User Manual
In addition, it is important to remember that the brakes used on joints 1, 2 and 3 are
emergency brakes, not locking brakes. Therefore, if you leave the robot in a conguration
where the robot's forearm is nearly horizontal, the robot will very slowly fall down under
the effects of gravity (e.g., after several hours), especially if you have the maximum payload.
Therefore, always deactivate the robot in a conguration that minimizes the static torques
on joints 1, 2 and 3.
5 Technical specications
Table 1 lists the main technical specications of the Meca500 robot arm. Note that the
maximum tool-center point (TCP) speed is software limited to 1,000 mm/s when the robot
executes Cartesian-space motion commands, regardless of the 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, due to a joint-space command, the TCP speed can surpass 2,000 mm/s.
B
WARNING
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.
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
of ours).
The CAD les of the Meca500 (in STEP format) can be downloaded from our
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.
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