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 (Figure1).
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.
Figure1: 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
Figure2: Power supply features
Figure2 and Figure3 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 Figure3) for connecting safety I/O.
AC power
cable port
D-SUB
connector port
Figure3: 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 stop1
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.

User manual for Meca500 (for rmware 9.1.x) 5
TECHNICAL SPECIFICATIONS
3. TECHNICAL SPECIFICATIONS
Table 2 lists the main technical specifications 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 definition of the TCP with respect to the robot’s flange. 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.
!
When the robot arm is fully-stretched, the robot’s end-effector can move at 2,000 mm/s or even
faster.
TECHNICAL SPECIFICATIONS
Characteristic Value
Position repeatability 0.005 mm
Rated payload 0.5 kg
Maximum payload 1.0 kg (under special conditions)
Weight of robot arm 4.5 kg
Range for joint 1 [−175°, 175°]
Range for joint 2 [−70°, 90°]
Range for joint 3 [−135°, 70°]
Range for joint 4 [−170°, 170°]
Range for joint 5 [−115°, 115°]
Range for joint 6 [−36,000°, 36,000°]
Maximum speed for joint 1 150°/s
Maximum speed for joint 2 150°/s
Maximum speed for joint 3 180°/s
Maximum speed for joint 4 300°/s
Maximum speed for joint 5 300°/s
Maximum speed for joint 6 500°/s
Maximum TCP speed 1,000 mm/s
Maximum power consumption 200 W
Input voltage 24 VDC
Operating ambient temperature range [5°, 45°]
Operating ambient relative humidity range [10%, 80%] (non-condensing)
IP rating IP 40
Table 2: Technical specifications for the Meca500

6 User manual for Meca500 (for rmware 9.1.x)
TECHNICAL SPECIFICATIONS
Figure4 shows all the link lengths and offsets of the Meca500, necessary for obtaining the so-called
Denavit-Hartenberg parameters. Note that all joints are at zero degrees in the configuration 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 fixed 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 definition of the tool reference
frame. The workspace is the set of all attainable poses (positions and orientations) of the tool reference
frame with respect to the robot’s base. Even for a specific choice of a tool reference frame, it is
impossible to represent this six-dimensional workspace (read this tutorial of ours).
The CAD files of the Meca500 (in STEP format) can be downloaded from our web site. Alternatively,
you can use one of several robot simulation and offline programming software packages that include a
model of our Meca500, including Visual Components and RoboDK. Note that we also offer a Mecademic-
only version of RoboDK, for exlusive use with our robots.
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.
135 135 38
120 70
R260
boundary for
wrist center
45 units: mm
Figure4: The dimensions of the Meca500

User manual for Meca500 (for rmware 9.1.x) 7
INSTALLING THE MECA500
4. 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 with four M6 screws before activating the robot. We typically use metric breadboards
such as those from Thorlabs, but you can also use our adaptor plate, build your entire robot cell at
Vention, or use the modular system made by Tessella Automation. We recommend that you use three
kinematic positioners to constraint your base, so that you can always remove and then install it in the
exact same location. Our adaptor plate, for example, uses three locating pins.
The dimensions of the base are shown in Figure5 and an example of installation is shown in Figure6.
Note that you can install the robot base in any orientation. The robot will automatically detect the angle
between the axis of joint 1 and the gravity vector (no need to manually specify this angle). Also, note that
you can mount the robot’s base on a mobile body (e.g., on the carriage of a linear guide), but only if you
do not intend to move the robot’s joints, while the robot’s base is moving with respect to the ground.
115
4X through holes for M6
100
75
90
10
55
90
a
xis of
joint 1
45
units: mm
84
Figure5: Dimensions of the robot base
Figure6: The robot base installed, with the connectors attached

8 User manual for Meca500 (for rmware 9.1.x)
INSTALLING THE MECA500
Do not install any end-effector yet. We will cover this topic in Section 8.
Next, you must solidly attach the power supply using four M6 screws (Figure7), at a location sufficiently
close to the robot’s base to allow connection with the 2-meter DC cable provided. However, unless you
are using an external emergency stop wired via the D-SUB connector, you must fix the power supply at
a location that makes the integrated E-STOP button readily accessible by an operator and outside the
working range of the robot.
Power
Status
Error
RESETE-STOP
Safety I/O
Port
Robot Power
24 VDC 8.34 A
AC Power
90-264 VAC
50-60 Hz
units: mm
4X through
counterbore
holes for M6
(↧6)
120
90
75
100
48
68
Figure7: Dimensions of the Meca500 intelligent power supply
The following steps must then be executed before you can start using your Meca500:
1. Attach the circular connector of the Ethernet cable to the ETHERNET1 port on the robot’s base and
connect the RJ-45 jack to your computer or router (Figure6). The two Ethernet ports on the robot’s
base act as a bridge, so you can daisy-chain several Meca500 robots, or connect an Ethernet I/O
module on the ETHERNET2 port.
2. Use the DC power cable provided to connect the unpowered power supply to the robot’s DC power
connector (Figure6). Make sure the connectors are completely screwed, or else you may damage
the robot. Then, connect the power supply to your country-specific AC power cord (not provided).
Only then, can you connect the AC power cord to an AC outlet, and switch the power supply on
using its on/off button.
3. The green LED on the power supply (next to "Power") will be illuminated. Now, you must provide
power to the robot by pressing the RESET button on the power supply.
4. You will hear a clicking sound coming from the power supply, and the robot’s LEDs will start flash-
ing for a few seconds while the robot’s controller is booting. Once the controller ready, the red LED
on the robot’s base will start flashing intermittently.
5. Depending on which of the two Ethernet ports was used in step 1, the Link/Act IN (for ETHERNET1)
or Link/Act OUT (for ETHERNET2) green LED will stop flashing and remain illuminated, but only once
the robot has finished booting. If not, detach the Ethernet cable and repeat step 1.
6. Configure your computer with a static IP address, on the same subnet as the robot's default IP
address, i.e., 192.168.0.x. The way to do this differs from one operating system to another. Figure8
shows how to do this in Windows and in Linux.
7. Open (preferably) the latest version of Google Chrome 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.

User manual for Meca500 (for rmware 9.1.x) 9
INSTALLING THE MECA500
(a) Windows (b) Linux
Figure8: Two examples of how to congure the IP address of your computer
!
Always connect the DC power cable before connecting the power supply to an AC outlet. Always
disconnect the power supply from the AC outlet before disconnecting the DC power cable.
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 5. Here is the procedure for doing so:
1. Click on the Options dropdown menu and then on Settings (Figure9).
2. Depending on your 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 (Figure10).
Figure9: Options dropdown menu

10 User manual for Meca500 (for rmware 9.1.x)
INSTALLING THE MECA500
(a) DHCP (b) Static
Figure10: Two ways to change the robot’s network conguration

User manual for Meca500 (for rmware 9.1.x) 11
THE WEB INTERFACE
5. THE WEB INTERFACE
Meca500’s web interface is more or less the equivalent of the teach pendant’s interface of a traditional
industrial robot. The interface is essentially an HTML 5 web page with JavaScript and WebGL scripts. All
of these files reside in the robot’s controller, so you do not need to install anything on your computer,
but Google Chrome.
The interface basically translates your mouse clicks, joystick movements and keyboard entries into
proprietary commands that are sent to the robot’s controller. These are the same commands described
in the Programming Manual that you will eventually start sending from your own application, written in
C++, Java, Python or any other modern programming language. In addition, the web interface displays
the feedback messages received from the robot and the 3D model of the actual robot.
The web interface is intended mainly for testing and writing simple programs. You must create your own
software application or program if you intend to use the robot for complex tasks, such as interacting
with inputs and outputs (in which case you also need a third-party I/O module).
The web interface is also used for updating the firmware of your robot.
5.1. Updating the robot’s firmware
Before you continue to read any further, make sure that you have the latest firmware installed on the
robot and that you read the manuals corresponding to that firmware. Go to the Downloads section
of our web site and download the latest firmware (a zip file). Unzip it. Then, once you have followed
the procedures of Section 4, and before activating the WebSocket/TCP connection on port 10,000 (i.e.,
before selecting the checkbox) and activating the robot, click on Update in the Options menu in the
web interface (Figure9). A new interface will load in the same browser tab. Click on Choose File and
select the file with the extension *.update that you just extracted. Then click on the Upload button. Wait
a couple of minutes for the update to be completed. Once completed, the robot will reboot and the new
web interface will reload.
Now that you have installed the latest robot firmware, make sure to download the latest user and
programming manuals from the Downloads section of our web site and keep these manuals until you
update again your firmware.
Next time you update your robot’s firmware, you must also read the PDF file that is in the zip package
(i.e., the Release Notes). That document lists of all the recent firmware changes.
5.2. Overview
Figure11 shows the main elements of the web interface. These are:
•The menu bar
•The programming panel
•The quick command panel
•The jogging panel
•The current robot position panel
•The 3D view window

12 User manual for Meca500 (for rmware 9.1.x)
THE WEB INTERFACE
Figure11: Overview of Meca500’s web interface
You can hide the programming panel, the jogging panel and the quick command panel from the View
Panel drop-down menu in the menu toolbar.
5.3. The programming panel
The programming panel has two tabs: the Main Control and the Request Log tabs.
5.3.1 The status control checkboxes
Once the web user interface is loaded, the first step is to connect it to the robot. So far, you have only
established an HTTP connection with the robot, but not activated the socket messaging which is the only
communication channel for controlling the robot via the web interface. To connect to the robot, select
the checkbox.
A pop-up window will be displayed with two radio buttons. For now, leave the Control radio button
selected. The Monitoring option can be used to see in real-time the motion of the robot when another
client (other than the web interface, e.g., Matlab running on the same PC) is controlling the actual robot.
Next, you need to activate the robot by selecting the checkbox. Once, the robot is activated, which
takes approximately 10 seconds, you need to home it by selecting the checkbox. During homing, all
joints rotate slightly for approximately 4seconds. Make sure the robot is not near an obstacle.
Finally, whenever you have a motion error, the checkbox will become selected and red. To reset the
error, you will need to clear the checkbox (or press the below the Program field, as we will explain
later).

User manual for Meca500 (for rmware 9.1.x) 13
THE WEB INTERFACE
5.3.2 The program editor field
The program editor is used mainly for writing and executing very simple programs, i.e., for testing. These
programs are sequences of the proprietary commands described in the Programming Manual. The
robot’s command interface does not support conditionals, loops, or other flow control statements, nor
variables. The robot only accepts request commands (to get information from the robot) and motion
commands (to tell the robot to perform an action). The editor also supports comments in C/C++ style
(e.g., // and /* */).
For complex tasks, you must write a program outside the web interface (e.g., in your preferred
integrated development environment) that parses the robot’s feedback, controls the robot, and handles
all flow control logic. For this, you can use any language that supports communication over TCP/IP (e.g.,
C/C++, C#, Python, Java or even Structured Text, in the case of a PLC). Note that we offer a PythonAPI on
our GitHub account.
The control buttons below the editor field have the following functionality:
Execute the complete program.
Execute the command where the cursor is, and move the cursor to the next line. You can also use the
keyboard shortcut Ctrl+Enter for that.
Hold motion (pauses the robot and keeps the current program; motion is restarted with the same button,
when it becomes red).
Clear motion (stops the motion and clears the command queue).
Loop the program
Save the program in the robot for offline execution (see Section 6.3.1), with the id number defined in the
number field on the right of this button, only when the robot is deactivated
Delete all entries in the program editor field.
Open an existing program
Save the contents of the program editor field to a file
In the event of a motion error, the button changes to and all other buttons on the same row are
disabled. Pressing resets the error.
Finally, an important feature of the programming editor is the context menu called by pressing the right
mouse button when the mouse cursor is over the programming editor (Figure12). Essentially, this gives
you access to insert most available commands at the current position of the cursor in the programming
editor. This functionality is quite similar to the quick command menu, with a few differences. The only
major difference is the possibility to insert the commands MoveJoints, MoveLin, and MovePose with the
current joint set or end- effector pose, as well as the commands SetConf and SetConfTurn, with the
current inverse kinematic parameters.
To cancel the context menu without inserting a command, press Esc or click away.

14 User manual for Meca500 (for rmware 9.1.x)
THE WEB INTERFACE
Figure12: Context menu in the programming editor
5.3.3 The Response Log field
The log field displays all the messages that are sent by the robot. The control buttons associated with
this field are self explanatory:
Clear the response log.
Save the response log to your computer.
Show/hide timestamp in the response log.
5.3.4 The Request Log tab
The request log is the log of all commands sent to the robot, by using the programming panel, the quick
command panel, or the jogging panel. The only commands that are not logged are the velocity-mode
motion commands sent while jogging the robot.
5.4. The robot position panel
Once the robot is activated and homed, you will be able to see its current joint values as well as the
current pose of the TRF (Tool Reference Frame) with respect to the WRF (World Reference Frame). You can
also see the current inverse kinematics configuration parameters. When not in jogging mode, each
of these four parameters will be highlighted in yellow (as illustrated in Figure11) if the desired value
for that parameter (set by the commands SetConf or SetConfTurn) is different from the current value.
Similarly, each of the joint angle values turns red, when too close to one of its limits (the default limits
can be further restrained).
The robot position panel also hosts two drop-down menus. From you can show or hide the TRF and
WRF displayed in the 3D view window. Note that the xaxes are in red, the yaxes are in green, and the z
axes are in blue. From , you can choose between several preset views for the 3D view window.
5.5. 3D view panel
The 3D view window shows an orthographic projection of the robot in its current position and the
current WRF and TRF. To zoom in and out, place your mouse cursor over the 3D view window and use
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