Mecademic Meca500 User manual

User Manual
Original instructions
Meca500 (R3)
Robot Firmware: 8.1
Document Revision: A
June 15, 2020

The information contained herein is the property of Mecademic Inc. and shall not be
reproduced in whole or in part without prior written approval of Mecademic Inc. The
information herein is subject to change without notice and should not be construed as a
commitment by Mecademic Inc. This manual will be periodically reviewed and revised.
Mecademic Inc. assumes no responsibility for any errors or omissions in this document.
Copyright c  2020 by Mecademic Inc.

Contents
1 Introduction 1
2 Warning messages, notes and emphases 1
3 What's inside the box 2
4 Safety 3
4.1 Power supply and stopping functions ................... 4
4.2 Disabling the brakes of the robot ..................... 5
4.3 Functioning of the brakes .......................... 5
5 Technical specications 6
6 Installing the Meca500 7
7 The web interface 12
7.1 Updating the robot's rmware ....................... 12
7.2 Overview ..................................... 13
7.3 The programming panel ........................... 13
7.3.1 The status control checkboxes . . . . . . . . . . . . . . . . . . . . . . 13
7.3.2 The program editor eld . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.3.3 The Response Log eld . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.3.4 TheRequestLog ............................. 16
7.4 The robot joint set and end-eector pose panel ............. 16
7.5 The 3D view window ............................. 16
7.6 The Quick Command panel ......................... 16
7.7 The jogging panel ............................... 17
7.7.1 TheJointJogtab............................. 17
7.7.2 The Cartesian Jog tab . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.7.3 TheJoysticktab ............................. 19
7.8 Opening and closing the MEGP 25 gripper ............... 20
8 Operating the robot 21
8.1 Power-up procedure .............................. 21
8.1.1 Poweringtherobot............................ 21
8.1.2 Connecting to the robot . . . . . . . . . . . . . . . . . . . . . . . . . 21
8.1.3 Activating the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
8.1.4 Homingtherobot............................. 21
i

8.2 Moving the robot ............................... 22
8.3 Power-o procedure .............................. 23
8.3.1 Zeroing the robot joints (optional) . . . . . . . . . . . . . . . . . . . 23
8.3.2 Deactivating the robot . . . . . . . . . . . . . . . . . . . . . . . . . . 23
8.3.3 Disconnecting the robot . . . . . . . . . . . . . . . . . . . . . . . . . 24
8.3.4 Removingpower ............................. 24
8.4 Oine mode ................................... 24
8.4.1 Saving the program via the web interface . . . . . . . . . . . . . . . . 24
8.4.2 Running an oine program . . . . . . . . . . . . . . . . . . . . . . . 25
8.5 Robot control panel .............................. 25
8.5.1 LEDs ................................... 25
8.5.2 Buttons .................................. 26
9 Operating the intelligent power supply 28
9.1 LEDs ....................................... 29
9.2 External connections ............................. 29
10 Installing an end-eector 32
11 Examples 34
11.1 Draw a square ................................. 34
12 Troubleshooting 35
13 Storing the robot in its shipping box 36
14 EC Declaration of Incorporation (original) 37
ii

User Manual
1 Introduction
There are two manuals that come with the Meca500 (R3): this one and the programming
manual. This manual will guide you through the steps required for setting up your Meca500
and for using it in a safe manner. You must read this user manual thoroughly during the
unpacking and rst use of your Meca500.
The Meca500 is a six-axis industrial robot arm that is relatively easy to use, robust and
lightweight. The robot is, however, a precision device with rapidly moving parts. This
robot should therefore be used only by technical personnel who have read and understood
every part of this user manual, in order to avoid damages to the robot, its end-eector, the
workpiece and adjacent equipment, and, most importantly, in order to avoid injuries.
2 Warning messages, notes and emphases
Particular attention must be paid to the warning messages in this manual. There are only
two types of warning messages, as shown bellow:
B
WARNING
This presents instructions that must be followed in order to prevent injuries
and possibly damage to your robot cell (robot arm, power supply, end-eector,
workpiece and/or adjacent equipment).
B
CAUTION
This presents instructions that must be followed in order to prevent damage
to your robot cell (robot arm, power supply, end-eector, workpiece and/or
adjacent equipment).
In addition, important notes and denitions are formatted as follows:
NOTICE
This highlights important suggestions or denitions, the purpose of which is to
improve the understanding of this manual and of how the robot works.
Finally, occasionally, small portions of the text in this manual that are particularly important
are underlined (as already done in the previous section).
Copyright c  2020 by Mecademic Inc. Page 1 of 37

User Manual
3 What's inside the box
Your shipping box contains a Meca500 robot arm (Fig. 1a), a 24 V DC intelligent power
supply with an integrated safety module (Fig. 1b) and a D-SUB 15-position dongle (Fig. 1c),
a 2-meter M12 D-Code to RJ45 Ethernet cable (Fig. 1d), and a 2-meter M12 circular male
to M12 circular female DC power cable (Fig. 1e).
Your box may also contain the MEGP 25 electric gripper and other accessories. Remove
all items carefully and do not discard your shipping box. If your order contained a gripper,
do not open its package immediately. You must read the MEGP 25 user manual prior to
installing the gripper.
Note, that you must provide your own AC power cord, with three-prong IEC C13 con-
nector on one end, and your own country's power plug on the other. You must also provide
M6 screws of proper length for xing the robot's base and the power supply.
(a) The Meca500 robot arm
(b) D-SUB dongle
(c) Power supply
(d) Ethernet cable
(e) DC power cable
Figure 1: The main contents of your shipping box (optional items not shown)
Page 2 of 37 Copyright c  2020 by Mecademic Inc.

User Manual
B
CAUTION
• Handle the robot with care.
• The Meca500 is equipped with brakes on the rst three joints (the ones close
to the base). When the robot is not activated, these brakes are automatically
applied. Do not force the brakes of the robot, unless there is an emergency!
• Inspect the robot and the power supply for damages. If you think either of
them is damaged, do not use them and contact us immediately.
• Do not modify or disassemble the robot arm or the power supply.
• Do not use or store the Meca500 in a humid environment.
• Do not operate the Meca500 at temperatures bellow +5◦ C or above +45◦ C.
• Do not use any other power supply but the one provided.
• Do not replace the Ethernet and DC power cables provided with longer ones,
without contacting us rst.
4 Safety
The Meca500 weighs less than 5 kg. It can, however, move fast and cause injuries, especially
when certain end-eectors are attached to its ange (e.g., a sharp tool or a laser). The robot
also has pinch regions where two adjacent links of the robot can squeeze a nger (Fig. 2).
It is imperative that you follow the guidelines of ISO 12100:2010 and ISO 10218-2:2011
and conduct a risk assessment of your complete robot cell, including the Meca500, its end-
eector and all adjacent equipment.
B
WARNING
• When the Meca500 is activated, stand away from it, wear safety goggles and
be attentive and alert.
• If deemed necessary, place the robot in a safety enclosure.
• In case of an emergency, press immediately the E-STOP button located on
the power supply.
Copyright c  2020 by Mecademic Inc. Page 3 of 37

User Manual
Figure 2: When the Meca500 is activated, keep away from the zones labeled with the pinch-
point warning sign, to avoid injuries.
4.1 Power supply and stopping functions
To power your Meca500 robot arm, you can only use the intelligent power supply provided
by us. If you use one of our older power supplies or your own 24 V DC source, the robot
would not function. Our new power supply has an integrated safety module, including a
button for emergency stop (Stop Category 1), a reset button, status LEDs, and a D-SUB
15-position interface for connecting an external emergency stop (Stop Category 1), a Stop
Category 1 protective stop, and a Stop Category 2 protective stop. The emergency stops
and the Stop Category 1 protective stop are designed as PL=d with Safety Category 3.
To start using your robot immediately, connect the dongle provided to the D-SUB 15-
position interface. This would deactivate the additional protective stops and emergency
stop. Read section 9.2 if you want to remove the dongle and install such additional stops.
Furthermore, to connect the power supply to the robot, you must use the DC power cable
provided and never modify it.
B
CAUTION
Never install an emergency stop or any kind of on/o switch on the DC side of
the power supply.
Page 4 of 37 Copyright c  2020 by Mecademic Inc.

User Manual
When disconnecting the AC power, either by using the on/o switch on the power supply
or by unplugging the AC cord, the brakes on joints 1, 2 and 3 will be immediately applied
and the joints will be immobilized instantly. Therefore, to avoid premature use of the brakes,
do not disconnect the AC power when the robot is moving.
When disconnecting the AC power or activating the emergency stop or the external Stop
Category 1 protective and emergency stops, the wrist joints of the robot become free. This
minimizes the risks of pinning and pinching from the wrist and the end-eector. However,
beware that the end-eector might slowly move downwards under the eects of gravity.
Depending on the type of end-eector used, this residual motion might lead to an injury.
By denition, the Stop Category 2 protective stop does not cut power to the robot, so
after the robot stops all motors are active and maintain the position of all joints. The brakes
are not applied and there is no residual motion due to gravity.
4.2 Disabling the brakes of the robot
In case of a collision, you can disable the brakes of joints 1, 2 and 3. This can only be done
if the robot is powered AND not activated. How to activate and deactivate the robot is
explained later in this manual, but for now, it suces to say that the robot is deactivated
after pressing the E-STOP button. Thus, in case of a collisionthough ideally prior to
thatyou must press the E-STOP button.
Then, to release the brakes of joints 1, 2 and 3, press one of the two 0G buttons on the
base of the robot continuously while holding the robot with your other hand. After 3 seconds,
you will hear the deactivation of the brakes. Continue holding the 0G button pressed and
move the robot as far as possible from obstacles. Finally, release the 0G button, and move
away from the robot. Note that there is a pair of commands to disable and re-enable the
brakes. These are described in the programming manual.
B
WARNING
In case of an emergency, it is relatively easy to force the robot brakes and move
the robot's joint manually. However, forcing the brakes too often will damage
the robot.
4.3 Functioning of the brakes
It is extremely important to remember that the robot has brakes on joints 1, 2 and 3 only.
Therefore, when the robot is deactivated or powered o, the robot's end-eector will go down
under the eects of gravity.
Copyright c  2020 by Mecademic Inc. Page 5 of 37

User Manual
In addition, it is important to remember that the brakes used on joints 1, 2 and 3 are
emergency brakes, not locking brakes. Therefore, if you leave the robot in a conguration
where the robot's forearm is nearly horizontal, the robot will very slowly fall down under
the effects of gravity (e.g., after several hours), especially if you have the maximum payload.
Therefore, always deactivate the robot in a conguration that minimizes the static torques
on joints 1, 2 and 3.
5 Technical specications
Table 1 lists the main technical specications of the Meca500 robot arm. Note that the
maximum tool-center point (TCP) speed is software limited to 1,000 mm/s when the robot
executes Cartesian-space motion commands, regardless of the denition of the TCP with
respect to the robot's ange. However, if the robot is fully stretched and all joints move at
maximum speed, due to a joint-space command, the TCP speed can surpass 2,000 mm/s.
B
WARNING
Note that in some special congurations, the robot's end-eector can move at
2,000 m/s or even faster. You must consider this fact in your risk assessment.
Figure 3 shows the main dimensions of the Meca500. Note that all joints are at zero
degrees in the conguration drawn in black line. Also note that the gray zone is the area
attainable by the center of the robot's wrist (the intersection point of the last three axes),
for a xed angle of joint 1. This area, or even the volume obtained by sweeping this area
about the axis of joint 1 is NOT the workspace of the robot. The workspace of the robot
is a six-dimensional entity depending on the denition of your tool reference frame. The
workspace is the set of attainable poses (positions and orientations) of the tool reference
frame with respect to the robot's base. Even for a specic choice of a tool reference frame,
it is impossible to represent this six-dimensional workspace (read this tutorial of ours).
The CAD les of the Meca500 (in STEP format) can be downloaded from our web site.
Alternatively, you can use one of several robot simulation and oine programming software
packages that include a model of our Meca500, including Visual Components and RoboDK.
Finally, as already mentioned, the power supply provided has an IEC C14 connector that
accepts an AC power cord with three-prong IEC C13 connector on one end, and your own
country's power plug on the other. You can connect this power cord to any AC source that
supplies voltage between 90 V and 264 V at frequency between 50 Hz to 60 Hz.
Page 6 of 37 Copyright c  2020 by Mecademic Inc.