MiR 500 Autonomous Mobile Robot (AMR)

MiR 500 Autonomous Mobile Robot (AMR) –  2018
Specifications (subject to buyer verification):
MiR500 is an autonomous mobile robot that can transport loads up to 500 kg indoors within
production facilities, warehouses, and other industrial locations where access to the public is
Users operate MiR500 via a web-based user interface, which is accessed through a browser
on a PC, smartphone, or tablet. Each robot has its own network—see Connecting to the robot
interface on page 47. The robot can be set up to run a fixed route, be called on demand, or
perform more complex missions.
The robot interface of MiR500 can be accessed via Google Chrome, Google Chromium,
Apple Safari, Mozilla Firefox, and Microsoft Edge browsers.
The robot uses a map of its work area to navigate and can move to any position on the
map—see Navigation and control system on page 60. The map can be created or imported
the first time the robot is used. While operating, the robot avoids obstacles that are not
mapped, like people and furniture

General information
Designated use For internal transportation of heavy loads and pallets within the industry and logistics
Type Autonomous Mobile Robot (AMR)
Color RAL 7011 / Iron Gray
Product design life Five years or 20 000 hours, whichever comes first
Length 1 350 mm / 53.1 in
Width 909 mm / 35.8 in
Height 320 mm / 12.6 in
Height with MiR500 EU Pallet Lift 407 mm / 16.1 in (lowered), 476 mm / 18.7 in (raised)
Height with MiR500 Lift 410 mm / 16.1 in
Weight (without load) 226 kg / 498 lbs
Weight with MiR500 EU Pallet Lift (without battery or payload) 282 kg / 621 lbs
Weight with MiR500 Lift (without battery or payload) 324 kg / 714 lbs
Ground clearance 40 mm /1.6 in
Load surface 1 249 x 789 mm / 49.2 in x 31 in
Dimensions for mounting top modules Equal to robot footprint. Contact MiR if a bigger top module is required.
Wheel diameter (drive wheel) 200 mm
Wheel diameter (caster wheel) 100 mm
Maximum payload 500 kg / 1 100 lbs
Footprint of payload Equal to robot footprint. Contact MiR if a bigger payload footprint is required.
Total lifting capacity with a MiR EU-/US-/Shelf-lift installed 500 kg / 1 100 lbs
Speed and performance
Maximum speed (with maximum payload on a flat surface) 2.0 m/s / 4.4 mph
Minimum width for pivoting 2 600 mm / 102.4 in (normal setup), 2 500 mm / 98.4 in (improved setup)
Minimum corridor width 2 200 mm / 46.6 in (default footprint), 2 000 mm / 78.7 in (minimized footprint)
Minimum corridor width for two robots passing 4 000 mm / 157.5 in (normal setup), 3 600 mm / 141.7 in (improved setup)
Minimum doorway width Normal operation: 1 950 mm / 76.8 in. Normal operation with camera filter set to high: 1800 mm / 70.9 in. Muted protective fields: 1700 mm / 66.9 in
Minimum distance between chargers 750 mm / 29.5 in, if the robot can approach the charger in an angle of 80-100 degrees to the wall.
Docking types Forward docking. Reverse docking.
Turning diameter around an obstacle/wall with no load 2 200 mm / 46.6 in (default footprint) 2 100 mm / 82.7 in (minimized footprint)
Traversable gap and sill tolerance 20 mm / 0.8 in
Maximum incline/decline 5% at 0.5 m/s
Minimum size of detectable object 20 mm / 0.8 in at 1.0 m / 39.4 in distance. 70 mm / 2.6 in at 2.5 m / 98.4 in distance
Occupied pallet rack detection Yes
Minimum corridor width for a U-turn with no load 2 200 mm / 46.6 in (default footprint), 2 100 mm / 82.7 in (minimized footprint)
Minimum corridor width for a 90 degree turn 2 200 mm / 86.6 in (normal setup), 2 100 mm / 82.7 in (improved setup)
Charging options MiR Charge 48V, Battery Charger 48V 12A , Cable Charger Lite 48V 3A
MiR Charge 48V The robot communicates with MiR Charge 48V through CAN interface. Charging starts only when the robot connection is present.
Charging current, MiR Charge 48V Up to 40 A depending on battery temperature and constant voltage ramping down towards end of charge cycle.
Charging time with MiR Charge 48V, 10% to 90% 1 hour
Charging current with cable charger 12 A
Charging time with cable charger, 10% to 90% 3.5 hours with 12 A charger
Active operation time with no load 15 hours
Minimum number of full charging cycles 1 000 cycles
Battery voltage 48 V Nominal
Battery capacity 2 kWh (41.6 Ah at 48 V)
Battery type Li-NMC
Battery weight 14.3 kg / 31 lbs
Standby time (robot is on and idle) 26 hours
Battery dimensions 300 mm / 11.8 in length, 300 mm / 11.8 in width, 107mm/4.2 in height
Cable charger When charging with a cable charger, the robot goes into emergency stop.
Charging an empty battery Only possible with the cable charger. To dock to MiRCharge 48V, the robot requires at least 3% battery (or equal to 10 minutes of operating time).
Ambient temperature (operation) +5°C to 40°C
Ambient temperature (storage) -10°C to 60°C
Humidity 10-95% non-condensing
Environment For indoor use only
Floor conditions Can withstand driving through small puddles of water on the floor, maximum 4 mm deep. Wet floors should be risk assessed as braking distance can be affected.
Maximum altitude 2 000 m
EMC EN 12895:2015 and EN 61000-6-4:2018
Safety functions Five safety functions according to ISO 13849-1. MiR500 stops if a safety function is triggered.
Manual control in robot interface Token-based system for accessing the manual control. The robot issues only one token at a time.
Personnel detection safety function Triggered by a human or other obstacle in the path of travel.
Emergency stop Triggered by pressing the Emergency stop button.
IP class 21
I/O connections 4 digital inputs, 4 digital outputs, 1 Ethernet port
WiFi (router) 2.4 GHz 802.11 g/n, 5 GHz 802.11 a/n/ac. Internal computer: 802.11 a/b/g/n/ac.
WiFi connection WiFi adapter: 2.4 GHz and 5 GHz, two internal antennas.
Communication protocol REST, Modbus
WiFi (internal PC) Dual-band a/b/g/n/ac
Top module
Power for top modules M23 plug, 6p. 2 x 48 V / 20 A safe pwr, 1 x 24 V / 2 A always on
SICK safety laser scanners (two pcs.) microScan3 (front and back) 360° visual protection around robot
3D camera (two pcs.) 3D camera Intel RealSense D435. FoV: Detects objects 1700 mm high at a distance of 950 mm in front of the robot. 114° total horizontal view. Ground view, minimum distance from robot: 250 mm
Proximity sensors Eight pcs.
Lights and audio
Audio Buzzer, speaker
Signal lights Eight pcs, two on each corner
Status lights LED light band

Equipped With (subject to buyer verification):
Purchased New in 2019