a better way

MiR250

The MiR250 is a more flexible AMR that can work around the clock and is brilliantly
simple to setup, for improved productivity. Its smaller footprint and increased
adaptability help optimize internal logistics without changing layout.

Designated use
Autonomous Mobile Robot (AMR) For internal transportation of goods and automation of internal
logistics

Dimensions
Length 800 mm / 31.5 in

Width 580 mm / 22.8 in

Height 300 mm / 11.8 in

Ground clearance 25 - 28 mm / 1.0 - 1.1 in

Weight (without load) 83 kg / 183 lbs (MiR250 Shelf Carrier: 146 kg)
Load surface 800 x 580 mm / 31.5 x 22.8 in

Wheel diameter (drive wheel) 200 mm / 7.9 in

Wheel diameter (caster wheel) 125 mm / 4.9 in

Dimensions for mounting top modules Robot footprint. Contact MiR if a bigger top module is required.

Top plate Anodized aluminum, 5 mm

Color
RAL color RAL 7011 / Iron Grey

RAL color - ESD version RAL 9005 / Signal Black

Payload
Maximum payload 250 kg / 551 lbs

Acceleration limits with payload 0.3 m/s^2

Footprint of payload Robot footprint. Contact MiR if a bigger payload footprint is required.

Payload placement COM position according to User guide

Speed and performance

Active operation time with full load 13 hours

Active operation time with no load 17.4 hours

Standby time 22 hours. Robot is on and idle.

Traversable gap and sill tolerance 20 mm / 0.8 in

Space needed for U-turn around 1500 mm aisle, 1550 mm at the end of aisle. 1000 mm/1000 mm with
obstacle/wall muted protective fields. (MiR Dynamic: 1250 mm aisle, 1250 mm at the
end of aisle with normal setup.)

Minimum doorway width Default footprint and SICK safety configuration 1.3 m. / 52 in Default
footprint and SICK safety configuration with muted protective fields
0.80 m / 32 in. Dynamic footprint and SICK safety configuration 0.95
m / 38 in

Minimum size of detectable object 20 mm at 1.0 m, 70 mm at 2.5 m

(scanner)

Product design life Five years or 20.000 hours, whichever comes first

Maximum speed (with maximum payload on a 2.0 m/s

flat surface)

Minimum corridor width, 90 degree turn Default footprint and SICK safety configuration 1.55 m / 61 in Default
footprint and SICK safety configuration with muted protective fields
 1.0 m / 40 in Dynamic footprint and SICK safety configuration 1.25 m /
50 in

Docking types Forward and reverse, and sideways docking to L-markers

Maximum incline/decline +/- 5 % at 0.5 m/s

Minimum corridor width 135 cm / 53.1 in. With dynamic footprint and SICK safety configuration
85 cm / 33.5 in

Positioning accuracy (in controlled +/- 20 mm (0.8 in) to position, +/- 3 mm (0.15 in) to VL-marker
conditions)

Power
Charging options MiR Charge 48V, Cable Charger, Cable Charger Lite 48V 3A

Charging time with MiR Charge 48V, 10% to 70 minutes

90%

Battery capacity 1.63 kWh (34.2 Ah at 47.7V)

Battery type Li-NMC

Battery voltage 47.7 V nominal, min 41 V, max 54 V

Charging an empty battery Only possible with the cable charger. To dock to MiRCharge 48V, the
robot requires at least 3 pct battery (or equal to 10 min operating
time).

Charging current, MiR Charge 48V Up to 35 A depending on battery temperature and constant voltage
ramping down towards end of charge cycle.

Minimum number of full charging cycles 1000 cycles

Cable charger Robot cannot drive with cable charger connected and charging.

Charging ratio and runtime for 10 min 1:18 (3 hours runtime with full load)
charging

Charging ratio and runtime for 20 min 1:18 (6 hours runtime with full load)
charging

Charging ratio and runtime for 30 min 1:17 (8.3 hours run time with full load)
charging

Charging ratio and runtime for 60 min 1:10 (10.6 hours runtime with full load)
charging

Environment
Ambient temperature (operation) +5°C to 40°C

Ambient temperature (storage) -10°C to 60°C (one month), -20C to +45C (three months)

Humidity 10-95% non-condensing

Compliance Designed in accordance with present standards. Passed in accordance
with CE, EN1525 & ANSI B56.5, EN12895, EN61000-6-2, EN61000-6-
4:2007 + A1, ESD Approved - optional

Maximum altitude 2000 m

IP class 21

Environment For indoor use only

Safety
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.

Communication
I/O connections 4 digital inputs, 4 digital outputs (GPIO), 1 Ethernet port, 1 Auxiliary
emergency stop

WiFi (router) 2.4 GHz and 5 GHz. Dual-band a/b/g/n/ac Internal computer: WiFi
adapter: 2.4 GHz and 5 GHz, 2 internal antennas

WiFi (internal PC) 802.11 Dual-band a/b/g/n/ac

Ethernet M12 plug, 4p. 10/100 Mbit Ethernet with Modbus protocol, adapter for
external antenna.

Top module
Power for top modules 48 V (41-54 V, nom 47.7 V), 10 A combined. 24 V/2 A.

Sensors
SICK safety laser scanners (two pcs.) nanoScan3 (front and back) 360° visual protection around robot

3D camera (two pcs.) 3D camera Intel RealSense D435. FoV: Detects objects 1800 mm high
at a distance of 1200 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 Speaker

Status lights LED light band

Signal lights Eight pcs, two on each corner

Maintenance
Maintenance Maintenance hatches on four sides of the robot.

Service intervals Six months