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Mecademic MECA500 User Manual

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MECA500 INDUSTRIAL ROBOT
USER MANUAL
Document ID: MC-UM-MECA500-EN
For Firmware Version 10.1
Document Revision: B

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  • Page 1 MECA500 INDUSTRIAL ROBOT USER MANUAL Document ID: MC-UM-MECA500-EN For Firmware Version 10.1 Document Revision: B...
  • Page 2 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.

  • Page 3: Table Of Contents

    Buttons ................................... 24 5.4.2 LEDs ..................................25 5.5. Offline mode (for demonstrations only) .....................26 5.5.1 Saving the program via the web interface ......................26 5.5.2 Running an offline program ..........................26 User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 4 9.1. Draw a square .............................50 10. INSPECTION AND MAINTENANCE .......................51 11. TROUBLESHOOTING ............................52 12. DECOMMISSIONING .............................54 APPENDIX 1. MECA500 R4 EMC TEST RESULTS ....................55 APPENDIX 2. MECA500 R3 EMC TEST RESULTS ....................57 User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 5 Programming Manual for Mecademc robots. The present 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.
  • Page 6 Mecademic Industrial Robots - Programming Manual MC-PM-EN MPM500 Pneumatic Module - User Manual MC-UM-MPM500-EN MEGP 25E/25LS Electric Parallel Grippers - User Manual MC-UM-MEGP25-EN These documents are available as PDF files on Mecademic's web site. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 7: Introduction

    Remove all items carefully and do not discard your shipping box and packing foam. Table 1 shows the items that come with a standard shipment of a Meca500 robot system. Your box may also contain the MEGP 25E or MEGP 25LS electric gripper, the MPM500 pneumatic module, or other small accessories.

  • Page 8: Overall Description

    1.2. Overall description Figure 1 shows a schematics of the complete Meca500 robot system in a typical installation. The D-Sub 15-pin dongle provided is not shown as it must be used only during setup and testing. We suggest using the ASCO Model 241 from Schneider Electric The Meca500 robot arm consists of seven bodies connected in series through six motorized revolute joints.

  • Page 9: Applied Standards

    APPENDIX 1 APPENDIX In addition, the design of the Meca500 R4 robot arm and its power supply was guided by the following harmonized standards, incorporating a tailored approach to meet our unique objectives: • ISO 10218-1:2011 (Robots and robotic devices – Safety requirements for industrial robots. Part 1: Robots) •...

  • Page 10: Safety

    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 includes three openings known as pinch points where robot links may squeeze a finger (Figure 2).

  • Page 11: Operating Modes

    Additionally, ensure not to wear loose-fitting clothing or have loose long hair that could potentially get entangled in the robot. Figure 3: The Meca500 must be operated inside a safety enclosure (photo courtesy of Mati Therapeutics) User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 12: Power Supply Unit (Psu) And Safety

    E-Stop no longer cuts power to the complete robot, but only to the motor drives. Do not use the power supply of an R3 version with a Meca500 R4, and vice versa. The R4 robot arms and power supplies are clearly indicated as being R4.

  • Page 13: Locking Up The Power Supply

    50 ms otherwise a Stop Category 0 will occur (power is removed from the motors). In order to be able to use the Meca500, you must properly connect your safety inputs on the D-Sub 15-position interface, as described in Section 7 or temporarily connect the D-Sub dongle.

  • Page 14: Robot Arm And Safety

    Brakes and limitations As already mentioned, the Meca500 has brakes on joints 1, 2 and 3 only. Therefore, when the robot is deactivated, powered off, or put in safety stop (E-Stop or Protective Stop 1), the brakes on joints 1, 2 and 3 will be immediately applied and the joints will be immobilized instantly.
  • Page 15 (a) DO NOT leave the robot deactivated like this (b) DO leave it like this Figure 8: Before leaving the robot for a long period of time, move it to a position that minimizes the joint torques User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 16: Releasing The Brakes

    Stopping times and distances As already mention, in the Meca500, when an E-Stop is applied, the power supply sends a signal to the robot to decelerate to a complete stop and after 450 ms removes power from the robot (R3) or from the motors (R4).

  • Page 17: Joint Limits

    0.1 s. To prevent delays due to the use of Ethernet switches, at all times (not only while the robot is moving), use the ConnectionWatchdog command (available since firmware 10.1). User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 18: Technical Specifications

    TECHNICAL SPECIfICATIONS 3. TECHNICAL SPECIfICATIONS Table 4 lists the main technical specifications of the Meca500 robot arm. Table 4: Technical specifications for the Meca500 (R3 and R4) TECHNICAL SPECIFICATIONS FOR ROBOT ARM Characteristic Value Position repeatability 0.005 mm Rated payload 0.5 kg...
  • Page 19 50 mm away from the robot's flange, along the axis of joint 6, the maximum attainable TCP speed is approximately 3500 mm/s for the Meca500 R4, when the robot is fully stretched and all joints rotate at full speed. However, in most situations, the maximum TCP speed will be much lower.
  • Page 20 Typical Max. Unit Safety input voltage – Safety input current – – † Power status output voltage – Power status output current – Current is internally limited to 10mA † User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 21 Meca500 R3 and R4, respectively. Further details will be provided in Section 7. Finally, the CAD files of the Meca500 robot arm and of its power supply (in STEP format) can be downloaded from our site. You can also use one of several robot simulation and offline programming software packages that include a model of our Meca500, including Visual Components and RoboDK.

  • Page 22: Installing The Robot System

    4. INSTALLINg THE ROBOT SySTEM Before operating your Meca500, you must fix solidly its base with four M6 screws, at 3 Nm, with at least 6 mm of thread engagement. We typically use metric breadboards such as those from Thorlabs, but you can also use our adaptor plate (MUAP01), build your entire robot cell at Vention, or use the modular system made by Tessella Automation.
  • Page 23 Next, 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 (Figure 11). The two Ethernet ports on the robot base act as a bridge, so you can daisy-chain several Meca500 robots, or connect an Ethernet I/O module on the ETHERNET2 port.

  • Page 24: Operating The Robot

    OPERATINg THE ROBOT 5. OPERATINg THE ROBOT This section presents the basic procedures for setting up and operating the Meca500. For further details, refer to Section 6, which describes the web interface of the robot, and the Programming Manual. 5.1. first-time use 5.1.1...

  • Page 25: Power-Up Procedure

    Link/Act OUT (for ETHERNET2) green LED will stop flashing and remain illuminated, but only once the robot has finished booting. 6. In the case of the Meca500 R4, press the RESET button to provide power to the robot's motors. 5.2.2 Connecting to the robot 1.

  • Page 26: Changing The Robot's Network Configuration (Optional)

    IP. You don't need to reboot the robot; the new configuration will be applied as soon as you click on the Apply button (Figure 16). Figure 15: Connection state button Figure 16: Changing the robot's network configuration User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 27: Activating And Homing The Robot

    Euler angles robot singularities. After homing, click the button in the jogging panel and select "Zero all joints". The robot will move all User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 28: Testing The E-Stop Button And The Brakes (First Time Use)

    The power supply completely cuts power to the robot, in the case of R3 version, or only to the robot motors and Mecademic's EOAT, in the case of R4 version. In both cases, the robot brakes will be automatically applied to joints 1, 2 and 3. If joints 1, 2 or 3 continue to move, or if you notice that the even after powering off the robot, one or more of these joints can be as easily rotated by hand as joints 4, 5 and 6, cease using the robot immediately and contact us immediately.

  • Page 29: Power-Off Procedure

    Finally, unplug the power supply from the AC outlet or switch the power supply off. 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 off. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 30: Robot Control Panel

    • when the robot is in error mode, pressing and holding Power for five seconds will send the DeactivateRobot command. Pressing and holding Power during power-up will reset the robot network configuration. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 31: Leds

    • The LED will flash fast when the robot is being activated. • The LED will be lit continuously when the robot is activated. Note that the color of the Power LED does not meet the requirements of IEC 60204-1. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 32: Offline Mode (For Demonstrations Only)

    To execute the offline 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 flash rapidly for three seconds, after which the robot will start executing the program. User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 33 It is highly recommended to run offline programs using any of the communication protocols, rather than by using the button on the robot control panel, which not only presents certain safety risks but can only execute program 1. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 34: The Mecaportal

    Update in the Options menu in the web interface. A new interface will load in the same browser tab. Click on Choose File and select the file Meca500*.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.

  • Page 35: Overview

    Green, solid The robot is homed. Green, blinking The robot is homed and executing motion commands. Blue, solid The robot motion is paused. Red, blinking The robot is in error mode. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 36: The Connection And Robot State Selectors

    The programs that appear in the code editor panel are simply those open in the MecaPortal and not necessarily in the robot's memory. The MecaPortal will locally save (in the browser's local storage) the User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 37: Writing Programs

    Action Ctrl+Space Open the auto-complete popup menu Ctrl+Shift+Space Open the command help popup Ctrl+a Select all Ctrl+d Add selection to next find match Ctrl+f Open the find and replace dialog User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 38: Executing Programs

    All messages are preceded with a time stamp and an integer number, starting from 1. Request messages are identified with the icon, while robot responses are preceded with the User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 39: The 3D View Panel

    0° (wrist singularity), the corresponding text field is highlighted in yellow. Finally, then the wrist center point is too close to or lies on the axis of joint 1 (shoulder singularity), the text fields of joints 2, 3, User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 40: The Jogging Panel

    THE MECAPORTAL and 4 are highlighted in yellow. The Meca500 can cross singularities when moving with Cartesian-space commands, but the resulting motions are rarely optimal and should be avoided in production mode. Another set of highly useful features can be accessed in the selection menus on the right of each of the three rows of data.

  • Page 41: The Joint Jog Tab

    (a) Joint jogging using primary (b) Joint jogging using secondary (c) Joint jogging using Mecademic's mouse button mouse button three-axis joystick Figure 21: Joint jog tab User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 42 Finally, you can jog the robot using either our MJ3 3-axis USB precision joystick (Figure 22a) or the SpaceMouse 6-axis joystick from 3Dconnexion (Figure 22b). To use the MJ3 or the SpaceMouse, you ® User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 43 Finally, in both the joint jog and Cartesian jog panels, there are sliders with text-fields for controlling your MEGP 25* gripper, the maximum jogging velocity, and the increment (for incremental jogging). You can also use the keyboard shortcut Alt+G to open/close the MEGP 25* gripper. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 44: The Cartesian Jog Tab

    2D jogging pad (there are a total of eight combinations). (a) Cartesian jogging using (b) Cartesian jogging using (c) Cartesian jogging using the primary mouse button the secondary mouse button the SpaceMouse Figure 23: Cartesian jog tab User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 45: The Configuration Menu

    SpaceMouse so that they are aligned with the axes of the WRF as shown in Figure 24. Jogging in Cartesian mode, with the WRF option selected, becomes extremely intuitive. User Manual for the Meca500 Industrial Robot (for firmware 10.1)
  • Page 46 (a) Example of the relative placement of the (b) The changes that must be made in the configuration menu SpaceMouse with respect to the WRF Figure 24: Example of configuring the axes of the SpaceMouse User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 47: Operating The Smart Power Supply

    R4 version, except for some of the engravings. However, there are some hardware differences. Therefore, never use an R3 power supply with a Meca500 R4 or an R4 power supply with a Meca500 R3. The D-Sub dongle is, however, identical in both versions.

  • Page 48: Leds

    500 ms, the power supply completely cuts power to the robot, in the case of R3 version, or only to the robot motors and Mecademic' EOAT, in the case of R4 version. In both cases, the robot brakes are then automatically applied to joints 1, 2 and 3.

  • Page 49: External Connections

    P-Stop 1 – A2 P-Stop 1 – K2 SWStop – A SWStop – K Reset – A Reset – K Figure 26: Pinout of the D-Sub connector on Meca500's power supply User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 50: Stop Category 1 Emergency Stop

    P-Stop 1 terminals in the case of the R3 and R4 versions of the Meca500. The P-Stop 1 signal would generally come from a safety PLC, which will be connected to a safety switch such as a safety light curtain or an interlock door switch.

  • Page 51: Software Stop (Swstop)

    The SWStop signal would normally come from a safety PLC. Simple examples for the wiring diagrams in the case of the R3 and R4 versions of the Meca500 are shown in Figure 29. The same specifications for the input voltage and current apply, as in the case of the P-Stop 1, as shown in Figure 29.

  • Page 52: External Reset

    The external reset signal would normally come from a safety PLC. Simple examples for wiring diagrams in the case of the R3 and R4 versions of the Meca500 are shown in Figure 30. The same specifications for the input voltage and current apply, as in the case of the SWStop, as shown in Figure 30.

  • Page 53: Power Status

    Figure 30: Examples of wiring the external reset in the Meca500 R3 and R4 In the Meca500 R3, YOU MUST USE RESISTANCES to limit to current applied to the external reset terminals to 24mA, or else you will damage the power supply.
  • Page 54 (a) Wiring the power status signal to a LED (b) Wiring the power status to a safety PLC Figure 31: Examples of wiring the power status in the Meca500 R3 and R4 User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 55: Installing An End-Effector

    If you want to use any other end-effector with the Meca500, you will need to control it independently from the Meca500. You can attach the cabling of your end-effector along the robot arm using adhesive- screws tightened at 1.5 Nm, and, optionally, one ⌀3 locating pin, all of properly selected length.

  • Page 56: Examples

    MoveJoints(0,0,0,0,0,0) Figure 33 shows the result of four of the motion commands. (a) MovePose(140,-100,250,0,90,0) (b) MoveLin(270,100,250,0,90,0) (c) MoveLin(270,-100,250,0,90,0) (d) MoveLin(140,-100,250,0,90,0) Figure 33: The four separate robot positions that define the motion sequence User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 57: Inspection And Maintenance

    INSPECTION AND MAINTENANCE 10. INSPECTION AND MAINTENANCE The Meca500 requires no maintenance, but we recommend that you inspect it every three months and before storing it for more than a month, to ensure that it is still functioning properly. Proceed with the following list of verifications, in that order.

  • Page 58: Troubleshooting

    40 seconds until the red and yellow LEDs on the robot base start to blink sequentially. factory reset • On the Meca500, it is not possible to perform a factory reset, initializing all persistent configuration data and erasing all user programs.
  • Page 59 If you are unable to solve your technical problem, do not hesitate to contact our technical support team by creating a ticket at https://support.mecademic.com. User Manual for the Meca500 Industrial Robot (for firmware 10.1)

  • Page 60: Decommissioning

    DECOMMISSIONINg 12. DECOMMISSIONINg Even when the Meca500 reaches the end of its product's life cycle or is deemed to be damaged beyond repair, we encourage you to contact us to verify if complete disposal can be avoided. If you do decide to dispose of the Meca500 system (robot arm, power supply and cables), you must do so in accordance with the applicable national laws, regulations and standards.

  • Page 61: Appendix 1. Meca500 R4 Emc Test Results

    APPENDIx 1. MECA500 R4 EMC TEST RESULTS Table 13 lists all the tests passed by the Meca500 R4, called by the harmonized standards related to electromagnetic compatibility. Table 13: Summary of EMC test results for the Meca500 R4 SUMMARY OF TEST RESULTS...
  • Page 62 Table 13: Summary of EMC test results for the Meca500 R4 (continued) SUMMARY OF TEST RESULTS Minimum Test Name / performance Test specifications Result Standards criterion required Voltage Dips, Short Interruptions and Voltage dips: Pass Voltage Variation Immunity on AC Input...

  • Page 63: Appendix 2. Meca500 R3 Emc Test Results

    APPENDIx 2. MECA500 R3 EMC TEST RESULTS Table 14 lists all the tests passed by the Meca500 R3, called by the harmonized standards related to electromagnetic compatibility. Table 14: Summary of EMC test results for the Meca500 R3 SUMMARY OF TEST RESULTS...
  • Page 64 Table 14: Summary of EMC test results for the Meca500 R3 (continued) SUMMARY OF TEST RESULTS Minimum Test Name / performance Test specifications Result Standards criterion required Voltage Dips, Short Interruptions and Voltage dips: Pass Voltage Variation Immunity on AC Input...
  • Page 66 Contact Us Mecademic 1300 St-Patrick Street Montreal (Quebec) H3K 1A4 Canada 1-514-360-2205 1-833-557-6268 (toll-free in North America) https://support.mecademic.com © Copyright 2015–2024 Mecademic...

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