Setup

Action descriptions Parameter descriptions

send to the selected email address when

the mission is executed, or select the XYZ

icon to define a variable.

I/O module

This mission group contains the following actions.

Action descriptions Parameter descriptions

Connect Bluetooth

A Connect Bluetooth action is used when

the robot must connect and stay

connected to a Bluetooth module.

Module

Select a Bluetooth module from the drop-

down list, or select the XYZ icon to define

a variable. Bluetooth modules are set up

in the Bluetooth relays section (Setup >

Bluetooth relays).

Disconnect Bluetooth

A Disconnect Bluetooth action is used

when the robot must close the connection

to a Bluetooth module.

No adjustable parameters.

Set output

An I/O action is used when the robot

needs to send a command to an I/O

module.

Module

Select an I/O module from the drop-down

list, or select the XYZ icon to define a

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

4. Setup

Action descriptions Parameter descriptions

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.

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

A Set and reset I/O action is useful in

missions where the robot is requested to

set an output on an I/O module and make

sure the output is reset to the original

value in case the robot is paused, goes

into emergency stop or the mission is

aborted, for example, in raise and lower

shelf missions.

Module

Select an I/O module from the drop-down

list, or select the XYZ icon to define a

variable. I/O modules are set up in the

section Setup > I/O modules.

Output

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.

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

4. Setup

Action descriptions Parameter descriptions

A Wait for input action is used when the

robot needs to wait for an I/O module to

respond.

Select an I/O module from the drop-down

list, or select the XYZ icon to define a

variable. I/O modules are set up in the

section Setup > I/O modules.

Input

Enter the input port number or select the

XYZ icon to define a variable.

Value

Set operation to On or Off, or select the

XYZ icon to define a variable. For

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.

Cart

This mission group contains the following actions.

Action descriptions Parameter descriptions

Pick up cart

Go to a position and pick up a cart.

Position

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.

4. Setup

Action descriptions Parameter descriptions

Place cart

Place the cart currently attached to the

robot at a specific position.

Position

Select a position from the drop-down list,

or select the XYZ icon to define a variable.

Release cart

Choose whether or not to release the cart

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

This mission group contains the following actions.

The actions in this mission menu are the template missions included in the

software. The actions are visible only if Shelf is enabled in System > Settings

> Features.

Action descriptions Parameter descriptions

Pick up MiR500/MiR1000 shelf

This template mission sends a

MiR500/MiR1000 robot to a shelf position

Marker position

Select a marker from the drop-down list

or select the XYZ icon to define a

4. Setup

Action descriptions Parameter descriptions

to pick up a shelf, change its footprint,

and move away from the shelf position

again.

variable.

Marker type

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

to define a variable.

Mute front

Select Muted to mute the Personnel

detection means in the front of the robot.

Mute rear

Select Muted to mute the Personnel

detection means in the rear of the robot.

Mute sides

Select Muted to mute the Personnel

detection means to thee sides of the

robot.

Undocking distance

Enter a value in meters for how much the

robot should move forwards or backwards

from its current position. A positive value

moves the robot forwards and a negative

value moves it backwards. Select the XYZ

icon if you want to define a variable.

Pick up Shelf I/O

This template mission sends a robot with

a shelf lifting application controlled with

Module

For I/O inputs: select an I/O module from

the drop-down list, or select the XYZ icon

4. Setup

Action descriptions Parameter descriptions

I/Omodules to a shelf position to pick up

a shelf and change its footprint.

to define a variable.

Marker position

Select a marker from the drop-down list

or select the XYZ icon to define a

variable.

Marker type

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

to define a variable.

Pick up Shelf PLC

This template mission sends a robot with

a shelf lifting application controlled with

PLC registers to a shelf position to pick up

a shelf and change its footprint.

See the MiR shelf lift application

Operating guide for information

regarding how the PLCregisters control a

shelf application.

Marker position

Select a marker from the drop-down list

or select the XYZ icon to define a

variable.

Marker type

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

to define a variable.

Place MiR500/MiR1000 shelf

This template mission makes the robot

place a shelf at the current position,

Mute front

Select Muted to mute the Personnel

detection means in the front of the robot.

4. Setup

Action descriptions Parameter descriptions

change back to the default footprint, and

move away from the position again.

Mute rear

Select Muted to mute the Personnel

detection means in the rear of the robot.

Undocking distance

Enter a value in meters for how much the

robot should move forwards or backwards

from its current position. A positive value

moves the robot forwards and a negative

value moves it backwards. Select the XYZ

icon if you want to define a variable.

Place Shelf I/O

This template mission makes a robot with

a shelf lifting application controlled with

I/Omodules place a shelf at the current

position and change back to the default

footprint.

Module

For I/O inputs: select an I/O module from

the drop-down list, or select the XYZ icon

to define a variable.

Place Shelf PLC

This template mission makes a robot with

a shelf lifting application controlled with

PLC registers place a shelf at the current

position and change back to the default

footprint.

No adjustable parameters.

This mission group contains the following actions.

Action descriptions Parameter descriptions

Run UR program

Program name

4. Setup

Action descriptions Parameter descriptions

A Run UR action is used to communicate

with a Universal Robots application. The

action starts a .urp file saved on the

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

been executed.

Enter the name of the UR program

(without the urp extension), or select the

XYZ icon to define a variable.

4.5 Maps

In the Maps section, you create or edit the maps the robots use 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. The important thing is that the maps are contained in the same site for the

robot to be able to move from one map to another.

4. Setup

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

• Data used in missions (I/O modules, sounds, cart types, cart calibrations, carts, shelf

types, mission groups)

• Docking offsets (for the positions - not the global ones for the robot)

• I/O modules

• Maps

• Mission actions

• Mission groups

• Missions

• Path guides

• Path guides positions

• Paths

• Position transition list

• Positions/Markers

• Robot name

• Sessions (the site file itself)

• Shelf types

• Sounds

• User group permissions

• User groups

• Users

• Widgets

To export a site, simply click on the Export button 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, click the Import site button and select the site file.

4. Setup

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 upgrade or downgrade your robot to that

version first, import the file, and then upgrade or downgrade back to the

desired software version.

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 click Create/Edit to create a new site or edit

the name of an existing site.

4. Setup

A site is the whole facility where MiRFleet operates. A site can hold one or more maps, and

if the robots operate across more maps, for example, on different floors, those maps must

belong to the same site.

Click Create site to create a new site. Name the site and click OK.

Click Create map to save the map.

Mapping tools

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

4. Setup

Press the 3-dots icon to open the Upload and download map dialog box. This toolbar has

options for uploading and downloading existing maps. It is not possible in MiR Fleet to record

a new map using a fleet robot. This must be done on the individual robot interface. The

maps saved on each robot are accessible by the fleet and can be used by other robots on the

fleet.

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, that is 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 should export the whole site

that the map belongs to.

The Download and upload 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.

4. Setup

Editing a map

Once you have uploaded your map, 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.

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 and upload map

Click to upload and download maps.

• Undo icon

Press 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 clicking the

check mark, you can undo the whole shape or line.

• Save icon

Click to save the changes to the map. For the changes to take effect, you'll need to reload

the map.

• Navigate icon

Click 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,

postions, zones, walls, and floors. See detailed descriptions in Object types on page72.

4. Setup

Right-hand side tool bar

The right-hand side tool bar has tools for controlling the map view.

• Zoom in

Zoom in on the map.

• Zoom out

Zoom out on the map.

4. Setup

Object types

From the list, select which part of the map you want to edit. 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. 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

Use the Eraser or the Erase by selection-tool to remove unwanted obstacles from the map.

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. You can use the Floor tool to touch up the

existing floor, for example if the mapped floor contains gray areas, which the robot is not

able to pass. You may also add a whole new floor on top of the existing one

Use the Eraser or the Erase by selection tool to remove unwanted areas of the 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.

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 on a shape to delete it.

Hold down the shift key while drawing a line or an area if you want straight lines.

Positions

Positions are defined as X-Y coordinates in the map and are used as part of missions.

Positions are used either as destination positions or as waypoints on a route. To define a

position, select the Position tool, select somewhere on the map and rotate the icon until the

arrow points in the direction you want the robot to orient to when landing. 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.

If two or more positions overlap, then, when you select one of the 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:

• Cart positions for picking up and dropping off carts are available if a hook is applied.

• Emergency positions are positions that the robots go to when the Evacuate all zones is

given and are available if the robot is part of a fleet

• 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 for example to make the robot dock to a conveyor belt or

a charging station.

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.

4. Setup

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 afterwards 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 on the marker and selecting

Show entry position(s). The entry position stays visible until you select again and select

Hide entry position(s).

Zones

Zones are actions that are automatically triggered when a robot enters the area in which

one of these actions apply. The zones apply both when the robot operates autonomously and

when it is driven in manual mode. 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 in 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.

4. Setup

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 type, for example Preferred zones, on the drop-down list. Then, to edit,

select the Select shape or line tool and select the object to edit. You can change a shape or

line by pulling the points, add extra points or change the thickness of a line. To add extra

points, first select on an existing point, then select where you want to add the point and 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.

Directional zones

Directional zones let you organize the motion of robots by specifying the directions in which

the robots can move in specific zones. When you create a directional zone, you specify its

direction, and the map shows the direction with arrows drawn on the zone.

4. Setup

When a robot is in a directional zone, the following rules apply to the motion of the robot:

• The robot is not allowed to move in the direction opposite to the direction of the arrow.

• The robot 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 work with directional zones: In the map editor, select Directional zones.

Creating a directional shape

To create a directional shape:

• In the toolbar, select Draw a new shape and create a shape by placing points on the map.

• To specify the direction of the zone, use the Select shape or line tool to select the created

shape. The option Select the direction of a directional zone is displayed. Once selected,

the Select direction dialog appears and enables you to select a direction out of eight

directional options.

• Select the check mark to finish editing the zone.

Creating a directional line

To create a directional 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.

• Select the check mark to finish editing the line.

To reverse the direction of a line, select a line and select Reverse direction in the toolbar.

Directional zones in combination with forbidden and unpreferred zones let you organize

efficient robot traffic.

• Create a thin forbidden zone in the middle of the corridor parallel to the corridor walls.

This is the lane separator.

• Create directional zones on both sides of the forbidden zone. Make the directions of the

zones opposite.

4. Setup

With such a configuration, robots going in the opposite directions use different lanes and do

not get in each other's way. Replacing the Forbidden zone with an Unpreferred zone gives

robots more space for maneuvers.

Preferred zones

The robot tries to run within a preferred area taking into account dynamic obstacles.

Unpreferred zones

The robot tries to avoid an unpreferred zone but may go into it if there are no other

possibilities.

Forbidden zones

The robot never enters a forbidden zone.

Critical zones

The obstacles detected from the cameras and scanners are ignored, allowing the robot to

move close to obstacles without entering protective stop. As soon as the robot leaves the

zone, nearby obstacles can trigger protective stops again. This zone is useful to use in narrow

doorways where the robot can physically fit through.

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.

The following zones have zone settings.

Speed zones

The robot slows down or increases its speed when driving in the zone. Slowing down may be

used if driving in a zone with many people, and speeding may be used to traverse a zone

free of people and obstacles quickly.

Zone settings

4. Setup

• 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/or blink when driving in the zone. May be used to warn

people about the presence of the robot.

Zone settings

• Light

The robot drives with the lights on.

• Sound

Select the sound you want the robot to play.

Planner zones

The robot can turn off the laser scanners and localize with encoders, decrease the field of

view to run smoothly in populated areas, optimize the time and distance of paths and ignore

obstacles.

Zone settings

• No localization

The robot turns off the laser scanners and uses encoders only to localize. 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 and will not deviate from the current

path if the path is blocked. 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. Default is 0.5 meters.

Minimum is 0. Maximum is 3 meters.

4. Setup

• Ignore obstacles

The robot detects all obstacles with the 3D camera, but they are ignored with this action.

This is useful 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 cameras and laser

scanners. 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 zone may be used instead

of controlling I/O activation through a mission.

Zone settings

• I/O module

Select the I/O module you wish to use.

• PLC registers

Index:Index is the register number and spans from 1-200. Registers 1 to 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.

Limit-robots zones (Fleet)

Applies only when robots are controlled by MiR Fleet. Only a defined number of robots may

enter the zone at the same time. Used to keep a zone clear of other robots, for example in

areas where MiR Hook robots unload and pick up carts.

4. Setup

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 marked up 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 Evacuate next to a specific evacuation zone to evacuate that zone. All robots will

leave the selected evacuation zones and go to the nearest evacuation positions.

To give the all clear when the emergency is over, remove the check marks from the boxes

from one or more zones under Evacuated. When the all clear has been given, the robot(s)

will wait at their Evacuation position(s) for new missions.

Evacuation zones should only be used in case of an emergency as all missions are

discontinued.

Note: There must be at least one evacuation 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.

4. Setup

Delete map

You can delete maps that are created by you or another member of the user group you

belong to.

4. Setup

4.6 Sounds

In the Sounds menu, you can upload new sounds to the robots or edit the volume and length

of the sounds.

Sounds are used in missions and can be used as alerts: “Please step aside” or to attract

peoples attention for example, when the robots have arrived at a position.

4. Setup

Edit sound

You may 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.

Note: The volume can only be checked by playing the sound on the robot itself.

The Edit sound dialog contains the following fields:

• Name

You may 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.

4.7 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.

4. Setup

A transition entry consists of two robot positions, a start and a goal position, one in each map

at a physical point where the two maps overlap. Furthermore, it requires pre-defined

missions including 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 invisibly. The transition is visible only in the way that the robot stops for

a short while at the switch positions while positioning itself in the new map.

Create transition

To create a transition, 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

The Create transition dialog 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 of the type Robot position and have been 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 of the type Robot position and have been 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.

• Mission

Select a mission that includes a Switch map action.

The Switch map mission must have been created in advance and include two Switch map

actions: the first switch map action must include the "from" map and the defined Start

position, and the second one must include the "to" map and the defined Goal position.

Select Create transition to save the settings.

4. Setup

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.

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. Setup

4.8 Users

All users of the fleet, 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 master 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.Note: User

groups should be defined prior to setting up Users.

The Create user dialog has the following fields:

• Name

Enter the name of the user, e.g John Smith.

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, for example John.

• 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.

4. Setup

• 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.

See Create mission Setup > Missions > Create 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 check box 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.

Single dashboard users do not have access to any other parts of the user interface.

Select a dashboard for the SingleDashboard user.

When the SingleDashboard user logs in, the selected dashboard will be the one that's

available to this user.

• PIN code

Select the check box if the user is allowed to enter the system using a PIN code.

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, only the user's master data as shown below disappear. All

possible settings and updates made in the system by the user in question stay unchanged.

4.9 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, click 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, for example,

Administrators may also create additional user groups.

Related items: When setting up users in the Users section, each user must be assigned to a

user group.

4. Setup

Create user group

Fill out the name field to create a new 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.

You can give permissions to all sections of the user interface that you have access to.

The Create user dialog has the following field:

• 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

4. Setup

particular group. For example, a group of users operating the robot by starting and

queing missions could be named Operators.

Select Create user group to save the settings.

User group permissions

Permissions can be given 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, for example Maps and positions, 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.

4.10 Paths

Paths are saved routes between two positions.

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 may delete it, and

the robot will then calculate a new path the next time it runs between those two positions.

Paths can also be created manually by drawing Preferred zones in the Maps section. To do

this, you must first delete any automatically created paths between the affected positions

before the preferred zone will take effect.

4. Setup

• 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 may be deleted if you want the robot to recalculate the route between two positions or

if you have manually created a preferred path on the map.

4.11 Path guides

A path guide makes it possible to define paths that the robots should follow between two

positions. Path guides can be very useful in locations where you want the robots 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, for example,

with a distance of 3-5 meters 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.

When you set up missions that include positions used as start and end positions, the robot

will automatically use the path guide.

4. Setup

Two examples

The two examples below illustrate how robots avoid planning around each other every time

they pass each other 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 have been created pointing 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.

4.12 Marker types

To set up the robot for lifting, moving, and placing shelves or tables, shelf types with unique

names and dimensions must be set up in the robot interface. This will enable the robot to

dock and undock correctly, and to plan routes taking the shelf size into account.

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 MiR500 and MiR1000 robots.

After selecting the marker type, you must enter the dimensions of the shelf plus two offsets

(X and Y), which the robot uses to fine-adjust its position when docking to the shelf.

4. Setup

• Name

Enter a name for the marker type.

The Marker type name must be unique and is used to identify the marker type. Marker

types are used in missions to define pick up and place shelf actions.

• 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 MiR500 and MiR1000 are for for shelves with four legs.

• Bar length in meters

Enter the length of one of the side bars in meters with up to two decimals.

Enter the length of one of the side bars.

Minimum length: 0.4 m

Maximum length: 0.75 m

4. Setup

• Bar distance in meters

Enter the distance between the two side bars in meters with up to two decimals.

Measure the distance between the two bars inner side to inner side.

Minimum distance: 0.4 m.

Maximum distance: 0.75 m.

• Orientation offset in degrees

Enter the orientation offset in degrees.

An orientation offset is used to fine-tune the robot’s position when docking to the shelf.

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 fine-tune the robot’s position when docking to the shelf.

Minimum offset value is 0.

• Offset Y in meters

Enter the marker type's Y-offset in meters with up to two decimals.

A Y-offset is used to fine-tune the robot’s position when docking to the shelf. Minimum

offset value is 0.

• 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 shelf type to save the settings.

4. Setup

Delete shelf type

You can delete shelf types that are created by you or another member of the user group you

belong to.

4.13 Footprints

A footprint is the amount of space the robot occupies including its top application 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 coordinate system.

If your robot carries a load with larger dimensions than the robot itself, for example a shelf,

you must change the footprint to fit the dimensions of the shelf. You can choose from the list

of default footprints or you can define your own.

Create footprint

To create a new footprint, first enter a name, then press the Create footprint button to

continue to the footprint editor.

4. Setup

• Name

Enter the name of the footprint ... The name is used to identify the footprint.

• Select robot type

Select the correct robot type, for example, MiR500-1000.

Select Create footprint to save the settings and continue to the footprint editor.

Edit footprint

You can edit a footprint in a simple or in 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.

Note! If you delete a footprint, it will affect missions in which it is used.

Migrate footprint

A migrated footprint comes from a site file with a software version that is older than the

version in which the footprint editor was introduced.

You can edit name, robot type, and height of the migrated footprint.

4. Setup

5. Monitoring

This section describes the items in the Monitoring menu.

The Monitoring menu contains the following

items:

5.1 System log 106

5.2 Error logs 107

5.1 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 system supporters for troubleshooting.

5. Monitoring

The System log table has the following columns:

• State

State is a visual color-indication of the system state at the time of logging.

• Module

Module indicates in which module the logged event has taken place.

• Message

The message is a short description of the logged event.

• Time

The time the event was recorded; hh:mm:ss.

5.2 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.

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

A short description of the logged event.

• Module

Shows which of the robot's modules has caused the error, for example /Hook/Connection.

• Time

Shows the exact time the error occurred.

• Download

Select the Download icon to download the log entry in an encrypted file format.

• Delete error log

Log entries can be deleted individually by clicking the x-icon next to the selected entry.

6. System

This section describes the items in the System menu.

The System menu contains the following items:

6.1 Settings 110

6.2 Software versions 114

6.3 Backups 114

6.4 Fleet setup 115

6.5 Evacuation zones 116

6. System

6.1 Settings

Settings contains MiR Fleet's parameter settings.

The settings are divided into sub groups, and all parameters have context help texts.

6. System

Charging and staging

In Charging and staging , you can set and change charging and staging settings for the

robots in the fleet.

Collision avoidance

Synchronize the fleet robots' footprints and positions and ensure they do not collide.

6. System

Distributor data

Edit data about the distributor selling MiRFleet.

6. System

Date and 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.

Advanced

Advanced configuration parameters

The dialog contains the following fields:

• Restart fleet software

If something in the fleet system is not responding you can try restarting the fleet

software.

6. System

• Factory reset

Resetting the system will completely restore the system to default values. Only do this if

you really want to reset the system completely.

6.2 Software versions

In the Software versions section, you can update the fleet to run the newest software and see

a list of all previous versions installed on the fleet.

Select Upload software and select the software file on your computer to start the upload.

You can follow the upgrade process on-screen. When finished, restart the fleet, and log on to

the interface again. The fleet is now ready to operate with the new software version.

Note: 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.

6.3 Backups

In the Backups section, you can create a backup of the current system state and restore to a

previous version of the software.

6. System

Select Backup to create a backup of the current version. 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, reports etc. at a later stage.

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, reports etc. at a later

stage.

Delete backup

Backups may be deleted individually. Select Delete backup to remove the selected file from

the system.

6.4 Fleet setup

This section contains the basic configuration properties.

6. System

Configuration

You can edit the name of the product in the Name field.

6.5 Evacuation zones

In case of an emergency, all robots can be evacuated from one or all zones.