5. Operating the module

The MPM500 pneumatic module is controlled in the same way as the Meca500. Its valves can be opened or closed using the SetValveState(v₁,v₂) command, where v₁ and v₂ are the states of valves 1 and 2, respectively, with 1 for open, 0 for closed, and −1 for keep unchanged. You can also request the state of the valves.

5.1. Firmware update

If you upgrade the firmware of your robot (using the procedure described in the MecaPortal operating manual) while the pneumatic module is installed, the firmware of the module will be automatically updated. Otherwise, you can update the firmware of your module separately by following the same procedure, but selecting the file m500_exttools_*.update, instead of the file Meca500_E_LD_*.update.

5.2. Integration into the MecaPortal

The MecaPortal web interface automatically recognizes the MPM500 module and displays a CAD model of it, as well as a widget specific to the module (Figure 8). In the widget, you can control the states of the two valves.

Figure 8 Widget that appears in the MecaPortal jogging panel when the MPM500 is detected

5.3. Safety

The MPM500 pneumatic module is designed with safety in mind. However, additional tools connected to the module may lead to risks of injuries. Make sure that all connections are properly made and that you respect the technical specifications of the pneumatic module.

5.4. Activation and E-Stop

If an activated robot with an MPM500 pneumatic module becomes deactivated, the valves are no longer controllable and regain their default state, i.e., they close.

If an E-Stop is activated on a Meca500 R3, the whole system is powered off, while on a Meca500 R4, power is removed from the robot motors AND the MPM500 pneumatic module connected to the robot. Thus, in both cases, the valves return to their default state.

Danger

After a deactivation or an E-Stop, the valves regain their default states (i.e., closed). Therefore, if the robot’s pneumatic EOAT is holding a part, the part might fall.

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