MiR100 Web Interface

Transcription

1 MiR00 Web Interface User Guide Version.7 MiR00.8

2 Introduction - MiR00 MiR00 is an automatic vehicle that transports items internally in production companies, hospitals, warehouses, malls and other places. Through a web interface, the user specifies a destination for the delivery of the goods. MiR00 can be set up to run a specific route (bus), come on demand (taxi), deliver goods (mail). MiR00 has a map, which is built when the vehicle is first put in service. While driving, MiR00 automatically avoids obstacles (people, furniture) that are not on the map. MiR00 s internal map contains defined positions (office, hall, John s place, ). This user guide describes the Mir00 Web Interface for controlling the vehicle and building the map as well as other administrative tasks and information. Specification Load area: Load weight: Run time: Maximum speed: 600 x 800 mm 00 kg 0 hours or 0 km 5.4 km/h

3 Background knowledge and concepts for operation of MiR00 MiR00 Web Interface The vehicle is controlled and configured from a web interface through a browser. Control and configuration of the vehicle is described in this guide which is mainly targeting administrators and superusers. Any MiR00 vehicle has its own web server which is accessible either through the internal network of the vehicle or through the network of the customer site. Web address for the internal network of the vehicle: mir.com. Compatible browsers: Firefox, Chrome, Safari. MiR00 Modes The vehicle has different modes that determine which commands are available and the behaviour of the vehicle: No map the vehicle is waiting for the assignment of a specific area or new map. Ready the vehicle is ready for manoeuvring by joystick or an operation pattern can be started. Operation patterns: taxi, mail, bus these define the daily driving at the customer site. The user receives and delivers goods. Map creation and editing of a map of a specific area. Pause waiting. MiR00 s operating status and mode are shown at the bottom of the page: Battery Moved distance Mode Remaining battery time Objects on the floor: MiR00 ignores objects that are smaller than 5 cm.

4 Area, Map, Mission When MiR00 is run in for the first time, areas with accompanying maps are created e.g.. Ground Floor, Hall. For each area a number of positions are created e.g. John Smith s office. On start-up of MiR00 for daily usage an area is selected and the robot mode is set to mission. The mission decides how MiR00 performs its transportation tasks and moves from position to position. MiR00 is delivered with predefined as well as configurable missions: Taxi Route When the vehicle reaches a position, the MiR00 executes a number of actions determined by the current mission. Taxi The vehicle s destination is provided either through MiR REST Interface or directly on the robot. The vehicle then determines the route from its current position to the new destination and starts moving. Route The vehicle runs a route between positions. At each position, packages can be loaded and a text or mail message can be sent to recipients. After finalising the route the vehicle either returns to the central station or starts over. Mission The Mission interface is used for controlling the robot s queue of missions to execute. Each mission consists of a number of actions such as go to position, make sound, call elevator.

5 Introduction to User Guide This user guide is divided into the following sections: Starting up of MiR00 Taxi by MiR00 Route by MiR00 Mission by MiR00 Manually driving using joystick Creating a new map Editing a map - Administrator MiR00 status Administrator MiR00 configuration - Administrator Each section is introduced by a checklist overview and followed by step-by-step descriptions of the tasks: checklist for the task Task Path to the web page Step-by-step description Background information checklist for a task Step-by-step procedure

6 Start up of MiR00 checklist Remove charger if connected. Start up the vehicle: Turn the on/off button in the right corner of the robot clockwise. Push to release the red emergency stop button. Push the blue, blinking start button next to the emergency stop button. On tablet: Go to MiR00 start page mir.com and log in. To start the MiR00 driving, got to Service > Choose map. Set start position of the vehicle Adjust map Start button Emergency stop On/Off button

7 Start up of MiR00 - /7 Start page: MiR. Navigate to MiR start page.. Select language.

8 Start up of MiR00 - /7 Start page: MiR. Click Log in.. Log in with user name and password this user guide describes tasks for the administrator role.

9 Start up of MiR00-3/7 Start page: MiR You are now logged in.. Click Service to start up or check status. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Go to manual driving to take control using joystick. Note: MiR00 is on Manual. Select Area in Service to activate.

10 Start up of MiR00-4/7 MiR > Service. Choose the area the vehicle is physically located here. Log, status, system information. Basic setup rarely used. Overview over driving location, distance, status. Backup, restore, remote access, WiFi. Synchronize the exact location of the vehicle with the map. Note: MiR00 is on Manual. Select Area in Service to activate.

11 Start up of MiR00-5/7 MiR > Service > Choose map. Activate map by clicking the square. Automatically enters command view for synchronizing the exact location of the vehicle with the map.

12 Start up of MiR00-6/7 MiR > Service > Command View 6. Red lines (the sensors of the vehicle) must match the black lines of the map. Done in step.. Mark the real location of the vehicle on the map: click and drag the mouse like driving using joystick. 3 Yellow ball: position Red ball: forward direction 3. Update the map. Click Adjust. 4. The vehicle and the map are now in sync. The real position of the vehicle is here The map believes that the vehicle is here 4 Correct! 5. Mission log see next page Go back to the MiR start page.

13 Start up of MiR00-6/7 MiR > Service > Command View. When clicking on Mission log at the bottom of the Command View window, a list of finished missions opens. The End state indicates if the missions have succeeded, have been aborted or maybe failed.

14 Start up of MiR00-7/7 Start page: MiR MiR00 is now started and ready for driving. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Click Service to start up MiR00 or check status. Go to manual driving to take control using joystick.

15 Taxi Service by MiR00 checklist From the start page, select an operation pattern (Taxi) Start taxi service, then choose position Look at the Taxi page: next target, remaining distance, location on map For administrator: Edit and Create taxi positions

16 Taxi by MiR00 - /6 Start page: MiR. Click Taxi to start up taxi pattern by MiR00. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Click Service to start up MiR00 or check status. Go to manual driving to take control using joystick.

17 Taxi Service by MiR00 - /6 MiR > Taxi. Start mission if not already started.. Choose Position this is the destination. MiR00 LED colors

18 Taxi Service by MiR00-3/6 MiR > Taxi > Choose Position. Select which position to drive to, e.g. Reception. The vehicle starts driving and the Taxi page is automatically shown. Only administrators can create and edit positions.

19 Taxi Service by MiR00-4/6 MiR > Taxi. See the position of the vehicle on the map Stop and pause mission when necessary. Then: Click Continue to resume mission. When taxi service is active, Status shows the next destination of the vehicle. Choose next destination. MiR00 now runs a mission.

20 Taxi Service by MiR00-5/6 3 MiR > Taxi > Overview Map. See the position of the vehicle in the map. Click a position and select Goto to set a new destination. If robot is moving, click Cancel to change destination. 3. Return to MiR > Taxi ready for a new destination. Click to center the map on the vehicle. Position and orientation blue circle and right direction.

21 Taxi Service by MiR00-6/6 MiR > Taxi. Create and edit positions. Stop mission when necessary. Then: Go to start page for Joystick driving or new mission. When taxi service is active, Status shows the next destination of the vehicle. See the position of the vehicle on the map MiR00 is waiting for a mission.

22 Taxi Service - Administrator / MiR > Taxi > Choose Position. Create a new taxi position.. Edit an existing taxi position. Click a position, e.g. Shipping. The vehicle starts driving and the Taxi page is automatically shown.

23 Taxi Service - Administrator / MiR > Taxi > Choose Position > Edit/Create. Fill in all fields.. Accept the changes click Save or Create button. 3. Go back to MiR > Taxi - ready for a new destination. Select position type, see description page 90 Position. Use the robot s current position as a starting point - fields are automatically filled and can be edited.

24 Route by MiR00 checklist From the start page, select Route to plan and add a mission to the queue Add packages and set the initial position Decide optional behaviour: Run the route without packages, use package types, For administrator: Edit and Create route, stops, packages

25 Route by MiR00 - /7 Start page: MiR. Click Route to set up and start a route mission. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Click Service to start up MiR00 or check status. Go to manual driving to take control using joystick. Note: MiR00 is on Manual. Select Area in Service to activate.

26 Route by MiR00 - /7 MiR > Route. Select a route.. Add packages. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Configure the route plan and package types. Create and edit route name and stops. Create and edit package types.

27 Route by MiR00-3/7 4 MiR > Route > Packages. Click Add to add package types to each stop.. Click a package type to add it. 3. Close the window and add more packages to stops. 4. Return to MIR > Route. The tablet on the robot shows the package type and the user receives it by clicking the tablet. 3

28 Route by MiR00-4/7 MiR > Route Packages have now been added to the route stops.. Set the next stop.. Return to MiR Route. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Configure the route plan and package types. Add or remove packages on the current route. Create and edit route name and stops. Create and edit package types.

29 Route by MiR00-5/7 MiR > Route > Next Stop. Set the next stop by clicking the square next to a position. Next stop is a position on the route to continue from if the route has been interrupted. If not set, the robot will go back to first position when the mission is resumed.. Return to MiR > Route.

30 Route by MiR00-6/7 Set options for route stops and packages. MiR > Route. Click Edit to select options. This is also a shortcut to managing the Route plan.. Return to MiR Route. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Add or remove packages on the current route. Create and edit route name and stops. Create and edit package types.

31 Route by MiR00-7/7 MiR > Route > Edit Options. Select options.. Return to MiR > Route. Create new stops. Edit or delete stops. Click and drag the symbol to rearrange stops on the route. Select destination type: Positions on map or Contacts with mail/phone. (Manage positions and contacts in MIR > Service > Configuration)< Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to show Package types on the robot tablet.

32 Route by MiR00-8/7 MiR > Route Ready to start moving.. Click Start route to add route to the mission queue.. Return to MiR > Route. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Configure the route plan and package types. Add or remove packages on the current route. Create and edit route name and stops. Create and edit package types.

33 Route by MiR00-9/7 MiR > Route > Stop Route Shows current status where is the robot heading?. You can set the robot on pause by pressing Stop route. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Configure the route plan and package types. Add or remove packages on the current route. Create and edit route name and stops. Create and edit package types.

34 Route by MiR00 0/7 MiR > Route Configure the route plan and package types.. Click Route plans to add a new route or edit an existing. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Configure the route plan and package types. Add or remove packages on the current route. Create and edit package types.

35 Route by MiR00 Administrator /7 MiR > Route > Route plans. Create a new route.. Edit an existing route.

36 Route by MiR00 Administrator /7 MiR > Route > Route plans > Create/Edit. Write a name for the route and select an area.. Click Create. The Stops page opens.

37 Route by MiR00 Administrator 3/7 MiR > Route > Route plans > Create/Edit. Click Create new stop. Select destination type: Positions on map or Contacts with mail/phone. (Manage positions and contacts in MIR > Service > Configuration) Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display package types on the robot s tablet.

38 Route by MiR00 - Administrator 4/7 MiR > Route > Route plans > Create/Edit > Create Stop. Fill in all fields.. Click Create. Automatically returns to Create new stop. Optionally add missions to the stop. (Manage missions in MIR > Service > Configuration > Mission lists) Use an existing position as a starting point - fields are automatically filled in and can be edited.

39 Route by MiR00 - Administrator 5/7 MiR > Route > Route plans > Create/Edit. Continue to build the route by creating new stops and edit existing. Click and drag the symbol to rearrange stops on the route. Select destination type: Positions on map or Contacts with mail/phone. (Manage positions and contacts in MIR > Service > Configuration) Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display package types on the robot s tablet.

40 Route by MiR00 Administrator 6/7 MiR > Route. Click package types to edit and create. Check Loop to make the vehicle run the route continuously. Check here to just stop at each destination no waiting for package reception. Check to display Package types on the robot s tablet. Configure the route plan and package types. Add or remove packages on the current route. Create and edit routes and stops.

41 Route by MiR00 - Administrator 7/7 MiR > Route > Package Types 3. Create or Edit a package type. Fill in the name and click Create. 3. Return to MIR start page. Package types are shown on the tablet on the robot.

42 Mission by MiR00 checklist A mission is a number of actions such as: Move To Position, Play Sound, Relative Move. Missions control the vehicle s movement and behaviour. From the start page, select Mission Create and edit missions and add missions to the queue Delete missions View active mission View log of executed missions

43 Mission by MiR00 - /6 Start page: MiR. Click Mission to create/edit missions or control the mission queue. View the location of the vehicle on the map Predefined mission types Create a map of a new area. You must be logged in to see this button. Click Service to start up MiR00 or check status. Go to manual driving to take control using joystick.

44 Mission by MiR00 - /6 MiR > Mission Create, edit or delete missions, and add missions to the queue.. Select mission to edit, delete or add to the queue. 3. Add selected Mission to the queue or start it if the queue is empty Create new mission. 5. Edit selected mission 6. Delete selected mission. Use this button only if you want to delete the entire mission. It will disappear from drop-down list of available missions. Status of ongoing mission. Status of queued missions. When deleting an active mission, the vehicle will stop its current movement, calculate a new path and start the next mission 7. When clicking on Show log, a mission log opens. See next page.

45 Mission by MiR00-3/6 MiR > Mission > Show log. Click Show log to see the state of ongoing and pending missions and end states of previous missions. The log is useful for analysing the outcome of missions

46 Mission by MiR00-4/6 MiR > Mission > Create mission. Name the mission 4 3. Add short description of the mission. 3. Select Area. 4. Drag actions to the mission, or click the tab Missions to add a mission to the new mission. The added actions/missions will be carried out in top-to-bottom order. Drag actions to the Mission area. 4 Actions are pre-defined building blocks and missions are already defined missions which can be reused as part of new missions. See separate document Mission Interface, Technical documentation.

47 Mission by MiR00-5/6 MiR > Mission > Create mission. Actions may have parameters to fill in. Click on the action to expand the parameter setting field(s), and fill in the parameters or keep default settings. Ask each time see below.. Press the red X to delete the added action. 3. Drag more actions to the mission. 4. Save the mission or cancel to abort all settings. 3 4 Ask each time: If you click Ask each time, the Please specify dialog opens and instead of setting fixed parameters, you will be asked to enter a question which the operator will be asked every time, the mission is started, for example: For how many minutes do you want the robot to wait. Read more about this in Mission Interface, Technical documentation.

48 Mission by MiR00-6/6 MiR > Mission > Copy mission. To copy a mission and create a new based on the copy, select the mission and press Edit mission.. The Copy button creates a copy of the mission; the mission name changes from [name] to [name] -. Rename the mission, and make the wanted changes to create the new mission. 3. Click Save to save the new mission and go back to 3

49 Manual Driving Using Joystick checklist From the start page, select Manual driving Activate joystick After completion of driving return to the start page

50 Manual Driving Using Joystick - / Start page: MiR. Go to Manual driving to take control using joystick. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Click Service to start up MiR00 or check status.

51 Manual Driving Using Joystick - / MiR > Manual Driving 4. Activate joystick click the lower right button.. Click the No Map button to enter the no map mode. This is used when manually driving in an area that is not mapped. 3. Guide the vehicle using the middle red button Go to the start page after completing manual driving. Drag button up to move forward Turn left Turn right Drag button down to reverse No map mode indicator. The button turns blue upon activation.

52 Create New Map checklist From the start page, click New Map Choose existing area or create a new area Start mapping Guide MiR00 through the area using joystick During driving, create positions for operation (Taxi, Route) After creating a map, save map and press Stop mapping. The system will redirect you to the Edit map menu where more details can be added.

53 Create New Map - /7 Start page: MiR. Create a map of a new area. View the location of the vehicle on the map Predefined mission types Controlling the mission queue You must be logged in to see this button. Click Service to start up MiR00 or check status. Go to manual driving to take control using joystick. Note: MiR00 is on Manual. Select Area in Service to activate.

54 Create New Map - /7 MiR > New Map. Start mapping with MiR00 must be done before MiR00 can drive in a new area.

55 Create New Map - 3/7 MiR > New Map > Start Mapping. In the pop-up window, choose an area or create a new area by filling in the fields.. Accept by clicking Choose. Automatically goes to mapping. MyCompany MiRHQ (MiR Fleet) Name of new area. Map note this note is shown in the Choose map page. Name of new map. The maximum width/length of the area being mapped. Each pixel on the map corresponds to 5 cm in reality. To save computer memory for big areas, set a smaller resolution (larger value). A smaller resolution will result in a lower precision of navigation.

56 Create New Map 4/7 MiR > New Map > Mapping. Click the map and drag the mouse like driving using joystick the vehicle moves around the area.. Create a position for later use in operation. Save the map with a new name. The map displays what MiR00 s sensors see. A failed map can occur in case of too strong mouse movements or when moving close to the boundary of the map: Yellow ball: position. Red ball: forward direction. When you press Stop mapping, you are automatically redirected to the Edit map page in the Service menu. If you cancel a new map without saving it, you will be redirected to the Command view.

57 Create New Map - 5/7 MiR > New Map > Mapping > Create New Position. Fill in Name X, Y and Orientation is given but can later be edited.. Click Create to save the position. Automatically goes back to mapping.

58 Create New Map - 6/7 MiR > New Map > Mapping. Save the map from time to time during mapping.. Stop mapping. 3. Press OK to save the map. You are automatically redirected to the Edit map page in the Service menu. If you cancel and stop mapping, you will be redirected to the Command view. 3 Save the map with a different name. Create as many new positions as needed. The map displays what MiR00 s sensors see. Red ball: forward direction. If too strong mouse movements:

59 Create New Map 7/7 MiR > New Map. Create more maps for the same area (e.g. first floor).. Go MiR start page.

60 Edit Map checklist From the start page, select Service > Choose map to edit a specific map Edit either the appearance of the map (Web) or MiR00 s navigation on the map (Nav). Draw lines to specify forbidden areas, walls, free areas. Tip: Save the map before editing by downloading to your PC. Tip: A downloaded map can be edited in a picture editing tool. Tip: Get a map by uploading it from your PC. Note: In the three documents Guidelines for MiR00 mapping -3 you ll find best practice examples on mapping and postprocessing of maps.

61 Edit Map Administrator /6 Start page: MiR. Go to the Service menu. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Go to manual driving to take control using joystick. Note: MiR00 is on Manual. Select Area in Service to activate.

62 Edit Map Administrator /6 MiR > Service. Click Choose map to edit or activate a different map. Log, status, system information. Basic setup rarely used. Overview over driving location, distance, status. Backup, restore, remote access, WiFi. Synchronize the exact location of the vehicle with the map.

63 Edit Map - Administrator 3/6 MiR > Service > Choose map. Click Nav to edit the allowed navigation area. OR. Click Web to edit the look of the map. Nav and Web have the same commands and are described as one on the following pages. The map with the green square is the currently active map. Edit the look of the map not the navigation area. Edit the map for MiR00 edit allowed navigation area.

64 Edit Map - Administrator 4/6 MiR > Service > Choose map > Nav/Web. Click Activate editing. MiR00 is now in editing mode.. To edit the map in an external editor: a. Download the map and save it locally (backup). b. Edit the map using a picture editing tool (use the correct colors see next page). c. Upload the map to add it back into MiR00 again. Tip: On a PC, use Shift+scroll to zoom in and out on the map when in editing mode.

65 Edit Map - Administrator 5/6 MiR > Service > Choose map > Nav/Web. Select a drawing mode: Overwrite walls: remove black obstacles from the map. Keep walls: coloured paths do not erase obstacles.. Select line thickness. = thin, 5 = thick Forbidden: red line. MiR00 must not go here. Preferred: green line. MiR00 strives to drive here. Unpreferred: purple line. MiR00 strives not to drive here. Locked: orange line. Sensors are turned off Wall: black line. Use this to change the map so that it reflects the real surroundings. Available. white line. Eraser that removes existing and editing lines. Note: Use black and white to make a map for localization. Black lines are treated as obstacles during path calculation Coloured lines are guidance to where the robot goes. Locked Forbidden Preferred Unpreferred Wall Available

66 Edit Map - Administrator 6/6 MiR > Service > Choose map > Nav/Web 5. Click Save map to store the map on the robot database Click Save and reload map to make the robot use the new map immediately. 3. Use Undo/Redo buttons during editing. 3. Deactivate editing to stop MiR00 s editing mode. 4. Download map from the robot database to your device. Upload map from your device to the robot database. 5. Go back to MiR start page. 4

67 Adjust the Position of the Vehicle on the Map checklist If the vehicle has been moved physically so that its locations in reality and on the map no longer match, the position must be adjusted on the map. From the start page, click Service Select Command View After adjustment return to the start page

68 Adjust the Position of the Vehicle on the Map - /4 Start page: MiR. Go to the Service menu. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Go to manual driving to take control using joystick. Note: MiR00 is on Manual. Select Area in Service to activate.

69 Adjust the Position of the Vehicle on the Map - /4 MiR > Service. Select Command view in order to synchronize the map and the vehicle positions. Choose map, start up MiR00, see and edit map. Log, status, system information. Basic setup rarely used. Overview of driving location, distance, status. Backup, restore, remote access, WiFi. Note: MiR00 is on Manual. Select Area in Service to activate.

70 Adjust the Position of the Vehicle on the Map 3/4 MiR > Service > Command View. Red lines (the sensors of the vehicle) must match the black lines of the map. Done in step. 3. Mark the real location of the vehicle on the map: click and drag the mouse like driving using joystick. Yellow ball: position Red ball: forward direction 3. Click Adjust to update the robot position on the map. 4. The vehicle and the map are now in sync. The real position of the vehicle is here The map believes that the vehicle is here 4 Correct! Log and status messages.

71 Adjust the Position of the Vehicle on the Map - 4/4 MiR > Service > Command View. Check Grid to show active obstacles as detected by the robot.. Click Clear Map to erase old obstacles and display current. 3. Click Center Map to either center the map view or display the robot in the center of the page Click Goto to activate dynamic goal mode, then click and drag mouse to make the next goal for the robot. 5. Click Create new Position to create a new position in the map. See details in Positions p Go back to the MiR start page. Activate joystick overlay. Planned route Detected obstacles Log and status messages.

72 MiR00 Status Administrator checklist From the start page, select Service > Status > Diagnostics to see the status of physical components: Component Hardware ID Seq Key Values From the start page, select Service > Status > ROS Log to see the conditions of the system: Comments and information Warnings Errors From the start page, select Service > Status > Laser Scanners to see the near surroundings of the robot. Live view of scanners Status of scanners and emergency stop button

73 MiR00 Status Administrator /0 Start page: MiR. Go to the Service menu. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Go to manual driving to take control using joystick.

74 MiR00 Status Administrator /0 MiR > Service. Click Status to see log, status, system information. Choose map, start up MiR00, see and edit map. Basic setup rarely used. Overview of driving location, distance, status. Backup, restore, remote access, WiFi. Synchronizing the exact location of the vehicle with the map.

75 MiR00 Status Administrator 3/0 MiR > Service > Status. Click Diagnostics to see status of physical components (motor control, laser,...) Status of the conditions of the system. A service technician uses ROS log for troubleshooting. Displays the near surroundings of the robot. Shows logged errors.

76 MiR00 Status Administrator 4/0 MiR > Service > Status > Diagnostics. Shows all physical components of the system: Motor control Laser Teensy (ultrasound and gyro) Xtion (3D camera) CPU load A B A. Message color: Green: OK Yellow: Warning Red: Lost connection or critical error Blue: Ready but not active (e.g. 3D floor camera on start-up) C D B. Component: Specific unit (e.g. front or rear laser) C. Hardware ID: Type of unit (e.g. a laser). D. Key Values: Each unit has a specific status. Shown here: motor control. Error number description is found in the service manual for MiR00.. Go back to Status.

77 MiR00 Status Administrator 5/0 MiR > Service > Status. Click ROS Log to see the conditions of the system. Status of physical components (motor control, laser,...) Displays the near surroundings of the robot. Shows logged errors.

78 MiR00 Status Administrator 6/0 MiR > Service > Status > ROS Log 3. The ROS log contains a log of internal system events, an explanation and a timestamp. The log entries are colorcoded according to type.. Generate log entry generates a file that shows the last 30 seconds of robot action. 3. Go back to Status.

79 MiR00 Status Administrator 7/0 MiR > Service > Status. Click Laser scanners to see internal system messages. Status of physical components (motor control, laser,...) Status of the conditions of the system. A service technician uses ROS log for troubleshooting. Shows logged errors.

80 MiR00 Status Administrator 8/0 MiR > Service > Status > Laser Scanners A live view of the input from the laser scanners is displayed. A. The status shows that the rear scanner is blocked. The Emergency stop and front scanner are fine.. The rear scanner sees obstacles near the front corner. Non-critical obstacles detected by the front scanner (wall). Front scanner. The robot. The arrow points in the forward direction. Critical obstacles detected by the rear scanner. The rear scanner detects obstacles to the right of the robot.

81 MiR00 Status Administrator 9/0 MiR > Service > Status. Click Error logs to view and download error logs. Status of physical components (motor control, laser,...) Status of the conditions of the system. A service technician uses ROS log for troubleshooting. Displays the near surroundings of the robot.

82 MiR00 Status Administrator 0/0 MiR > Service > Status > Error logs The error log contains a log of recorded errors with explanation and a timestamp.. Generate log entry generates a User entry and a file that shows the last 30 seconds of robot action. 3. The download function generates file of a single error which can be sent to MiR Support to help facilitate problem solving. 4. The Delete buttons delete error events individually. 5. Delete all deletes the whole error log. 6. Go back to Status. 5

83 MiR00 Configuration Administrator checklist From the start page, select Service > Configuration to see status and edit: Software modules Positions Contacts Sounds Missions Maps Areas Paths Transition entries PLC Registers Trolleys Manual functionality (sounds, light) System settings Note: Some external options, such as Bluetooth relay, and Shelf lift are not described here, but can be found in separate manuals.

84 MiR00 Configuration Administrator /47 Start page: MiR. Click Service to navigate to the Configuration menu. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Go to manual driving to take control using joystick.

85 MiR00 Configuration Administrator /47 MiR > Service. Select Configuration for setting up positions, light, sound, map, system. Choose map, start up MiR00, see and edit map. Log, status, system information. Overview over driving location, distance, status. Backup, restore, remote access, WiFi. Synchronizing the exact location of the vehicle with the map. Note: MiR00 is on Manual. Select Area in Service to activate.

86 MiR00 Configuration Administrator 3/47 MiR > Service > Configuration. Click Launch Menu to see the list of the vehicle s constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

87 MiR00 Configuration Administrator 4/47 MiR > Service > Configuration > Launch Menu A. Constituent elements (software modules) of the vehicle systems, which can be started/stopped directly from MiR web interface. A. sensors: Handles data from laser scanners and camera. B B. localisation: AMCL navigational system and odometry. These systems calculate the position of the vehicle for the area of the map in which it is currently located. C D C. planner: Path planning. Consists of two parts: a global planner that does the general route planning between two positions and a local planner that causes the vehicle to follow the global route and also take into account the surroundings so that the vehicle avoids dynamic obstacles based on sensor input. For example, people are avoided by the vehicle. D. mapping: This module is active during mapping of a new area. It gathers walls, obstacles, positions and creates MiR00 s internal map based on manual driving of the vehicle. This module can be regarded as an operation pattern. Continues

88 MiR00 Configuration Administrator 5/47 MiR > Service > Configuration > Launch Menu Continued E. Backup pink background: A module is shown with pink background when it has failed to start or stop unexpectedly. F. Modules read only buttons: If a module s start/stop button is set to read only, it cannot be stopped and is shown for information only. E. Go back to MiR > Service > Configuration. F F F

89 MiR00 Configuration Administrator 6/47 MiR > Service > Configuration. Create and Edit positions for operation patterns. Constituent elements that can be started/stopped. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

90 MiR00 Configuration Administrator 7/47 MiR > Service > Configuration > Positions. Create a new position.. Edit an existing position.

91 MiR00 Configuration - Administrator 8/47 MiR > Service > Configuration > Position > Edit/Create. Fill in all fields.. Click Save or Create to accept changes. Use the robot s current position as a starting point - fields are automatically filled in and may be edited. Select position type, see details next page. Note: For hook robots, a position type Trolley is added to the drop-down menu, enabling the creation of trolley positions. If the robot is used for shelf docking, a position type Shelf position is added enabling the creation of shelf positions.

92 MiR00 Configuration - Administrator 9/47 MiR > Service > Configuration > Position > Edit/Create a b c d a b A. Use robot position: sets the new position in the robot s current position. B. Charging station: Detect marker automatically tracks the position of a charging station and sets the correct parameters in the robot enabling it to connect to the charger. c c C. The names V and VL markers refer to their shapes and are physical markers that the robot can dock to. The Detect marker button works as in Charging station position, and the x,y and orientation offsets are automatically filled with the robot s current position relative to the marker. The values can be changed if you want to move the position. Note: When applying Detect marker you need to be close enough to the marker or charger for the robot to track it. If too far away, you will be notified to move the robot closer to the marker. d. Staging position is set the same way as Robot position and is used only with MiR Fleet. See separate Fleet documentation. Note: Positions may be created from the Command view as well. In Command view there is an added option to set a position by pointing to a position in the map.

93 MiR00 Configuration Administrator 0/47 MiR > Service > Configuration. Click Contacts to create and edit name, , phone. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

94 MiR00 Configuration Administrator /47 MiR > Service > Configuration > Contacts. Create a new contact.. Click Edit to update or delete a contact. and possibly SMS gateway must be configured for the robot to be able to send or text messages to the contacts, see MiR > Service > Configuration > System settings > Create error contact from list of contacts. The robot will send a message if it goes into emergency stop.

95 MiR00 Configuration Administrator /47 MiR > Service > Configuration > Contacts > Edit/Create. Fill in or edit fields. Location is optional.. Click Create to create new contact. 3. Click Save to save changes. 3

96 MiR00 Configuration Administrator 3/47 MiR > Service > Configuration > Contacts > Error Contact. Select a name from list of already created contacts.. Select if contact should be via SMS or 3. Set a delay for how long the robot will wait before sending a message to the error contact Click create to save the error contact 4 More contacts may be created, either with same delay for simultaneous notifications or with a slight offset so that one contact at a time is notified.

97 MiR00 Configuration Administrator 4/47 MiR > Service > Configuration. Click Sound settings to create and edit sounds. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

98 MiR00 Configuration Administrator 5/47 MiR > Service > Configuration > Sound. Click Create to add a new sound.

99 MiR00 Configuration Administrator 6/47 MiR > Service > Configuration > Sound > Edit/Create. Fill in Name.. Set duration and volume. 3. Select a sound file. 4. Select a sound file. 4. Click Create to save the sound. This new sound can now be used as an action in a mission

100 MiR00 Configuration Administrator 7/47 MiR > Service > Configuration. Click Maps to edit map metadata (origin, name, resolution). Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

101 MiR00 Configuration Administrator 8/47 MiR > Service > Configuration > Maps. Click Create map to add a new map to an area. Area. Edit the allowed navigation Edit the look of the map. Edit Name, Origin, Resolution Create sections of special robot behaviour (e.g. slow). Delete the map a confirmation is required. An area can have multiple maps.

102 MiR00 Configuration Administrator 9/47 MiR > Service > Configuration > Maps > Create. Edit the map metadata: The map is described by: Name Area Origin, X Y Resolution (pixels to meters in reality) Angle (Origin Theta) A A. Origin X Y: Point of origin for the map. Often, the origin is given as the point of origin belonging to a docking station. B. Resolution 0,05: each pixel on the map corresponds to 5 cm in reality. B C C. Origin Theta Angle of the vehicle (360 degrees). 0 degrees is when the forward direction of the vehicle corresponds to the x-axis of the map.. Click Create automatically returns to the Map page.

103 MiR00 Configuration Administrator 0/47 MiR > Service > Configuration > Maps. Click Area events to add sounds or movement types to the map. Area. Edit the looks of the map. Edit the allowed navigation area. Edit Name, Origin, Resolution Create sections of special robot behaviour (e.g. slow). Delete the map a confirmation is required. An area can have multiple maps.

104 MiR00 Configuration Administrator /47 MiR > Service > Configuration > Maps. Click Add areas. A new area is created for you to define and place.. Select a Type for the new area. Some types have a value to fill in. 3. Drag the area in place and resize it. 4. Save the map click OK in dialog boxes. Return to Configuration. Select an existing area on the map and click here to delete it. Speed: Set a faster or slower speed. Value is m/s. Blink: Let the robot lights blink in that area. 4 Beep: Door: Make the robot send a beep sound. Send a signal to a door opener. Value is the door opener ID. 3 Localization: Turn off laser scanners. Useful for special driving like ramps. Look-ahead distance: If many people: small value. If amongst other vehicles: large value. Bluetooth: Pair with Bluetooth device. See separate documentation. A map can have multiple areas. Hold Shift and drag to move the map. MiR Fleet Area Lock: Only one robot at a time in lock zone when controlled by MiR Fleet

105 MiR00 Configuration Administrator /47 MiR > Service > Configuration. Click Areas to create and edit area metadata. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

106 MiR00 Configuration Administrator 3/47 MiR > Service > Configuration > Areas. Click Create Area to add a new area.

107 MiR00 Configuration Administrator 4/47 MiR > Service > Configuration > Areas > Create. Fill in Name and Note.. Click Create to save the area. Maps and missions can now be added to this new area.

108 MiR00 Configuration Administrator 5/47 MiR > Service > Configuration > Areas. Click Export to save the area to a file. The file is saved in the default download folder. 3. Click Import to load a file. 4. Go back to MiR > Service > Configuration. The Export/Import functions make it easy to copy an area from one robot to another. The.site file contains: Area, maps, positions.

109 MiR00 Configuration Administrator 6/47 MiR > Service > Configuration. Click Paths to manage pre-generated routes. These are not re-calculated each time. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

110 MiR00 Configuration Administrator 7/47 MiR > Service > Configuration > Paths. Click View to see the pre-generated map. Paths are saved routes that are not recalculated each time. The robot automatically saves a new route as a path. And deletes the path if its positions are modified. The user must delete a path, if a preferred route is created. (Preferred routes are created in MiR > Service > Choose map > Nav/Web). Go back to MiR > Service > Configuration.

111 MiR00 Configuration Administrator 8/47 MiR > Service > Configuration. Click Transition entries to manage transitions between maps. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

112 MiR00 Configuration Administrator 9/47 MiR > Service > Configuration > Transition entries. Create transition entries to generate map positions that will handle transitions from one map to another within the same area. A mission including a Switch map action must have been defined prior to the Transition entries.. Start position and goal position must be in two different maps at a point where the maps overlap. The goals must have been predefined as Robot positions in the two maps. 3. A mission must be selected which includes the a Switch map action see MiR00 Mission Interface manual. Read more about map transitions in the article Transitions between maps found on our website. 3

113 MiR00 Configuration Administrator 30/47 MiR > Service > Configuration. Click PLC registers to create and edit values for PLCcontrolled devices. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

114 MiR00 Configuration Administrator 3/47 MiR > Service > Configuration > PLC Registers. Click Edit to change values. Use Quick Edit to enter a register # instead of scrolling. The robot has 00 registers. First 00: integer Next 00: float Registers are shared by actions that: set a value, wait for a value, read a value. Registers can be accessed locally through a serial interface and externally through a REST interface via WiFi connection to a remote computer. Registers are used for hand-shake signals, for example for communication between robot and a conveyor PLC. Quick Edit: Go to known # - avoid scrolling

115 MiR00 Configuration Administrator 3/47 MiR > Service > Configuration > PLC Registers > Edit 3. Fill in value.. Click Save. 3. Go back to MiR > Service > Configuration.

116 MiR00 Configuration Administrator 33/47 MiR > Service > Configuration. Click Trolleys to set up the robot for trolleys. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Real time activation of light, charging relay and max. speed. MiR settings: , ROS parameters, hardware setup.

117 MiR00 Configuration Administrator 34/47 MiR > Service > Configuration > Trolleys. Hook state shows the immediate status of the Hook s position, height, angle and whether the brake is locked or not (active/inactive).. Create trolley and Create type is used to set up trolley types: types width same length, width and height trolleys: individual trolleys based on trolley types, i.e. setting of at which heights the hook should grip the trolley, and the driving height. The settings can be set automatically by using the live camera on the hook Actions used in connection with the set up of the hook to specific trolleys. 4. Live marker results show

118 MiR00 Configuration Administrator 35/47 MiR > Service > Configuration. Click Trolleys to set up the robot for trolleys. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. MiR settings: , ROS parameters, hardware setup.

119 MiR00 Configuration Administrator 36/47 MiR > Service > Configuration > Manual Functionality. Click a behaviour to invoke real time activation of light, speed, sound on the vehicle.. Go back to MiR > Service > Configuration.

120 MiR00 Configuration Administrator 37/47 MiR > Service > Configuration. Click System settings to manage MiR settings: , ROS parameters, hardware setup. Constituent elements that can be started/stopped. Create and edit positions for operation patterns. Manage contacts: name, , phone. Create sounds. Edit map metadata (origin, name, resolution). Manage areas: name, maps. Manage pre-generated routes (not re-calculated each time). Manage transitions from one map to another. Interface with PLC devices: conveyors, machines. Manage trolleys for MiRHook. Real time activation of light, charging relay and max. speed.

121 MiR00 Configuration Administrator 38/47 MiR > Service > Configuration > System settings. Click configuration to edit address, name server, security and possibly SMS gateway for each vehicle. Control and optimize parameters such as distance to reached destination, cameras on/off. Select or deselect features, e.g. for configuration of missions or operation of peripherals such as Bluetooth or webcam. Calibrate the robot and laser scanners. Synchronize robot s time with the time on device.

122 MiR00 Configuration Administrator 39/47 MiR > Service > Configuration > System settings > This page is used for configuring address for the robot (= sender). SMS gateway allows the robot to send SMS as well.. Fill in the fields.. Click Test configuration to try the settings. 3. Click Save and return to the System page. Write an address from which the robot sends messages. Optionally, give the robot a name. Input username and password for the mail server. Write the name of the SMTP server. Port and encryption type depend on the system (Outlook, Gmail...) Input according to SMS gateway provider. SMS gateway is used if you want the robot to be able to send SMS to contacts. Test configuration by sending message to an already created contact (MiR > Service > Configuration > Contacts).

123 MiR00 Configuration Administrator 40/47 MiR > Service > Configuration > System settings. Click ROS parameters to control and optimize parameters such as distance to reached destination or cameras on/off. Configure -address, name, server, security and SMS gateway for each vehicle. Select or deselect features, e.g. for configuration of missions or operation of peripherals such as Bluetooth or webcam. Calibrate the robot and laser scanners. Synchronize robot s time with the time on device.

124 MiR00 Configuration Administrator 4/47 MiR > Service > Configuration > System settings > ROS. Click Description to learn more about each parameter. 3. Check or uncheck value boxes and adjust values as needed. 3. Click Save to save the entire page. 3 Any Save button saves all values on the page. The multiple buttons are for easy access. 3

125 MiR00 Configuration Administrator 4/47 MiR > Service > Configuration > System settings. Select or deselect features, e.g. for configuration of missions or operation of peripherals such as Bluetooth or webcam. Configure -address, name, server, security and SMS gateway for each vehicle. Control and optimize parameters such as distance to reached destination, cameras on/off. Calibrate the robot and laser scanners. Synchronize robot s time with the time on device.

126 MiR00 Configuration Administrator 43/47 MiR > Service > Configuration > System settings > Features. Check features (internal or external) to make the available for example for mission configuration or creation of new maps.. Click Description to learn more about each parameter. 3. Click Save (Internal or External) to save and return to the System settings page. Any Save button saves all settings on the page. 3 3 Features with checked boxes are available primarily on the Create new Mission page. Exceptions are: Internal features - Mapping and Route (MiR main menu) External features: PLC registers (MiR > Service > Configuration)

127 MiR00 Configuration Administrator 44/47 MiR > Service > Configuration > System settings. Calibrate the robot and laser sensors. Configure -address, name, server, security and SMS gateway for each vehicle. Control and optimize parameters such as distance to reached destination, cameras on/off. Select or deselect features, e.g. for configuration of missions or operation of peripherals such as Bluetooth or webcam. Synchronize robot s time with the time on device.

128 MiR00 Configuration Administrator 45/47 MiR > Service > Configuration > System settings> Calibration 3 7. Click Start calibration. The IMU gain factor is a calibration of the gyro s 360 degree rotation. Note: To perform the calibration the robot must have an active map.. Click Stop calibration Click Apply calibration Click Start calibration. The robot moves on a well-known route to calibrate laser and odometry. It makes approximately measurements. A result with an uncertainty. 5. Click Stop calibration. 6. Click Apply calibration. Check if the calibration results look reasonable. For more information see separate calibration manual. 7. Return to System settings page.

129 MiR00 Configuration Administrator 46/47 MiR > Service > Configuration > System settings. Synchronize robot s time with the time on the device. Configure -address, name, server, security and SMS gateway for each vehicle. Control and optimize parameters such as distance to reached destination, cameras on/off. Select or deselect features, e.g. for configuration of missions or operation of peripherals such as Bluetooth or webcam. Calibrate the robot and laser scanners.

130 MiR00 Configuration Administrator 47/47 MiR > Service > Configuration > System > Time settings. Click Set device time on robot. The robot s built-in clock will be synchronized with the device to which is connected, e.g. a PC. The robot must be rebooted after synchronization.. Return to System settings page.

131 MiR00 Analysis Administrator checklist From the start page, select Service > Analysis to get an overview over the operation of the vehicle during a specific period. Log Analysis various analyses and collections of logged data during a specified period of time. Job route overview shows for each operation pattern the end condition and the path on the map during a specified period of time.

132 MiR00 Analysis Administrator /7 Start page: MiR. Click Service to navigate to the Analysis menu. View the location of the vehicle on the map Predefined mission types Controlling the mission queue Create a map of a new area. You must be logged in to see this button. Go to manual driving to take control using joystick. Note: MiR00 is on Manual. Select Area in Service to activate.

133 MiR00 Analysis Administrator /7 MiR > Service. Click Analysis to get an overview over driving location, distance, status. Choose map, start up MiR00, see and edit map. Log, status, system information. Basic setup rarely used. Backup, restore, remote access, WiFi. Synchronizing the exact location of the vehicle with the map. Note: MiR00 is on Manual. Select Area in Service to activate.

134 MiR00 Analysis Administrator 3/7 MiR > Service > Analysis. Click Log Analysis to view logged data graphically over a period of time.. Click View Job Route to see driving status over a specified period of time.

135 MiR00 Analysis Administrator 4/7 4 MiR > Service > Analysis > Log Analysis. Select a period of and view log of the driven distance in the selected time period.. Select display per hour or per day 3. Select view Distance or Accumulated distance 3 4. Return to Service > Analysis.

136 MiR00 Analysis Administrator 5/7 MiR > Service > Analysis. Click View Job Route to see driving status over a specified period of time. See analyses of various logged data over a period of time.

137 MiR00 Analysis Administrator 6/7 MiR > Service > Analysis > View Job Route. Specify time interval for the analysis. Hour and Minute are optional typically used within a single day Leave the State field blank to see all operations and their end conditions. OR select a specific end condition. 3. Narrow the search further by selecting a specific action. 3. Select a map in the area to restrict the search to a specific map. 4. Select Group on mission to see only missions not actions. 5. Click Search. See an example search result on the next page.

138 MiR00 Analysis Administrator 7/7 MiR > Service > Analyse > View Job Route > Search 5. The search returned taxi and bus operations for the specified period of time.. Show operations on map. Red dots: start position. 3. Return to the search to show a single path. 4. Show a single path. 5. Return to Service. 3 4

139 MiR00 Maintenance Administrator checklist From the start page, select Service > Maintenance to backup current data and restore from a previously saved backup. Maintenance also manages remote access and WiFi setup. Upgrade/Restore upload new software version or revert to former. Remote access manage remote access and WiFi for each vehicle.

140 MiR00 Maintenance Administrator /6 MiR > Service. Select Maintenance for managing upgrade/restore and remote access/wifi. Choose map, start up MiR00, see and edit map. Log, status, system information. Basic setup rarely used. Overview of driving location, distance, status. Synchronizing the exact location of the vehicle with the map. Note: MiR00 is on Manual. Select Area in Service to activate.

141 MiR00 Maintenance Administrator /6 MiR > Service > Maintenance. Select Upgrade/Restore to either upgrade to a new version of the MiR software or revert to a previous software version. Remote access, Wi-Fi, local network for the vehicle

142 MiR00 Maintenance Administrator 3/6 MiR > Service > Maintenance > Upgrade/Restore 5. Choose file representing the SW version you want to update to.. Click upgrade and wait for the data to load. Currently installed software version.6.9 List of previously installed software versions To revert to an earlier installed version, select the version from the list and click restore. Click OK in the pop-up window and wait for the version to reload To remove an earlier installed version, select the version from the list and click Remove. Click OK in the pop-up window and the version will be removed Notice: Once removed from the list, a version cannot be reinstalled Status log showing previous and ongoing actions 5. Return to Service > Maintenance.