Mecademic Meca500 User manual

MECA500
USER MANUAL
For Firmware Version 9.1.x
Document Revision: 1
August 31, 2022

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.
© Copyright 2015–2022 Mecademic

User manual for Meca500 (for rmware 9.1.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 ...........................................................................................................................4
2.3. Functioning of the brakes.............................................................................................................................4
3. TECHNICAL SPECIFICATIONS........................................................................................................................5
4. INSTALLING THE MECA500............................................................................................................................7
5. THE WEB INTERFACE ..................................................................................................................................11
5.1. Updating the robot’s firmware ...................................................................................................................11
5.2. Overview......................................................................................................................................................11
5.3. The programming panel.............................................................................................................................12
5.3.1 The status control checkboxes ..............................................................................................................................12
5.3.2 The program editor field........................................................................................................................................13
5.3.3 The Response Log field..........................................................................................................................................14
5.3.4 The Request Log ....................................................................................................................................................14
5.4. The robot position panel.............................................................................................................................14
5.5. 3D view panel..............................................................................................................................................15
5.6. The Quick Command panel ........................................................................................................................15
5.7. The jogging panel .......................................................................................................................................15
5.7.1 The Joint Jog tab....................................................................................................................................................15
5.7.2 The Cartesian Jog tab............................................................................................................................................16
5.7.3 The Joystick tab .....................................................................................................................................................17
5.7.4 Opening and closing Mecademic’s grippers .........................................................................................................18
6. OPERATING THE ROBOT ..............................................................................................................................19
6.1. Power-up procedure...................................................................................................................................19
6.1.1 Powering the robot ................................................................................................................................................19
6.1.2 Connecting to the robot .........................................................................................................................................19
6.1.3 Activating the robot................................................................................................................................................19
6.1.4 Homing the robot...................................................................................................................................................19
6.1.5 Moving the robot ....................................................................................................................................................19
6.2. Power-off procedure...................................................................................................................................21
6.2.1 Zeroing the robot joints (optional).........................................................................................................................21
6.2.2 Deactivating the robot ...........................................................................................................................................21
6.2.3 Disconnecting the robot.........................................................................................................................................21
6.2.4 Removing power ....................................................................................................................................................21
6.3. Offline mode ...............................................................................................................................................22
6.3.1 Saving the program via the web interface.............................................................................................................22
6.3.2 Running an offline program ..................................................................................................................................22
6.4. Robot control panel ....................................................................................................................................22
6.4.1 LEDs.......................................................................................................................................................................23

ii User manual for Meca500 (for rmware 9.1.x)
6.4.2 Buttons...................................................................................................................................................................23
7. OPERATING THE INTELLIGENT POWER SUPPLY .........................................................................................25
7.1. LEDs............................................................................................................................................................25
7.2. External connections..................................................................................................................................26
8. INSTALLING AN END-EFFECTOR.................................................................................................................30
9. EXAMPLES ...................................................................................................................................................31
9.1. Draw a square.............................................................................................................................................31
10. TROUBLESHOOTING ....................................................................................................................................32

User manual for Meca500 (for rmware 9.1.x) iii
ABOUT THIS MANUAL
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 first use of your
Meca500.
Symbol definitions
The following table lists the symbols that may be used in Mecademic documents 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 Meca500 (for rmware 9.1.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, 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. 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 gripper or
pneumatic user manuals prior to installing the end-of-arm-tooling on the robot.
Qty SKU Description Photo
1 9000-001 Meca500 robot arm
1 9201-001 24 V DC intelligent power supply with an integrated safety module
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
Table 1: Standard parts list
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 9.1.x, go to
https://www.mecademic.com/en/downloads and download the corresponding user manual.

2 User manual for Meca500 (for rmware 9.1.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.
!
•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.
•Use only the Ethernet and DC-power cables provided. If longer cables are needed, contact
us.
!
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.
Figure1: Pinch point example

User manual for Meca500 (for rmware 9.1.x) 3
SAFETY
2.1. Power supply and safety features
The new Mecademic power supply integrates several safety features. Use only the intelligent power
supply provided by Mecademic to power your Meca500 robot arm: it will not function with our older
power supplies, or other third party 24 V DC power supplies.
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
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
!
Connecting an external emergency stop device to the D-SUB connector port will deactivate the
emergency and protection stops on the power supply (see Section 7).

4 User manual for Meca500 (for rmware 9.1.x)
SAFETY
Connect the D-SUB 15-position dongle to the power supply interface to start using your robot
immediately. This would deactivate the additional protective stops and emergency stop. Read Section 7
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.
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 or activating the emergency stop or the external protective stop1
and emergency stop, 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. 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).
2.2. 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 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.
2.3. 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 off, the robot’s end-effector will go down under the effects of
gravity.
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 configuration 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.
!
Before leaving the robot deactivated or powered of for more than an hour, bring it to a position
that minimizes the static torques on joints 1, 2 and 3.