Mecademic Meca500 User manual

MECA500 INDUSTRIAL ROBOT (R3 & R4)
USER MANUAL
For Firmware Version 9.3.x
Document Revision: A
May 22, 2023

The information contained herein is the property of Mecademic and shall not be reproduced
in whole or in part without prior written approval of Mecademic. The information herein
is subject to change without notice and should not be construed as a commitment by
Mecademic. This manual will be periodically reviewed and revised.
While every effort has been made to ensure accuracy in this publication, no responsibility
can be accepted for errors or omissions. Data may change, as well as legislation, and you
are strongly advised to obtain copies of the most recently issued regulations, standards, and
guidelines.
This document is not intended to form the basis of a contract.
Original instructions
© Copyright 2015–2023 Mecademic

User Manual for the Meca500 Industrial Robot (for rmware 9.3.x) i
CONTENTS
1. INTRODUCTION ..............................................................................................................................................1
1.1. Inside the box................................................................................................................................................1
2. SAFETY...........................................................................................................................................................2
2.1. Power supply and safety features ................................................................................................................3
2.2. Disabling the robot brakes ...........................................................................................................................5
2.3. Limitations of the brakes..............................................................................................................................5
3. TECHNICAL SPECIFICATIONS........................................................................................................................6
4. INSTALLING THE MECA500............................................................................................................................8
5. THE MECAPORTAL .......................................................................................................................................12
5.1. Updating the robot’s firmware ...................................................................................................................12
5.2. Overview......................................................................................................................................................13
5.3. The menu bar..............................................................................................................................................14
5.3.1 The connection and robot state selectors.............................................................................................................14
5.4. The code editor panel.................................................................................................................................15
5.4.1 Using programs .....................................................................................................................................................15
5.4.2 Writing programs...................................................................................................................................................15
5.4.3 Executing programs...............................................................................................................................................17
5.5. The event log panel.....................................................................................................................................17
5.6. The 3D view panel.......................................................................................................................................18
5.6.1 The robot position display......................................................................................................................................18
5.7. The jogging panel .......................................................................................................................................19
5.7.1 The joint jog tab .....................................................................................................................................................19
5.7.2 The Cartesian jog tab............................................................................................................................................. 22
5.8. The configuration menu .............................................................................................................................24
6. OPERATING THE ROBOT ..............................................................................................................................25
6.1. Power-up procedure...................................................................................................................................25
6.1.1 Powering the robot ................................................................................................................................................25
6.1.2 Connecting to the robot .........................................................................................................................................25
6.1.3 Activating and homing the robot ...........................................................................................................................25
6.1.4 Moving the robot ....................................................................................................................................................25
6.2. Power-off procedure...................................................................................................................................27
6.2.1 Zeroing the robot joints (optional).........................................................................................................................27
6.2.2 Deactivating the robot ...........................................................................................................................................27
6.2.3 Disconnecting the robot.........................................................................................................................................27
6.2.4 Removing power ....................................................................................................................................................27
6.3. Offline mode ...............................................................................................................................................28
6.3.1 Saving the program via the web interface.............................................................................................................28
6.3.2 Running an offline program ..................................................................................................................................28
6.4. Robot control panel ....................................................................................................................................29

ii User Manual for the Meca500 Industrial Robot (for rmware 9.3.x)
6.4.1 LEDs.......................................................................................................................................................................29
6.4.2 Buttons...................................................................................................................................................................29
7. OPERATING THE INTELLIGENT POWER SUPPLY .........................................................................................31
7.1. Emergency, protective and software stops ................................................................................................31
7.2. LEDs............................................................................................................................................................32
7.3. External connections..................................................................................................................................33
8. INSTALLING AN END-EFFECTOR.................................................................................................................36
9. EXAMPLES ...................................................................................................................................................37
9.1. Draw a square.............................................................................................................................................37
10. TROUBLESHOOTING ....................................................................................................................................38
11. EC DECLARATION OF INCORPORATION.......................................................................................................39

User Manual for the Meca500 Industrial Robot (for rmware 9.3.x) iii
ABOUT THIS MANUAL
There are two manuals that come with the Meca500 industrial robot system (revision R3 or R4): 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 first use of your Meca500.
Symbol definitions
The following table lists the symbols that may be used in Mecademic manuals to denote certain
conditions. Particular attention must be paid to the warning messages in this manual.
SYMBOL DEFINITION
NOTICE. Identifies information that requires special consideration.
!
CAUTION. Provides indications that must be respected in order to avoid equipment or work
(data) on the system being damaged or lost.
!
WARNING. Provides indications that must be respected in order to avoid a potentially
hazardous situation, which could result in injury.

User Manual for the Meca500 Industrial Robot (for rmware 9.3.x) 1
INTRODUCTION
1. INTRODUCTION
The Meca500 is a six-axis industrial robot arm that is easy to use, robust and lightweight. However, the
robot is a precision device with rapidly moving parts and should therefore be used only by technical
personnel who have read and understood this user manual, to avoid damages to the robot, its end-
effector, the workpiece and adjacent equipment, and, most importantly, to avoid injuries.
1.1. Inside the box
Remove all items carefully and do not discard your shipping box and packing foam.
Table 1 shows the items that come with a standard shipment of a Meca500 robot system. Your box may
also contain the MEGP 25E or MEGP 25LS electric gripper, the MPM500 pneumatic module, or other
small accessories. Do not open these additional packages immediately. You must read the grippers or
pneumatic module user manuals prior to installing the end-of-arm-tooling (EOAT) on the robot.
Table 1: Standard parts list
Qty SKU Description Photo
1 9100-001
OR
9100-002
Meca500 robot arm, revision R3
OR
Meca500 robot arm, revision R4
1 9201-001
OR
9200-003
24 V DC intelligent power supply, revision R3
OR
24 V DC intelligent power supply, revision R4
1 9403-001 D-SUB 15-position dongle
1 2003-005 Ethernet cable: 2-meter M12 D-Code to RJ45
1 2003-006 DC power cable: M12 circular male to M12 circular female DC
power cable
Note, that you must provide your own AC power cord, with three-prong IEC C13 connector 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.
The box contains a sheet specifying the robot rmware version. If that version is not 9.3.x, go to
https://support.mecademic.com and download the corresponding user manual.

2 User Manual for the Meca500 Industrial Robot (for rmware 9.3.x)
SAFETY
2. SAFETY
The Meca500 weighs less than 5 kg, however, it can move fast and 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 points
where robot joints can squeeze a finger (Figure1).
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 shipping position, the robot can be temporarily deposited on its base. In other robot
positions, the robot may tip and should not be placed on its base without fixing it. If the robot
tips and falls from a height, it may cause an injury, and certainly get damaged.
!
•Handle the robot with care.
•The Meca500 is equipped with brakes on its first three joints (the ones close to the base).
When the robot is not activated, these brakes are automatically applied.
Do not force the robot brakes, unless there is an emergency!
•Inspect the robot and power supply for damages. If either appears 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 below 5°C or above 45°C.
•Use only the power supply provided with your system.
•Use only the Ethernet and DC-power cables provided. Contact us if you need longer cable.
Figure1: Pinch point example

User Manual for the Meca500 Industrial Robot (for rmware 9.3.x) 3
SAFETY
2.1. Power supply and safety features
The Mecademic power supply integrates several safety features. Use only the intelligent power supply
provided by us to power your Meca500 robot arm. The Meca500 will not function with the power supply
of another revision or with a third-party 24 V DC power supply.
Power
Status
Error
RESETE-STOP
Safety I/O
Port
Robot Power
24 VDC 8.34 A
AC Power
90-264 VAC
50-60 Hz
A
B
C
D
Figure2: Power supply features
!
The latest, R4, revision of the Meca500 incorporates one major change compared to version R3:
the E-Stop no longer cuts power to the complete robot, but only to the motor drives. Do not use
the power supply of an R3 version with a Meca500 R4, and vice versa. The R4 robot arms and
power supplies are clearly indicated as being R4.
Figure2 and Figure3 show the Meca500 power supply with safety module. Its main features are:
•A: Emergency stop button (Stop Category 1), designed as PL=d with Safety Category 3.
•B: Status LEDs.
•C: Reset button.
•D: D-SUB 15-position interface (see also Figure3) for connecting safety I/O.
AC power
cable port
D-SUB
connector port
Figure3: Power supply connectors

4 User Manual for the Meca500 Industrial Robot (for rmware 9.3.x)
SAFETY
!
To start using your robot immediately, connect the D-SUB 15-position dongle to the power
supply interface, while the power supply is still switched off. NEVER CONNECT OR UNPLUG THE
DONGLE WHILE THE POWERED SUPPLY IS ON.
!
The D-SUB connector is a bypass device to be used during setup and maintenance only. You
must wire the appropriate external safety I/O connections when using the robot in production
mode (see Section 7).
!
Stand away from the robot when it is activated, wear safety goggles and be attentive and alert.
In case of an emergency, press the E-STOP button (on the power supply) immediately.
Connect the D-SUB bypass dongle to the power supply interface to get familiar with your robot. This
would deactivate the external protective stop and emergency stop connections. Read Section 7 to learn
how to wire your external safety connections.
To connect the power supply to the robot, use the DC power cable provided and never modify it.
When disconnecting the AC power, either by using the on/off 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, pressing the E-STOP button, or activating the external E-Stop or the
protective stop(Stop Category 1), the wrist joints of the robot become free. This minimizes the risks of
pinning and pinching from the wrist and the end-effector. However, beware that the end-effector might
slowly move downwards under the effects of gravity, as shown in Figure4. Depending on the type of
end-effector used, this residual motion might lead to an injury.
!
Beware that the end-effector might slowly move downwards under the effects of gravity when
you deactivate the robot (e.g., by pressing the E-STOP button).
Figure4: When the robot is deactivated, the end-eector will slowly move downwards under the eects of gravity