User Manual
Original instructions
Meca500 (R3)
Robot Firmware: 7.0.6
Document Revision: F
November 12, 2018
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.
Copyrightc
2018 by Mecademic Inc.
Contents
1 Introduction 1
2 Warning messages, notes and emphases 1
3 What's inside the box 2
4 Safety 4
4.1 Power supply and stopping functions
4.2 Disabling the brakes of the robot
4.3 Functioning of the brakes
5 Technical specications 7
6 Installing the Meca500 9
7 Installing an end-eector 13
8 Operating the robot 14
8.1 The web interface
8.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
8.1.2 Connection and disconnection . . . . . . . . . . . . . . . . . . . . . . 15
8.1.3 The programming panel . . . . . . . . . . . . . . . . . . . . . . . . . 16
8.1.4 The log panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
8.1.5 The CAD models import panel . . . . . . . . . . . . . . . . . . . . . 18
8.2 Power-up procedure
8.2.1 Powering the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
. . . . . . . . . . . . . . . . . . . . . . . . . . 6
. . . . . . . . . . . . . . . . . . . 5
. . . . . . . . . . . . . . . . . . . . . 5
8.2.2 Connecting to the robot . . . . . . . . . . . . . . . . . . . . . . . . . 19
8.2.3 Activating the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
8.2.4 Homing the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
8.3 Moving the robot
8.4 Power-o procedure
8.4.1 Zeroing the robot (optional) . . . . . . . . . . . . . . . . . . . . . . . 22
8.4.2 Deactivating the robot . . . . . . . . . . . . . . . . . . . . . . . . . . 22
8.4.3 Disconnecting the robot . . . . . . . . . . . . . . . . . . . . . . . . . 22
8.4.4 Removing power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
8.5 Oine mode
8.5.1 Saving the program via the web client interface . . . . . . . . . . . . 23
8.5.2 Running the oine program . . . . . . . . . . . . . . . . . . . . . . . 23
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
i
8.6 Robot control panel
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8.6.1 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
8.6.2 Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
9 Operating the intelligent power supply 27
9.1 LEDs
9.2 External connections
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
10 Examples 32
10.1 Draw a square
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
11 Troubleshooting 33
12 Storing the robot in its shipping box 34
13 EC Declaration of Incorporation (original) 35
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 before even
unpacking your rst 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-eector, 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:
WARNING:
B
B
In addition, important notes and denitions are formatted as follows:
This presents instructions that must be followed in order to prevent injuries
and possibly damage to your robot cell (robot arm, power supply, end-eector,
workpiece and/or adjacent equipment).
CAUTION:
This presents instructions that must be followed in order to prevent damage
to your robot cell (robot arm, power supply, end-eector, workpiece and/or
adjacent equipment).
NOTICE:
This highlights important suggestions or denitions, 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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Page 1 of 35
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 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.
(b) D-SUB dongle
(d) Ethernet cable
(a) The Meca500 robot arm
(c) Power supply
(e) DC power cable
Figure 1: The main contents of your shipping box (optional items not shown)
Page 2 of 35
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CAUTION:
User Manual
B
•
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
•
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.
+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 fast and may cause injuries,
especially when certain end-eectors 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-
eector and all adjacent equipment.
WARNING:
B
•
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.
Figure 2: When the Meca500 is activated, keep away from the zones labeled with the pinch-
point warning sign, to avoid injuries
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User Manual
4.1 Power supply and stopping functions
To power your Meca500 robot arm, you can only use the intelligent power supply provided
by Mecademic. 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.
CAUTION:
B
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-eector. However,
beware that the end-eector might slowly move downwards under the eects of gravity.
Depending on the type of end-eector used, this residual motion might lead to an injury.
By denition, 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.
Never install an emergency stop or any kind of on/o switch on the DC side of
the power supply.
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 suces to say that the robot is deactivated
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Page 5 of 35
User Manual
after pressing the E-STOP button. Thus, in case of a collisionthough ideally prior to
thatyou 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.
WARNING:
B
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 only on joints 1, 2 and 3.
Therefore, when the robot is deactivated or powered o, the robot's end-eector will slowly
go down under the eects 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 you leave the robot in a conguration
where the robot's forearm is nearly horizontal, the robot will eventually fall down under the
eects of gravity (e.g., after several hours), especially if you have the maximum payload.
Therefore, always deactivate the robot when the forearm is as vertical as possible (i.e., try
to minimize the static torques on joints 1, 2 and 3).
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User Manual
5 Technical specications
Table 1 lists the main technical specications of the Meca500 robot arm. Note that the
maximum tool-center point (TCP) linear velocity is software limited to 500 mm/s when the
robot moves in Cartesian mode, regardless of the denition of the TCP with respect to the
robot's ange. However, if the robot is fully stretched and all joints move at maximum
speed, in joint mode, the linear velocity of the TCP can surpass 2,000 mm/s.
WARNING:
B
Position repeatability 0.005 mm
Rated payload 0.5 kg
Max. payload 1.0 kg (under special conditions)
Weight of robot arm 4.5 kg
Range for joint 1
Range for joint 2
Range for joint 3
Range for joint 4
Range for joint 5
Range for joint 6
Max. speed for joint 1
Max. speed for joint 2
Note that in some special congurations, the robot's end-eector can move at
2,000 m/s or even faster. You must consider this fact in your risk assessment.
Table 1: Technical specications for the Meca500
[−175◦, 175◦]
[−70◦, 90◦]
[−135◦, 70◦]
[−170◦, 170◦]
[−115◦, 115◦]
[−36, 000◦, 36, 000◦]
150◦/s
150◦/s
Max. speed for joint 3
Max. speed for joint 4
Max. speed for joint 5
Max. speed for joint 6
Max. TCP linear velocity in joint mode more than 2,000 mm/s
Max. TCP linear velocity in Cartesian mode 500 mm/s
Max. power consumption 200 W
Input voltage 24 VDC
Operating ambient temperature range [5◦C, 45◦C]
Operating ambient relative humidity range
IP rating IP 40
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180◦/s
300◦/s
300◦/s
500◦/s
[10%, 80%]
(non-condensing)
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User Manual
135 135
38
120
70
R260
boundary for
wrist center
units: mm
Figure 3: The dimensions of the Meca500
Figure 3 shows the main dimensions of the Meca500. Note that all joints are at zero
degrees in the conguration 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 denition 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 specic choice of a tool reference frame,
it is impossible to represent this six-dimensional workspace (read this tutorial of ours).
If you need the CAD les of the Meca500 (in STEP format), please contact us directly.
Alternatively, you can use one of several robot simulation and oine 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 8 of 35
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User Manual
115
90
100
75
4X thru holes for M6
units: mm
6 Installing the Meca500
You are surely eager to start using your Meca500. It is, however, imperative that you x
solidly the base of your robot arm before activating the robot.
WARNING:
B
Note that the robot will automatically detect the angle between the axis of joint 1 and
the gravity vector. 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.
Next, you must solidly attach the power supply using four M6 screws (Fig. 5), at a
location suciently 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
Fix securely the robot's base via the mounting holes (Fig. 4a) with four M6
screws, on any at surface of a rigid, stationary and steady body.
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(b) Connectors (c) Connectors properly attached
Figure 4: The base of the Meca500
2018 by Mecademic Inc.
(a) Dimensions
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User Manual
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 thru counterbored holes for M6
120
90
75
100
48
68
Figure 5: Dimensions of the power supply
connector, you must x 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.
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 (Fig. 4b-c). 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 (Fig. 4b-c). Make sure the connectors are completely screwed on
both sides, or else you may damage the robot controller. Then, connect the power
supply to your country-specic AC power cord (not provided by us). Only then, can
you connect the AC power cord to an AC outlet, and, if not already done, switch the
power supply on using its on/o button.
CAUTION:
B
•
Do not use any other power supply but the one provided, or else the warranty
will be voided and the CE certication no longer valid.
•
Always connect the DC power cable before connecting the power supply to
an AC outlet.
•
Always disconnect the power supply from the AC outlet (or switch it o)
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before disconnecting the DC power cable.
•
Avoid un-plugging the DC power supply too often and always make sure both
connectors are completely screwed.
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User Manual
(a) Windows (b) Linux
Figure 6: Two examples of how to congure the IP address of your computer
4. The green LED on the power supply (next to Power) will be illuminate. Now, you
must provide power to the robot by pressing the RESET button on the power supply.
5. You will hear a clicking sound coming from the power supply, and the robot's LEDs
will start ashing 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 ashing intermittently.
6. 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 should be
illuminated. If it is not, detach the Ethernet cable and repeat step 1.
7. Congure your computer with a static IP address. The way to do this diers from one
operating system to another. Figure 6 shows how to do this in Windows and in Linux.
8. 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.
9. Meca500's web interface should load instantaneously. If it doesn't, repeat the previous
step with a dierent browser.
It is also possible to change the robot's network conguration. This option is available
through the robot's web interface, which will be described in detail in Section 8. Here is the
procedure for doing so:
1. Click on the
Options
dropdown menu and then on
Settings
(Fig. 7).
2. Depending on your conguration, choose DHCP to automatically receive an address
from your router or Static to force a specic IP. You don't need to reboot the robot;
the new conguration will be applied as soon as you click on the
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Save
button (Fig. 8).
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User Manual
Figure 7: Options dropdown menu
(a) DHCP (b) Static
Figure 8: Two ways to change the robot's network conguration
Page 12 of 35
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User Manual
Ø20
units: mm
Ø9 H6, É2.2
M3X0.5,
É4
BCD 15.5
4X equally spaced
Ø3, É3.5
BCD 15.5
2X equally spaced
7 Installing an end-eector
The Meca500 comes with a proprietary tool I/O (input/output) port located at the robot
extremity (Fig. 9a). However, this tool port is reserved uniquely for our electric gripper
MEGP 25. We do not share the pinout of this port or its custom-made communication
protocol. To install our gripper, refer to its user manual.
If you want to use any other end-eector with the Meca500, you will need to control it
independently from the Meca500. You can attach the cabling of your end-eector along the
robot arm using adhesive-backed tie mounts. Finally, you must x the end-eector to the
robot's ange (Fig. 9b) using four M3 screws and, optionally, one
properly selected length. The following rules should be respected:
WARNING:
B
Note that since joint 6 is multi-turn, there is no way of knowing the angle of joint 6 (even
approximately), unless the robot is activated and homed. Therefore, prior to mounting an
end-eector, it is important that you activate and home your robot, rotate joint 6 to its zero
position, and nally unpower the robot. However, if the screw on the ange of the robot
is not as in Fig. 9b when
subsection Homing of the programming manual.
•
Keep the robot un-powered while installing/removing a tool to its ange.
•
Do not overpass the robot payload (0.5 kg).
•
Securely fasten the tool to the robot ange.
θ6= 0◦, then you need to follow the procedure described in the
3
locating pin, all of
Figure 9: The mechanical interface (ange) of the Meca500. The ange is the
inside the black isolation ring, and is the only one to rotate when joint 6 rotates.
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(a) Closeup
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(b) Dimensions
20
disk,
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CAUTION:
B
•
Make sure that joint 6 is approximately at
•
Do not over-tighten the M3 screws.
•
Attach the tool cabling in such a manner that it obstructs as little as possible
the motions of the robot.
•
Unless you plug the connector of our own gripper, keep the cover (screw cap,
not shown in Fig. 9a) of the tool I/O port in place at all times.
0◦before attaching an end-eector.
8 Operating the robot
8.1 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 code, the CAD models of the robot links, and potentially the end-eector and
the environment (in binary STL format). All of these les reside in the robot's controller,
so you do not need to install anything on your computer.
The interface basically translates your mouse clicks 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, generally, the
virtual 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).
8.1.1 Overview
Figure 10 shows the main elements of the web interface. These are:
1. The main menu
2. The programming panel
5. The real-time jogging panel
6. The real-time pose of the robot end-eector and joint
3. The robot log panel
4. The quick command panel
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positions
7. The 3D view of the robot, which moves in real-time
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Figure 10: Overview of Meca500's web interface
User Manual
8.1.2 Connection and disconnection
Once the web interface is loaded, the rst 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. You
can connect to the robot by either selecting the
J
checkbox in the programming panel, or
by selecting the Connection menu item in the main menu.
Figure 11: Connect/disconnect windows
The windows displayed in each of these two cases are shown in Fig. 11. The elements of
these windows are:
1. IP address of the robot, which is automatically set
2. Connection type, which is either
itoring
for getting a real-time view of the robot's motion
3. Connection button
4. Disconnect button
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Control
for sending commands to the robot or
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Mon-
User Manual
For now, leave the Control radio button in the Connect window 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.
8.1.3 The programming panel
The programming panel 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 ow control statements. The robot only accepts request commands (to get
information from the robot) and motion commands (to tell the robot to perform an action).
The panel 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 ow 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).
Figure 12: The programming panel
Figure 12 shows the programming panel. The dierent elements of this panel are enu-
merated bellow:
1. Connection/disconnection checkbox,
2. Activation/deactivation checkbox,
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J
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User Manual
3. Homing checkbox,
4. Error status and error reset checkbox,
5. Send and execute program button,
6. Send the line command where the cursor is, and move it to the next line,
7. Hold motion (pauses and keeps the current program; motion is restarted with the
button),
8. Clear motion (delete all commands and stops the motion),
9. Loop the program,
10. Save the program in the robot for oine execution (Section 8.5),
11. Delete all entries in the program text eld,
12. Open an existing program,
13. Save the contents of the program text eld to a le,
14. Programming text eld
Now, after having connected the web interface to the robot's controller, you need to
Ñ
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õ
I
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}
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activate the robot. This can be done by selecting thecheckbox, in the programming panel.
Next, you need to home the robot to get a high-accuracy measure of all joint angles.
During homing, all joints rotate slightly. First, all joints rotate simultaneously in one
direction. Specically, each of joints 1, 2 and 3 rotates
and joint 6 rotate
and forth motion, i.e., the homing, lasts approximately 4 seconds.
CAUTION:
B
Homing the robot can be done by selecting thecheckbox in the programming panel.
8.1.4 The log panel
The log panel (Fig. 13) displays all the messages that are sent by the robot. The elements
of this panel are self explanatory:
1. Clear the log,
Before homing the robot, make sure that there is no risk for mechanical inter-
ference.
12◦. Then, all joints rotate back to their initial positions. The whole back
é
3.6◦, joints 4 and 5 each rotates
7.2◦,
2. Save the log,
3. Display timestamp for each message,
4. Log eld
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ú
/
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User Manual
Figure 13: Robot log panel
Figure 14: CAD models import panel
8.1.5 The CAD models import panel
One particularly innovative and original functionality of the robot's web interface is the
possibility to upload CAD models for the robot's tool (end-eector) and static environment.
These models should be in binary STL format. Currently, they serve only for visualization
purposes, but in the very near future, they will be used for avoiding mechanical interferences
in real time.
Figure 14 shows the CAD models import panel. The dierent elements of this panel are
enumerated bellow:
1. Name of the model that will be imported.
2. This is where you open the dialog to choose a binary STL le.
3. This is where you select which type of model you are importing. If it is a tool it will be
imported xed with respect to the robot ange. Otherwise, it will be imported xed
with respect to the robot base.
Page 18 of 35
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User Manual
4. This is where you activate the model in the 3D view.
5. The list of imported models.
6. Model properties. This is where you can position your model with respect to the robot
ange reference frame(FRF
frame(BRF
), in the case of environment.
), in the case of a tool, or with respect to the
base reference
8.2 Power-up procedure
If you have read Sections 6 and 8.1 carefully and followed the steps, your robot is already
powered up and ready to move. Nevertheless, here is a quick summary of the steps that you
need to follow in order to power up your robot, as described before, as well as alternative
methods. In what follows, we assume that the robot has been already installed as described
in Section 6.
8.2.1 Powering the robot
•
Turn the power supply on.
•
Make sure that the E-STOP button on the power supply is released (by twisting it
counterclockwise) and press the RESET button, next to it.
•
Wait a couple of seconds.
8.2.2 Connecting to the robot
•
Connect to the robot's web interface.
•
Click theJcheckbox in the programming panel
•
Select the Control option and click
•
As soon as the robot is connected, you will get the following welcome message in the
log panel: [3000][Connected to Meca500 x_x_x.x.x], where the x's are numbers.
8.2.3 Activating the robot
•
Select thecheckbox, in the programming panel
eld
ActivateRobot
You will hear a distinctive clicking sound.
and click theÙbutton.
Connect
OR
select
.
OR
Main menu→Connection
type in the programming text
.
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User Manual
8.2.4 Homing the robot
•
Select thecheckbox in the programming panel or erase
and click theÙbutton in the programming panel.
CAUTION:
ActivateRobot
, type
Home
B
The robot will move slightly during homing. Before homing it, make sure that
there is no risk for mechanical interference.
8.3 Moving the robot
A six-axis robot arm is a highly complex system and no matter how intelligent and intuitive
its programming interface is, the robot will have plenty of limitations. These limitations are
not always obvious even to robotics experts. For example, in any six-axis robot arm, there
are often paths that the robot cannot follow, even though they seem to be inside the robot's
workspace. Never forget that the workspace of a general six-axis robot is a very intricate
six-dimensional entity, not just a sphere.
NOTICE:
If you know nothing about orientation representations and robot singularities,
we strongly advise you to read some introductory notes on robotics and our
interactive tutorial on Euler angles.
After homing, click on the Zero All Joints button in the Joints Jog tab on the left. The
robot will move all of its joints to their
the robot is in a so-called
mode (e.g., by jogging). The simplest way to exit this singularity is to jog joint 5, but here
is another, more interesting way. Move the robot's end-eector to the pose
y = 0 mm,z = 150 mm,α = 0◦,
NOTICE:
The Cartesian coordinates displayed above the robot in the web interface are
those of the
to the
frames are displayed in the web interface. By default, the TRF is located at the
ange of the robot and the WRF at the bottom of the robot's base. The origin
of the TRF is called the
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World Reference Frame(WRF
wrist singularity
Tool Reference Frame(TRF
0◦positions. In this robot position (shown in Fig. 10),
and you will not be able to move it in Cartesian
x = 250 mm
β = 90◦,
TCP(Tool Center Point).
γ = 0◦.
), xed to the end-eector, with respect
), xed to the base of the robot. Both
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,
User Manual
Figure 15: Robot position when its TRF is at
β = 90◦,
γ = 0◦with respect to its WRF
x = 250 mm,y = 0 mm,z = 150 mm,α = 0◦,
NOTICE:
We use Euler angles (α,β,γ) to dene the orientation of a second reference
frame with respect to a rst one. More specically, if we consider both frames
initially coincident, we rotate the second frame about itsxaxis atαdegrees,
then about itsyaxis atβdegrees, and nally about itszaxis atγdegrees.
You can move the robot to the new end-eector pose following these steps:
•
Clear the programming text eld and type
MovePose(250,0,150,0,90,0)
with theÙbutton.
OR
•
In the Quick Command panel, select MovePose, ll in the arguments with the values
250, 0, 150 , 0, 90, and 0, and click on○.
Figure 15 shows the resulting robot position.
. Send it
You can now jog the robot in both joint and Cartesian mode. Note that when a joint
reaches its limit (or is very close to a limit), the robot stops and a message is displayed in the
log. Furthermore, if you jog the robot in Cartesian mode, you can also run into singularities
and no longer be able to jog in certain directions. An error message will appear in the log
to inform you about this. To get away, switch to joint jog mode, and slightly rotate joints 3
and/or 5.
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User Manual
NOTICE:
Note that in Cartesian jog, when reorienting the end-eector using the Rx, Ry
and Rz arrow buttons, you do not modify independently each Euler angle, but
rather rotate the TRF about axes passing through its origin (the TCP) and
coincident with itsx,yorzaxes, if the TRF option is chosen, or parallel to the
x,yorz
axes of the WRF, if the WRF option is chosen.
8.4 Power-o procedure
8.4.1 Zeroing the robot (optional)
It might be a good idea to always bring the robot to its zero position, before turning it o.
This can be done in two ways:
•
send a MoveJoints command with all arguments equal to 0
OR
•
click on the Zero All Joints button in the Joints Jog panel.
8.4.2 Deactivating the robot
To deactivate the robot
•
uncheck thecheckbox
OR
•
send the DeactivateRobot command via the program text area or via the Quick Com-
mand menu,
CAUTION:
B
8.4.3 Disconnecting the robot
To disconnect the robot
•
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Recall that there are no brakes on joints 4, 5 and 6. As soon as you deactivate
the robot, the end-eector will slowly tilt down under the eects of gravity.
NOTICE:
If you accidentally close your web interface before deactivating the robot, the
robot will stop (in case it was moving) but will remain activated.
uncheck theJcheckbox
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OR
•
select Connection in the main menu and click Disconnect.
WARNING:
User Manual
B
8.4.4 Removing power
Finally, unplug the power supply from the AC outlet or switch it o.
B
If you disconnect the robot before deactivating it, the robot will continue to
move (if it was moving), even if you close the web interface.
CAUTION:
Never detach the DC power connector from the robot's base, before unplugging
the power supply's AC power cord from the AC outlet or switching the power
supply o.
8.5 Oine mode
You can store an oine program in the robot's hard drive and execute it without an external
computer. This program is kept, even after power o, until replaced by another one. Note,
however, that if you type in directly the command
interface, you can save up to 500 program. Using the procedure listed below will save only
StartSaving(n)
instead of using the web
program 1 (
8.5.1 Saving the program via the web client interface
•
To save a program, the robot must be deactivated, i.e., theicon must be unchecked.
•
Write the program in the Program Editor panel.
•
To run the program on innite loop, insert the command
(The
•
Click on theIicon.
8.5.2 Running the oine program
To execute the oine program 1, make sure there is no user connected to the robot and
press the Start/Pause button on the robot base. The Start/Pause LED will ash rapidly for
three seconds, after which the robot will start executing the program.
n = 1
).
SetOfflineProgramLoop(1)
õ
checkbox has no eect on the execution of the oine program.)
.
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Page 23 of 35
User Manual
WARNING:
Figure 16: Robot's control panel
B
Immediately after pressing the Start/Pause button on the robot's base, move
away your hand and stay outside the robot's reach.
8.6 Robot control panel
The set of buttons and LEDs on the robot's base is called the robot's control panel (Fig. 16).
The meanings of the LEDs and the functionalities of the buttons will be summarized bellow.
8.6.1 LEDs
After a power up, the Power, Home and Start/Pause LEDs will ash fast simultaneously
during a couple of seconds. After that, the LEDs will be lit as described below.
Power LED
The Power LED is red and indicates the activation state of the robot:
•
the LED will ash slowly when the robot is deactivated;
•
the LED will ash fast when the robot is being activated;
•
the LED will be lit continuously when the robot is activated.
Home LED
The Home LED is yellow and indicates the homing state of the robot:
•
the LED will be o when the robot is not homed;
•
the LED will ash slowly when the robot is being homed;
•
the LED will be lit continuously when the robot is homed.
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User Manual
Start/Pause LED
The Start/Pause LED is yellow and indicates the motion state of the robot:
•
the LED will ash fast when the Start/Pause button was pressed and the program
saved in the robot is about to start;
•
the LED will be o when the robot is not moving;
•
the LED will be lit continuously when the robot is moving.
Link/Act IN and Link/Act Out LEDs
Both LEDs are green and ash when there is network activity in the corresponding Ethernet
port. The LEDs function in the same manner as on a normal Ethernet RJ-45 port.
Run LED
Used only when the robot is controlled via EtherCAT (see the programming manual).
Finally, when the robot is in error mode, the Power, Home and Start/Pause LEDs ash fast
simultaneously. Also, if you press the Power button continuously, which provokes a factory
reset of the robot, the Power, Home and Play LEDs, will each ash three times.
8.6.2 Buttons
The buttons on the control panel are active only when no user is connected to the robot. In
what follows, you must refer to the detailed descriptions of the commands associated with
each button.
WARNING:
B
Power button
The Power button acts as the
•
•
When pressing the buttons on the robot's control panel, keep your ngers away
from the pinch points of the robot, and move away from the robot as soon as a
button is released.
ActivateRobot
when the robot is deactivated, pressing Power will send the
when the robot is activated, pressing Power will send the
and
DeactivateRobot
commands:
ActivateRobot
DeactivateRobot
command;
command;
•
when the robot is in error mode, pressing and holding Power for ve seconds will send
the
DeactivateRobot
Pressing and holding Power during power-up will reset the robot network conguration.
Home button
The Home button acts as the
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command.
Home
and
ResetError
commands:
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User Manual
•
when the robot is deactivated, pressing Home has no eect;
•
when the robot is activated, pressing Home sends the
•
when the robot is homed, pressing Home has no eect;
•
when the robot is in error mode, pressing and holding Home for ve seconds will send
the
ResetError
Start/Pause button
command.
Home
command;
The Start/Pause button on the robot control panel acts as the
ResumeMotion
•
when the robot is activated, homed and not executing a program, pressing Start/ Pause
will send the
•
when the robot is activated and homed, pressing Start/Pause will send the
command, whether the robot is moving or not;
•
when the robot is activated, homed and moving, pressing Start/Pause will send the
PauseMotion
•
when the robot is activated, homed and stopped (by the
pressing Start/Pause will send the
0G button
Pressing and holding the 0G button for three seconds, once the robot is deactivated, will
release the brakes. While keeping 0G pressed with one hand, you can manually move the
robot with your other hand. The brakes will reengage as soon as the 0G button is released.
, and
CAUTION:
ClearMotion
StartProgram(1)
command;
commands:
command three seconds after being pressed;
ResumeMotion
command.
StartProgram,PauseMotion
ClearMotion
PauseMotion
command),
,
B
Page 26 of 35
Once the robot is deactivated, hold the robot with one hand, before pressing
the 0G button. Otherwise, the robot may fall down under the eect of gravity.
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User Manual
9 Operating the intelligent power supply
Mecademic's intelligent power supply is shown in Fig. 17. As already explained, release
all emergency stops and the external Stop Category 2 protective stop, and then press the
RESET button to provide power to the robot. Once the robot is activated and homed,
pressing the E-STOP button at any time instantly sends a signal to the robot to rapidly
decelerate and come to a complete stop. The power supply then waits for a signal from the
robot indicating that the robot is completely stopped, and as soon as that signal is received,
but no later than in 500 ms, the power supply completely cuts power to the robot. Without
power, the robot's brakes are instantly applied to joints 1, 2 and 3.
To restart the robot, you must release the emergency stops or the external Category 2
protective stop, and then press the RESET button. Next, you need to connect to the robot
via Ethernet TCP/IP or EtherCAT, activate the robot, and nally home it. Of course, you
will also need to manage the stream of commands being sent to the robot. For example, if a
PLC sends commands to the robot, while the robot is powered o, the program that runs on
your PLC will need to be able to detect and manage this situation, in one way or another.
To do so, you can get a signal from the intelligent power supply that power to the robot
has been cut by connecting your PLC to the D-SUB connected, as will be explained in the
following pages.
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(a) front view (b) back view
Figure 17: The intelligent power supply
2018 by Mecademic Inc.
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User Manual
9.1 LEDs
The power supply is equipped with three LEDs. As long as the power supply is switched on
(using the on/o button shown in Fig. 17b) and connected to an AC source that supplies
voltage between 90 V and 264 V at frequency between 50 Hz to 60 Hz, the green LED next to
Power stays illuminated. Supplying AC voltage outside this range may damage the power
supply.
Once the power supply switched on, the yellow Status LED indicates the status of the
power supply. If the yellow LED is o, you need to press the RESET button, which sends
power to the robot. If the proper Meca500 is correctly connected to the power supply, the
yellow LED will turn on and say lit.
If, in any situation, the yellow LED blinks regularly, this means that an emergency stop
(either the one on the power supply or the external one) or the external Stop Category 2
protective stop is activated. You need to release the emergency stop or remove the cause for
the Stop Category 2 protective stop and then press the RESET button.
If the yellow LED illuminates in sets of two ashes, this means that the integrated or
external RESET button has been pressed too long. Make sure they are not pressed and then
press any of them, in a quick fashion.
Finally, the red Error LED indicates if there is a problem with the power supply or
with some of the connections to the D-SUB interface. If the red LED ashes (0.1 s on, 0.9 s
o), either there is no robot connected to the power supply or the robot connected is an old
version that is not supported by this power supply. If the red LED illuminates in sets of two
quick ashes, the robot has detected a problem and sent a request to the power supply to
be shut down. If this happens, contact us. If the red LED blinks in regular intervals (0.5 s
on, 0.5 s o), this means that there is either a problem in your external emergency stop or
Stop Category 1 connections or in our power supply. If you don't see any problem in your
connections, contact us. Finally, if the red LED is constantly lit, there is a problem with the
power supply. Switch o the power supply and contact us.
Table 2 summarizes the dierent states of the three LEDs as well as their meanings.
9.2 External connections
If you do not need to connect an external E-Stop, an external reset, or protective stops or be
able to know whether the robot is powered, you need to plug the D-SUB 15-position dongle
in the power supply. Otherwise, even if you only need to connect a single external E-Stop,
yyou need to properly wire the rest of the connections in the D-SUB connector.
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LED Name LED state Explanation
User Manual
Green Power
Yellow Status
Red Error
O The power supply is turned on
On The power supply is turned o
O Robot is not powered. Press RESET.
Blinking Robot is not powered and a Stop Category 1 stop is pressed or
the dongle is not plugged in. Remove the stop, make sure the
dongle is plugged in, and press RESET.
Two ashes Robot is not powered because a RESET button has been
pressed for too long. Press RESET again.
On Robot is powered.
O There is no error.
Flashes No proper robot connected.
Two ashes Robot has detected a problem and requested that power be
shut down. Contact Mecademic.
Blinking Problem with Stop Category 1 stops detected. Check external
stop connections and contact Mecademic if no solution found.
Table 2: The various states of the LEDs on the power supply
Figure 18 shows the pinout of the D-SUB 15-position connector on the power supply and
gives a generic example for all connections. As already mentioned, you can connect:
- one external Stop Category 1 emergency stop (connections E-Stop A1, E-Stop B1,
E-Stop A2, E-Stop B2);
- one Stop Category 1 protective stop (connections P-Stop 1 A1, P-Stop 1 K1,
P-Stop 1 A2, P-Stop 1 K2);
- one reset button (connections Reset A, Reset K);
- one power status indicator (connections Power Status A, Power Status B);
- one Stop Category 2 protective stop (connections P-Stop 2 A, P-Stop 2 B).
Note that the external circuits shown in Fig. 18 are only suggestions. You may, for
example, connect several external E-Stops in series, or instead of sending a signal to a PLC
when the power to the robot is cut, you may connect a LED between the resistor and the
Power Status A line. Figure 19 shows several other examples. Specically, Fig. 19a shows
how to control the Stop Category 1 protective stop from a PLC by supplying a 24 V DC
signal. Figure 19b shows how to reset the power supply from a PLC. Figure 19c shows that
you can supply a 12 mA continuous forward current to pins 4 and 5 if you do not want to use
the Stop Category 1 protective stop. Lastly, Fig. 19d shows that you need to short-circuit
pins 1 and 9, and pins 2 and 10, if you do not intend to use an external E-Stop.
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User Manual
Power Status – A (3)
Power Status – B (11)
External power status detection
Reset – A (7)
Reset – K (15)
1
8
15
9
External E-Stop
E-Stop – A1 (1) E-Stop – B1 (9)
E-Stop – A2 (2) E-Stop – B2 (10)
E-Stop – A2
P-Stop 1 – A2
P-Stop 2 – A
Reset – A
E-Stop – A1
E-Stop – B1
Power Status – A
E-Stop – B2
Power Status – B
P-Stop 1 – A1
P-Stop 1 – K1
P-Stop 1 – K2
P-Stop 2 – K
Reset – K
External reset
Inside power supply
Inside power supply
V
in
External protective stop 1
(Stop Category 1)
P-Stop 1 – A1 (4)
P-Stop 1 – K1 (12)
P-Stop 1 – A2 (5)
P-Stop 1 – K2 (13)
Inside power supply
P-Stop 2 – A (6)
P-Stop 2 – K (14)
External protective stop 2
(Stop Category 2)
Inside power supply
R
R R
R
R
V
in
V
in
V
in
V
in
Page 30 of 35
Figure 18: Electric diagram of suggested generic connections to the D-SUB connector
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User Manual
P-Stop 1 – A1 (4)
P-Stop 1 – A2 (5)
P-Stop 1 – K2 (13)
P-Stop 1 – K1 (12)
External protective stop 1
(Stop Category 1)
Inside power supply
24 V PLC
Output
2kΩ
2kΩ
24 V PLC
Output
Reset – K (15)
Inside power supply
PLC - Reset
2kΩ
24 V PLC
Output
Reset – A (7)
P-Stop – A1 (4)
P-Stop 1 – A2 (5)
P-Stop 1 – K2 (13)
External protective stop 1, when not used
(Stop Category 1)
Inside power supply
24 V
2kΩ
2kΩ
P-Stop 1 – K1 (12)
24 V
External E-Stop, when not used
E-Stop – A1 (1) E-Stop – B1 (9)
E-Stop – A2 (2) E-Stop – B2 (10)
(a) External protective stop from a PLC
(c) External protective stop 1 not used
(b) Reset from a PLC
(d) External E-Stop not used
Figure 19: Additional examples of connections to D-SUB connector
Finally, in designing your external connection circuits, you must respect the specications
of the optocouplers used in our power supply. The following restrictions must be respected:
- The input voltage (
- The continuous forward current,
resistor that must be added before each anode (pins 47) is calculated as
- The reverse voltage must not exceed 5 V DC. Thus, be extremely careful with the
polarity of the input voltage supplied.
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B
Vin, Fig. 18) must be between 5 V DC and 48 V DC.
If, must not exceed 20 mA. Thus the resistance of the
R = Vin/If.
CAUTION:
Respect the above restrictions very closely or you will almost certainly damage
the power supply of the robot. If you have any doubt, contact our technical
support team by email, at support@mecademic.com.
2018 by Mecademic Inc.
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User Manual
10 Examples
10.1 Draw a square
Here is an example of a very simple program. Note again that there should be no empty
lines in your program, nor empty spaces before or after a command (e.g., no indentation).
Listing 1: Square path with the MoveLin command
ActivateRobot
Home
MovePose (140 ,-100,250 ,0 ,90 ,0)
MoveLin (140 ,-100,250,0 ,90 ,0)
MoveLin (140 ,100 ,250 ,0 ,90 ,0)
MoveLin (270 ,100 ,250 ,0 ,90 ,0)
MoveLin (270 ,-100,250,0 ,90 ,0)
MoveJoints (0 ,0 ,0 ,0 ,0 ,0)
Figure 20 shows the result of each of the four MoveLin commands.
(a)
MoveLin(140,-100,250,0,90,0)
(b)
MoveLin(140,100,250,0,90,0)
(c)
Figure 20: The four separate robot positions that dene the motion sequence
Page 32 of 35
MoveLin(270,100,250,0,90,0)
(d)
MoveLin(270,-100,250,0,90,0)
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11 Troubleshooting
No lights are on upon power up
•
Make sure all connectors are properly attached.
•
Make sure the AC outlet works (the green light on the power supply should be on).
No connection to the robot's web interface
•
Make sure the EtherCAT mode has not been enabled. To switch the robot back to
Ethernet TCP/IP mode, the simplest way is to do a factory reset. This can be done by
unplugging the power supply from the AC side, and then replugging it while holding
the Power button on the robot's base for about ten seconds.
•
Make sure the Ethernet cable is properly connected. The green Ethernet light should
pulse like on an RJ-45 connector. If the green LED is not illuminated, detach and
reconnect the Ethernet cable.
User Manual
•
Make sure the router/switch works by checking the lights of the connexion socket.
•
Make sure you are connected to the same network as the robot.
•
If you are using static IP addresses, make sure that the robot's IP default address
(192.168.0.100) does not conict with any other device on the network. For example:
Robot : I P = 192.168.0.100, netmask = 255.255.255.0, gateway = 192.168.0.1
Computer : IP = 192.168.0.101, netmask = 255.255.255.0, gateway = 192.168.0.1
•
If you are using DHCP, make sure to verify the robot's IP address through your router's
web interface.
Robot fails to boot
•
Disconnect the power supply from the AC outlet and wait for the green light of the
power supply to turn o. Then reconnect the power supply and boot the robot.
Robot's IP address forgotten
•
You can do a factory reset of the robot's Ethernet conguration using the following
sequence:
1. Unplug the power supply from the AC outlet.
2. Press the Power button on the robot's base continuously and replug the power
3. Hold the Power button pressed for about ten seconds until the Power, Home and
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supply from the AC outlet.
Play LEDs, each ash three times.
2018 by Mecademic Inc.
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User Manual
CAUTION:
B
Whenever you contact our support team, please provide the serial number of your robot
and the sequence of numbers displayed after Meca500 in the welcome message that appears
in the log panel upon connection with the robot: [3000][Connected to Meca500 x_x_x.x.x].
Never disassemble the robot. The robot requires no maintenance, and if you
think it is damaged, stop using it immediately and contact us.
NOTICE:
If you are unable to solve your technical problem, do not hesitate to contact our
technical support team by email, at support@mecademic.com.
12 Storing the robot in its shipping box
To put the Meca500 back into the foam insert of its original shipping box, send the command
MoveJoints(0,-60,60,0,0,0)
and 3, unless there is an emergency.
. Recall that you must never force the brakes on joints 1, 2
Page 34 of 35
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User Manual
13 EC Declaration of Incorporation (original)
According to the European Commission's Machinery Directive 2006/42/EC, Annex II, Sec-
tion 1B
The manufacturer Mecademic
13
00 Saint-Patrick St
Montreal, QC H
Canada
hereby declares that the product described below
Product designation: Extra-small six-axis industrial robot Meca500
Type: Meca500-R3
meets the applicable basic safety requirements of the Machinery Directive 2006/42/EC.
This partly completed machinery may not be put into operation until conformity of the
machine into which it will be incorporated is declared in conformity with the provisions of
the Machinery Directive 2006/42/EC, and with the regulations transposing it into national
law. Compliance with all essential requirements of Directive 2006/42/EC relies on the specic
robot installation and the nal risk assessment.
The manufacturer agrees to forward on demand the relevant technical documentation,
compiled according to Directive 2006/42/EC, Annex VII, Part B, to state authorities.
Additionally the manufacturer declares the product in conformity with the following di-
rectives, according to which the product is CE marked:
3K 1A4
•
2014/30/EU Electromagnetic Compatibility Directive (EMC)
•
2011/65/EU Restriction of the use of certain hazardous substances (RoHS)
Person responsible for the documentation: Dr. Ilian Bonev.
Montreal, QC, Canada Ilian Bonev, Eng., Ph.D.
February 6, 2018 Scientic Advisor
Copyrightc
2018 by Mecademic Inc.
Page 35 of 35
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