Related Manuals for Mecademic MCS500 R1
Summary of Contents for Mecademic MCS500 R1
- Page 1 MCS500 SCARA INDUSTRIAL ROBOT (R1) USER MANUAL Document ID: MC-MCS500-UM-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
CONTENTS 1. INTRODUCTION ..............................1 1.1. Inside the box ..............................1 1.2. Basic description ............................2 2. SAFETY AND SMART POWER SUPPLY ......................3 2.1. Brakes ................................4 2.2. Overview of the smart power supply ......................4 2.3. Operation mode selector ..........................6 2.3.1 Automatic mode ...............................6 2.3.2 Locked mode ................................7 2.3.3... - Page 4 6.2.4 Removing power ..............................34 6.3. Robot's base..............................34 6.3.1 LEDs ..................................35 7. INSTALLING AN END-EFFECTOR .........................37 8. EXAMPLES ..............................39 8.1. Make a simple pick and place ........................39 9. MAINTENANCE ............................41 9.1. Greasing the ball screw spline ........................41 9.2. Making large-amplitude joints movements ....................42 9.3.
- Page 5 Original version. February 19, 2024 Minor improvements The document ID for each Mecademic manual in a particular language is the same, regardless of the firmware version and the revision number. User Manual for the MCS500 SCARA Industrial Robot (for firmware 10.1)
-
Page 7: Introduction
INTRODUCTION 1. INTRODUCTION The MCS500 is a four-axis industrial robot arm of type SCARA 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, to avoid injuries. -
Page 8: Basic Description
INTRODUCTION 1.2. Basic description The MCS500 is a four-axis SCARA robot consisting of four actuated joints, numbered as shown in proximal link Figure 1. Joint 1 is between the base and the and joint 2 is between the proximal link and distal link. -
Page 9: Safety And Smart Power Supply
SAfETy AND SMART pOwER SUppLy 2. SAfETy AND SMART pOwER SUppLy The MCS500 weighs less than 5 kg, but it can move very fast and cause injuries, especially when certain end-effectors are attached to its flange (e.g., a sharp tool). The robot also has pinch points where robot joints can squeeze a finger (Figure 2). -
Page 10: Brakes
2.2. Overview of the smart power supply The Mecademic power supply unit (PSU), shown in Figure 4, integrates several safety features. Use only the smart power supply provided by us to power your specific MCS500 robot arm. The MCS500 will not function with the power supply of another revision or with a third-party power supply. - Page 11 SAfETy AND SMART pOwER SUppLy Figure 4: The MCS500 smart power supply unit (PSU), MSIPS Referring to Figure 5, the main features of the MCS500 power supply are: • A: system on/off switch; • B: emergency stop button (Stop Category 1), designed as PL=d with Safety Category 3, MUST BE PROPERLY WIRED IN ORDER TO FUNCTION;...
-
Page 12: Operation Mode Selector
SAfETy AND SMART pOwER SUppLy AC POWER INPUT 90-250 VAC 8 AMPS MAX 50-60 HZ SINGLE PHASE Power Status Error CAUTION: HIGH VOLTAGE RESET E-STOP AUTOMATIC SAFETY I/O PORT 1 LOCKED MANUAL ROBOT POWER CABLE SAFETY I/O PORT 2 Figure 5: Power supply features and connectors To connect the power supply to the robot, use the DC power cable provided and never modify it. -
Page 13: Locked Mode
SAfETy AND SMART pOwER SUppLy 2.3.2 Locked mode In locked mode, power from the motors is removed and the brakes are engaged. In this mode, you can still change settings, save programs or use the simulation mode. 2.3.3 Manual mode In manual mode, the robot can move at limited speed, while you keep the Enabling Device signal high (i.e., the enabling device pressed midway). - Page 14 SAfETy AND SMART pOwER SUppLy Table 2: Power supply LED pattern sequences LED PATTERN SEQUENCES Situation Power (green) Status (yellow) Error (red) Power supply is switched off – – A fatal error was detected (e.g., invalid fast blink (100 ms on, –...
- Page 15 SAfETy AND SMART pOwER SUppLy ity as the one on the power supply. • Enabling Device, four pins. This is for connecting a three-position enabling device, necessary for operating the robot in manual mode. • Reset Ready, two pins. This output is enabled when the motors are ready to be powered (i.e., no safety stop is active) by activating the reset function.
- Page 16 SAfETy AND SMART pOwER SUppLy Table 4 Table 3 show further important details regarding the two connections of the two Safety I/O ports. In addition, Figure 7 shows the electric diagrams for the safety inputs and outputs, as well as for the E-Stop button on the PSU.
- Page 17 SAfETy AND SMART pOwER SUppLy Table 4: Notes for the Safety I/O port 2 (lower) Safety I/O port 2 Name Type Polarity Usage Notes • Pulse logical high for at least 100 ms but less Reset – B than 1 s to reset robot. External Input • Safety conditions E-Stop and P-Stop 1 must be...
- Page 18 SAfETy AND SMART pOwER SUppLy Output diagram Input diagram Power supply Power supply Load 24 V 24 V (DC) (DC) − − Safety switch diagram Safety PLC Power supply 24 V(DC) 24 V(DC) Figure 7: Electric diagrams for the outputs, the inputs and the E-Stop button on the power supply User Manual for the MCS500 SCARA Industrial Robot (for firmware 10.1)
-
Page 19: Technical Specifications
TECHNICAL SpECIfICATIONS 3. TECHNICAL SpECIfICATIONS Table 5 Table 6 list the main technical specifications of the MCS500 robot system. Table 5: Technical specifications for the MCS500 (R1) robot arm TECHNICAL SPECIFICATIONS FOR ROBOT ARM Characteristic Value Position repeatability 0.005 mm Rated payload 0.5 kg Maximum payload... - Page 20 "lefty" and the other as "righty". This issue is explained in further detail in the Mecademic Robots Programming Manual. The CAD files of the MCS500 (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 MCS500, including Visual Components and RoboDK.
- Page 21 TECHNICAL SpECIfICATIONS R225, corresponds to a singularity Zones accessible by spline shaft axis with both robot configurations Zone accessible by Zone accessible by spline shaft axis with spline shaft axis with configuration “lefty” only configuration “righty” only R125 units: mm Figure 9: The working range of the MCS500 robot 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...
-
Page 22: Installing The Mcs500
INSTALLINg THE MCS500 4. INSTALLINg THE MCS500 It is imperative that you fix solidly the base of your robot arm with four M6 screws (tightened at 3 Nm) before activating the robot. We typically use metric breadboards such as those from Thorlabs, but you can also use our adaptor plate MUAP02, build your entire robot cell at Vention, or use the modular system made by Tessella Automation. - Page 23 6. Open (preferably) the latest version of Google Chrome and type the robot's default IP address 192.168.0.100 in the address bar. 7. Mecademic's web interface, called the MecaPortal, should load instantaneously. User Manual for the MCS500 SCARA Industrial Robot (for firmware 10.1)
- Page 24 INSTALLINg THE MCS500 (a) Windows (b) Linux Figure 13: Two examples of how to configure 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.
- Page 25 INSTALLINg THE MCS500 Figure 15: Changing the robot's network configuration User Manual for the MCS500 SCARA Industrial Robot (for firmware 10.1)
-
Page 26: The Mecaportal
THE MECApORTAL 5. THE MECApORTAL Mecademic's web interface, called MecaPortal, is more or less the equivalent of the teach pendant's interface of a traditional industrial robot. This patent-pending 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 an internet browser such as Google Chrome. -
Page 27: The Menu Bar
THE MECApORTAL Menu bar 3D view panel Event log panel Jogging panel Code editor panel Figure 16: Overview of the MecaPortal (some features are patent pending) You can show/hide each of the four panels from the button , in the menu bar. 5.3. -
Page 28: The Connection And Robot State Selectors
THE MECApORTAL Table 7: The robot state bars in the MecaPortal ROBOT STATE BARS Visual state Explanation Gray, solid The robot is deactivated. Yellow, solid The robot is in recovery mode but not moving. Yellow, blinking The robot is in recovery mode and executing motion commands. Green, solid The robot is activated. -
Page 29: Writing Programs
THE MECApORTAL Programs can be saved in different folders. To specify a folder, and simultaneously create it if it does not exist, simply type the name of the folder followed by a slash, immediately before the name of the program. You can specify multiple layers of folders. Naturally, the program names in a given folder must be unique, as well as the sub-folder names in a given folder. - Page 30 THE MECApORTAL The code editor includes various editing features for productive source code editing. The shortcuts for accessing these features are presented in Table 8. You can select a block of text, a box of text (column select), or even have multiple cursors. Each line that has a text cursor or a selection of text becomes highlighted in gray and is called an active line.
-
Page 31: The Event Log Panel
THE MECApORTAL appear, acknowledges and resets the error (i.e., the MecaPortal sends the ResetError command to the robot). Once the error was reset, you need to send ResumeMotion, by clicking the button (now blue). Finally, recall that you can execute other programs, using the command StartProgram. With that command, you can only execute programs that have already been saved on the robot. -
Page 32: The Jogging Panel
THE MECApORTAL One of the main limitations, when operating a robot, is its joint limits, which are different for each joint. We have therefore added various visual cues (patent pending), that represent the approximate joint position, relative to the corresponding joint limits. These cues are the up-pointing triangles under each joint position text field. -
Page 33: The Joint Jog Tab
(Technically, you can use other joysticks, such as a PlayStation controller, but the icons displayed will be those for the SpaceMouse.) (a) Joint jogging using primary mouse (b) Joint jogging using secondary (c) Joint jogging using Mecademic's button mouse button three-axis joystick Figure 18: Joint jog tab... - Page 34 THE MECApORTAL respectively. In other words, you are directly controlling the joint speed, rather than the joint position. Alternatively, you can directly click with the primary mouse button on either of the two arrow buttons of the jogging bar and hold, which makes the joint rotate at the specified maximum jogging velocity. You can also drag the thumbs of the jogging bars using the secondary mouse button (Figure 18b).
-
Page 35: The Cartesian Jog Tab
You can even customize the mapping between the joystick "axes" and the jogging directions in the configuration menu, (a) Mecademic's MJ3 3-axis precision joystick (b) SpaceMouse® 6-axis joystick Figure 19: USB joysticks that can be used with the MecaPortal... - Page 36 THE MECApORTAL As with the joint jog tab, the jogging bars can be controlled with both the primary (Figure 20a) and secondary (Figure 20b) mouse buttons, using the same logic. However, you can merge two jogging bars for linear movement (i.e., X and Y, Y and Z, or Z and X) into a 2D jogging pad using the buttons under the label "Axes".
-
Page 37: The Configuration Menu
THE MECApORTAL 5.8. The configuration menu The configuration menu can be accessed from the top left corner of the MecaPortal window, . It features the following sections: • Robot information, such as the serial number and the complete version number of the firmware; •... -
Page 38: Operating The Robot
"Control". • As soon as the robot is connected, you will get the following welcome message in the Event log panel: [3000][Connected to MCS500 R1 v.10.1.x]. 6.1.3 Resetting the operation mode After an operation mode change, the robot immediately decelerates to a complete stop, and power is removed from the robot motors. -
Page 39: Moving The Robot
OpERATINg THE ROBOT 6.1.5 Moving the robot After activating the robot, click the button in the jogging panel and select "Zero all joints". The robot will move all of its joints to their zero positions. In this robot joint set (shown in Figure 1), the robot is in a so-called singularity. -
Page 40: Deactivating The Robot
OpERATINg THE ROBOT off. This can be done in two ways: • send a MoveJoints command with all four arguments equal to 0 • click the button in the jogging panel and select "Zero all joints". 6.2.2 Deactivating the robot To deactivate the robot •... -
Page 41: Leds
OpERATINg THE ROBOT Figure 22: Robot's base 6.3.1 LEDs After a power up, the Power, Status and Error LEDs will flash fast simultaneously during a couple of seconds. After that, the LEDs will be lit as described below. Motors ON LED The large yellow LED on the top of the robot's base is on when the motors are powered and off when power is removed from the motors (e.g., after an E-stop or when the switch key is in Locked operating mode position). - Page 42 OpERATINg THE ROBOT Error LED The Error LED is red and indicates the error state of the robot: • off, when there is no error or a protective/emergency stop; • on, when the robot is in error state; • one flash (every second), when a P-Stop 2 is activated; •...
-
Page 43: Installing An End-Effector
INSTALLINg AN END-EffECTOR 7. INSTALLINg AN END-EffECTOR You can install end-of-arm tooling (EOAT) on the MCS500 and control it via the optional MVK01 I/O and vaccum module or directly from your PLC. The MCS500 can be mounted table-top or upside-down. For that purpose, the two ends of the spline shaft are identical and symmetric. - Page 44 INSTALLINg AN END-EffECTOR • Never remove the retaining rings from the spline shaft or you will damage permanently the ball-screw spline assembly. • Do not over-tighten the M3 screws. Use a torque of 1.5 Nm. • Attach the EOAT cabling using adhesive cable tie mounts in such a manner that it obstructs as little as possible the motions of the robot.
-
Page 45: Examples
ExAMpLES 8. ExAMpLES 8.1. Make a simple pick and place Here is an example of a very simple program that makes a pick and place motion: // Set reference frames SetTrf(0, 0, 0, 0) SetWrf(0, 0, 0, 0) // Set motion parameters SetCartLinVel(5000) SetJointVel(100) SetBlending(10) - Page 46 ExAMpLES (a) MovePose(120, -152.4, 50, 0) (b) MoveLin(120, -152.4, 24.6, 0) (c) MovePose(120, 152.4, 50, 0) (d) MovePose(120, 152.4, 24.6, 0) Figure 25: The four separate robot positions that define the motion sequence User Manual for the MCS500 SCARA Industrial Robot (for firmware 10.1)
-
Page 47: Maintenance
MAINTENANCE 9. MAINTENANCE Depending on the usage of your MCS500, the robot may require some minimum maintenance. However, it does never require disassembly. There is no battery to replace and joints 1 and 2 do not require greasing. 9.1. greasing the ball screw spline The first application of grease on the spline shaft is needed after approximately 50 000 m of travel. -
Page 48: Making Large-Amplitude Joints Movements
5. Make sure there are no loose D-SUB connections. If you detect any anomalies, cease using the robot and contact our support team by creating a ticket at https://support.mecademic.com. User Manual for the MCS500 SCARA Industrial Robot (for firmware 10.1) -
Page 49: Troubleshooting
TROUBLESHOOTINg 10. TROUBLESHOOTINg No LEDs are on upon power up • Make sure all connectors are properly attached. • Make sure the AC outlet works (the green LED on the power supply should be on). No connection to the robot's web interface •... - Page 50 Never disassemble the robot. If you think the robot is damaged, stop using it immediately and contact us. 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 MCS500 SCARA Industrial Robot (for firmware 10.1)
- Page 52 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...
Need help?
Do you have a question about the MCS500 R1 and is the answer not in the manual?
Questions and answers