Mecademic Meca500 User manual

User Manual
Original instructions
Meca500
Document version: 4.5
Robot firmware: 6.0.9
September 1, 2017

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 2017 by Mecademic Inc.

Contents
1 Introduction 1
2 Warning messages, notes and emphasis 1
3 What’s inside the box 2
4 Safety 3
4.1 Installing a Category 0 emergency stop . . . . . . . . . . . . . . . . . . . . . 4
4.2 Disabling the robot brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
5 Installing the Meca500 5
6 Installing an end-effector 7
7 Operating the robot 9
7.1 Thewebinterface................................. 9
7.1.1 Overview ................................. 9
7.1.2 Connection and disconnection . . . . . . . . . . . . . . . . . . . . . . 10
7.1.3 The programming panel . . . . . . . . . . . . . . . . . . . . . . . . . 11
7.1.4 The robot’s log panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
7.1.5 The CAD models import panel . . . . . . . . . . . . . . . . . . . . . 13
7.2 Power-upprocedure................................ 14
7.2.1 Connecting to the robot . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.2.2 Activating the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.2.3 Homingtherobot............................. 15
7.2.4 Enabling joint and pose feedback . . . . . . . . . . . . . . . . . . . . 15
7.3 Movingtherobot................................. 15
7.4 Power-offprocedure................................ 17
7.4.1 Re-zeroing the robot (optional) . . . . . . . . . . . . . . . . . . . . . 17
7.4.2 Deactivating the robot . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.4.3 Disconnecting the robot . . . . . . . . . . . . . . . . . . . . . . . . . 18
7.4.4 Removingpower ............................. 18
7.5 Offlinemode.................................... 18
7.5.1 Saving the program via the web client interface . . . . . . . . . . . . 18
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7.5.2 Running the offline program . . . . . . . . . . . . . . . . . . . . . . . 19
7.6 Robot’scontrolpanel............................... 19
7.6.1 LEDs ................................... 19
7.6.2 Buttons .................................. 20
8 Examples 22
8.1 Drawasquare................................... 22
9 Troubleshooting 23
10 Storing the robot in its shipping box 24
11 EC Declaration of Incorporation (original) 25
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User Manual
1 Introduction
There are two manuals that come with the Meca500: this one and the programming manual.
This manual will guide you through the steps required for setting up your Meca500 industrial
robot and for using it in a safe manner. You must read this user manual thoroughly before
even unpacking your first 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-effector, the
workpiece and adjacent equipment, and, most importantly, in order to avoid injuries.
2 Warning messages, notes and emphasis
Particular attention must be paid to the warning messages in this manual. There are only
two types of warning messages, as shown bellow:
BWARNING:
This presents instructions that must be followed in order to prevent injuries
and possibly damage to your robot cell (robot arm, power supply, end-effector,
workpiece and/or adjacent equipment).
BCAUTION:
This presents instructions that must be followed in order to prevent damage
to your robot cell (robot arm, power supply, end-effector, workpiece and/or
adjacent equipment).
In addition, important notes and definitions are formatted as follows:
NOTICE:
This highlights important suggestions or definitions, 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).
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User Manual
3 What’s inside the box
Your shipping box contains a Meca500 robot arm (Fig. 1a), a 2-meter Ethernet cable (Fig. 1b,
model MDE45-4MP-RJ45-2M from Mencom Corp.), and a desktop 24 V DC power supply
(Fig. 1c) with IEC 320 C14 connector. (You must provide your own AC power cord.) Your
box may also contain the MEGP 25 electric gripper. 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.
(a) The Meca500 robot arm (b) Ethernet cable (c) Power supply
Figure 1: The contents of your shipping box (optinal gripper not shown)
BCAUTION:
•Handle the robot with care.
•The Meca500 is equipped with brakes on the first 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 the robot and contact us immediately.
•Do not modify or disassemble the robot.
•Do not modify 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.
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User Manual
4 Safety
The Meca500 weighs less than 5 kg. It can, however, move relatively fast and may cause
injuries, especially when certain end-effectors are attached to its flange (e.g., a sharp tool or
a laser). The robot also has pinch regions where two adjacent links of the robot can squeeze
a finger (Fig. 2).
Figure 2: The zones labeled with the pinch-point warning sign can lead to injuries
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-
effector and all adjacent equipment.
In the near future, we will implement force limitation routines to make the Meca500 truly
collaborative and enable the hand guiding (lead-through) programming mode. Until then,
the following general safety rule must be respected:
BWARNING:
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.
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User Manual
4.1 Installing a Category 0 emergency stop
The Meca500 can be equipped with an emergency stop of Category 0 only. Such a stop must
be installed on the AC part of the power supply, e.g., by modifying the IEC power cord.
BCAUTION:
Never install an emergency stop or any kind of on/off switch on the DC side of
the power supply.
When disconnecting the AC power, the robot brakes on joints 1, 2 and 3 are immediately
applied and the joints are immobilized instantly, while the wrist joints of the robot become
free. This minimizes the risks of pinning and pinching from the wrist and end-effector.
However, beware that the end-effector might slowly move downwards under the effects of
gravity. Depending on the type of end-effector used, this residual motion might lead to an
injury.
4.2 Disabling the robot brakes
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 suffices to say that the robot is deactivated
after a power-up. Thus, in case of a collision, you can simply cut the AC power (e.g., by
unplugging the cable cord), then reconnect it again, and wait for the LEDs on the robot’s
base to stop flashing. However, it would be better to directly deactivate the robot, without
powering it off first.
To release the brakes of joints 1, 2 and 3, once the robot is powered but not activated,
press one of the two 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.
BWARNING:
In case of an emergency, it is relatively easy to force the robot brakes and move
the robot. However, forcing the brakes too often will damage the robot.
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User Manual
5 Installing the Meca500
You are surely eager to start using your Meca500. It is, however, imperative that you fix
solidly the base of your robot arm before activating the robot.
BWARNING:
Fix securely the robot’s base via the mounting holes (Fig. 3a) with M6 screws,
in either upright or downright position, on a horizontal, flat surface of a rigid,
stationary and steady body.
In other words, do not fix the robot on an inclined or vertical surface (e.g., a wall). Note
that the robot will automatically detect the angle between the axis of joint 1 and the gravity
vector and if this angle is not in the range [0◦,3◦]or [177◦,180◦], the robot will not function.
The following steps must then be executed before you can start using your Meca500:
1. Attach the circular connector of the Ethernet cable to either of the two Ethernet ports
on the robot’s base and connect the RJ-45 jack to your computer or router (Figs. 3b-c).
The two ports act as a bridge, so you can daisy chain several Meca500 robots.
2. Connect the un-powered power supply to the robot’s DC power connector (Figs. 3b-c).
Make sure the connector is completely screwed, or else you may damage the robot’s
controller. Then, connect the power supply to the country-specific AC power cord.
Finally, connect the AC power cord to an AC outlet.
BCAUTION:
•Do not use any other power supply but the one provided, or else the warranty
will be voided and the CE certification no longer valid.
•Always connect the power cable to the Meca500 before connecting the power
supply to an AC outlet.
•Always disconnect the power supply from the AC outlet before disconnecting
the power cable from Meca500.
•Avoid un-plugging the power supply from the robot’s DC power connector
too often and always make sure the connector is completely screwed.
4. The robot’s LEDs should now start flashing for a few seconds while the robot controller
is booting. When the controller is ready, the red LED will start flashing intermittently.
5. Depending on which of the two Ethernet ports was used in step 1, the Link/Act IN
or Link/Act OUT green LED should be illuminated. If it is not, detach the Ethernet
cable and repeat step 1.
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User Manual
115
90
100
75
4X thru holes for M6
units: mm
(a) Dimensions
DC power connector
Ethernet ports
(b) Connectors
(c) Connectors properly attached
Figure 3: The base of the Meca500
6. Configure your computer with a static IP address. The way to do this differs from one
operating system to another. Figure 4 shows how to do this in Windows and in Linux.
7. Open a web browser, the latest version of either Google Chrome or Firefox only, and
type Meca500’s default IP address 192.168.0.100 in the address bar.
8. Meca500’s web interface should load instantaneously. If it doesn’t, repeat the previous
step with a different browser.
It is also possible to change the robot’s network configuration. This option is available
through the robot’s web interface, which will be described in detail in Section 7. Here is the
procedure for doing so:
1. Click on the Options dropdown menu and on Settings.
2. Depending on your actual configuration, choose DHCP to automatically receive an
address from your router or Static to force a specific IP. You don’t need to reboot the
robot; the new configuration will be applied as soon as you click on the Save button.
Page 6 of 25 Copyright c 2017 by Mecademic Inc.