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Mecademic Meca500-R3 User Manual

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User Manual
Original instructions
Meca500 (R3)
Robot Firmware: 8.3
Document Revision: A
February 17, 2021

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Summary of Contents for Mecademic Meca500-R3

  • Page 1 User Manual Original instructions Meca500 (R3) Robot Firmware: 8.3 Document Revision: A February 17, 2021...

  • Page 3: Table Of Contents

    Contents 1 Introduction 2 Warning messages, notes and emphases 3 What’s inside the box 4 Safety 4.1 Power supply and stopping functions 4.2 Disabling the brakes of the robot 4.3 Functioning of the brakes 5 Technical specifications 6 Installing the Meca500 7 The web interface 7.1 Updating the robot’s firmware 7.2 Overview...
  • Page 4 8.2 Moving the robot 8.3 Power-off procedure 8.4 Offline mode 8.5 Robot control panel 9 Operating the intelligent power supply 9.1 LEDs 9.2 External connections 10 Installing an end-effector 11 Examples 11.1 Draw a square 12 Troubleshooting 13 Storing the robot in its shipping box 14 EC Declaration of Incorporation (original)

  • Page 5: Introduction

    1 Introduction 2 Warning messages, notes and emphases WARNING CAUTION NOTICE Copyright c 2021 by Mecademic Inc.

  • Page 6: What's Inside The Box

    3 What’s inside the box (d) Ethernet cable (b) Power supply (a) The Meca500 robot arm (c) D-SUB dongle (e) DC power cable Copyright c 2021 by Mecademic Inc.

  • Page 7: Safety

    CAUTION 4 Safety WARNING Copyright c 2021 by Mecademic Inc.

  • Page 8: Power Supply And Stopping Functions

    4.1 Power supply and stopping functions CAUTION Copyright c 2021 by Mecademic Inc.

  • Page 9: Disabling The Brakes Of The Robot

    4.2 Disabling the brakes of the robot WARNING 4.3 Functioning of the brakes Copyright c 2021 by Mecademic Inc.

  • Page 10: Technical Specifications

    5 Technical specifications WARNING Copyright c 2021 by Mecademic Inc.

  • Page 11: Installing The Meca500

    [ 70 , 90 ] [ 135 , 70 ] [ 170 , 170 ] [ 115 , 115 ] [ 36, 000 , 36, 000 ] [10%, 80%] 6 Installing the Meca500 WARNING Copyright c 2021 by Mecademic Inc.
  • Page 12 Copyright c 2021 by Mecademic Inc.
  • Page 13 CAUTION 4X thru holes for M6 units: mm (a) Dimensions (b) Connectors (c) Connectors properly attached Copyright c 2021 by Mecademic Inc.
  • Page 14 4X thru counterbored holes for M6 AC Power Power 90-264 VAC Status 50-60 Hz Error E-STOP RESET units: mm 192.168.0.100 Options Settings Save Copyright c 2021 by Mecademic Inc.
  • Page 15 (a) Windows (b) Linux (a) DHCP (b) Static Copyright c 2021 by Mecademic Inc.

  • Page 16: The Web Interface

    7 The web interface 7.1 Updating the robot’s firmware Copyright c 2021 by Mecademic Inc.

  • Page 17: Overview

    7.2 Overview View Panel Menu bar Jogging panel Current joint set and TRF pose panel Programming panel Quick command panel 7.3 The programming panel Main Control Request Log 7.3.1 The status control checkboxes Copyright c 2021 by Mecademic Inc.
  • Page 18 Control Monitoring CAUTION 7.3.2 The program editor field Copyright c 2021 by Mecademic Inc.
  • Page 19 7.3.3 The Response Log field Copyright c 2021 by Mecademic Inc.

  • Page 20: The Robot Joint Set And End-Effector Pose Panel

    7.3.4 The Request Log 7.4 The robot joint set and end-effector pose panel Tool Reference Frame World Reference Frame 7.5 The 3D view window 7.6 The Quick Command panel Copyright c 2021 by Mecademic Inc.

  • Page 21: The Jogging Panel

    7.7 The jogging panel Jogging 7.7.1 The Joint Jog tab Joint Jog Zero all joints Cartesian Jog Joystick Incremental Jogging 0.001 5.000 Copyright c 2021 by Mecademic Inc.
  • Page 22 (a) Cartesian jog tab (b) Joystick tab (in case of (c) Joystick tab (in case of 3DConnexion’s SpaceMouse) Mecademic’s MJ3 joystick) 7.7.2 The Cartesian Jog tab Cartesian Jog Rx Ry Joint Jog 0.001 5.000 Copyright c 2021 by Mecademic Inc.
  • Page 23 NOTICE Rx Ry �� �� �� �� �� �� 7.7.3 The Joystick tab Joystick (a) SpaceMouse (wireless model) (b) MJ3 Copyright c 2021 by Mecademic Inc.

  • Page 24: Opening And Closing The Megp 25E Gripper

    NOTICE NOTICE Joystick Joystick Cartesian Jog Disable 7.8 Opening and closing the MEGP 25E gripper Copyright c 2021 by Mecademic Inc.

  • Page 25: Operating The Robot

    Joystick (a) Particular installation and WRF choice tab with new mapping 8 Operating the robot 8.1 Power-up procedure 8.1.1 Powering the robot 8.1.2 Connecting to the robot Main Control Copyright c 2021 by Mecademic Inc.

  • Page 26: Moving The Robot

    Main Control ActivateRobot Home CAUTION 8.2 Moving the robot NOTICE Zerro All Joints Joints Jog wrist singularity �� = 250 �� = 0 �� = 150 �� = 0 �� = 90 �� = 0 Copyright c 2021 by Mecademic Inc.
  • Page 27 �� = 0 �� = 90 �� = 0 NOTICE Tool Reference Frame TRF World Reference Frame WRF TCP Tool Center Point). NOTICE �� �� �� �� �� �� �� �� �� MovePose(250,0,150,0,90,0) MovePose Copyright c 2021 by Mecademic Inc.

  • Page 28: Power-Off Procedure

    Cartesian Jog 8.3 Power-off procedure 8.3.1 Zeroing the robot joints (optional) MoveJoints Zero All Joints Joints Jog 8.3.2 Deactivating the robot DeactivateRobot CAUTION NOTICE 8.3.3 Disconnecting the robot WARNING Copyright c 2021 by Mecademic Inc.

  • Page 29: Offline Mode

    8.3.4 Removing power CAUTION 8.4 Offline mode 8.4.1 Saving the program via the web interface SetOfflineProgramLoop(1) 8.4.2 Running an offline program WARNING Copyright c 2021 by Mecademic Inc.

  • Page 30: Robot Control Panel

    8.5 Robot control panel 8.5.1 LEDs Power LED Home LED Start/Pause LED Copyright c 2021 by Mecademic Inc.
  • Page 31 Link/Act IN and Link/Act Out LEDs Run LED 8.5.2 Buttons WARNING Power button ActivateRobot DeactivateRobot ActivateRobot DeactivateRobot DeactivateRobot Home button Home ResetError Home Copyright c 2021 by Mecademic Inc.

  • Page 32: Operating The Intelligent Power Supply

    ResetError Start/Pause button StartProgram PauseMotion ResumeMotion ClearMotion StartProgram(1) ClearMotion PauseMotion PauseMotion ResumeMotion 0G button CAUTION 9 Operating the intelligent power supply Copyright c 2021 by Mecademic Inc.

  • Page 33: Leds

    9.1 LEDs (a) front view (b) back view Copyright c 2021 by Mecademic Inc.

  • Page 34: External Connections

    Robot has detected a problem and requested that power be Error shut down. Contact Mecademic. Blinking Problem with Stop Category 1 stops detected. Check external stop connections and contact Mecademic if no solution found. 9.2 External connections Copyright c 2021 by Mecademic Inc.
  • Page 35 Copyright c 2021 by Mecademic Inc.
  • Page 36 Inside power supply Inside power supply P-Stop 2 – A (6) P-Stop 1 – A1 (4) P-Stop 2 – K (14) P-Stop 1 – K1 (12) P-Stop 1 – A2 (5) P-Stop 1 – K2 (13) Copyright c 2021 by Mecademic Inc.

  • Page 37: Installing An End-Effector

    E-Stop – A1 (1) E-Stop – B1 (9) P-Stop 1 – K2 (13) E-Stop – A2 (2) E-Stop – B2 (10) (c) External protective stop 1 not used (d) External E-Stop not used 10 Installing an end-effector Copyright c 2021 by Mecademic Inc.
  • Page 38 WARNING �� = 0 Ø9 H6, É 2.2 M3X0.5, É 4 BCD 15.5 4X equally spaced Ø3, É 3.5 BCD 15.5 Ø20 2X equally spaced units: mm (a) Closeup (b) Dimensions CAUTION Copyright c 2021 by Mecademic Inc.

  • Page 39: Examples

    MoveLin (270 , -100 , 250 , 0 , 90 , 0) MoveLin (140 , -100 , 250 , 0 , 90 , 0) MoveJoints (0 , 0, 0, 0 , 0 , 0) MovePose(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) Copyright c 2021 by Mecademic Inc.

  • Page 40: Troubleshooting

    No connection to the robot’s web interface ���������� : ���� = 192.168.0.100, �������������� = 255.255.255.0, �������������� = 192.168.0.1 ���������������� : ���� = 192.168.0.101, �������������� = 255.255.255.0, �������������� = 192.168.0.1 Robot fails to boot Robot’s IP address forgotten Copyright c 2021 by Mecademic Inc.

  • Page 41: Storing The Robot In Its Shipping Box

    CAUTION NOTICE GetFwVersion 13 Storing the robot in its shipping box MoveJoints(0,-60,60,0,0,0) Copyright c 2021 by Mecademic Inc.

  • Page 42: Ec Declaration Of Incorporation (Original)

    14 EC Declaration of Incorporation (original) Copyright c 2021 by Mecademic Inc.

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