EFORT ER6-1400, Quick Operation Manual

Page 1: ...ER6 1400 Quick Operation Manual for Industrial Robot EFORT Intelligent Equipment Co Ltd Service Hotline Tel 86 400 0528877...

Page 2: ...r objects around you This statement and manual are the latest version of this batch of products before leaving the factory Please visit www efort com cn Official website for updated information This m...

Page 3: ...inet handling 15 2 4 INSTALLATION 16 2 4 1 Setting of safety bar 16 2 4 2 Robot installation method 16 2 4 3 Ground installation 17 2 4 4 Bracket installation 18 2 4 5 Upside down installation 18 2 4...

Page 4: ...area and interface 44 4 1 3 How to hold the teaching pendant 46 4 2 POWER ON AND START 47 4 3 JOG OPERATION 47 4 3 1 What is Jog operation 47 4 3 2 Points for attention on jogging operation 47 4 3 3...

Page 5: ...he operator of the robot system is designed reasonably and installed correctly Robot operators must be familiar with the operation and handling of industrial robots as described in the following appli...

Page 6: ...ures 1 Make sure that no one is in the danger area before starting the machine 2 All operators must receive special training on the use and maintenance of industrial machines 3 The foreman shall conti...

Page 7: ...ity and brakes may cause a fall hazard 2 When the safety protection device is inspected it may cause danger to the maintenance personnel because the safety protection device cannot work Therefore the...

Page 8: ...duct is in good condition 2 After unpacking please confirm whether the robot accessories are complete and whether the model is consistent with the order In case of missing or wrong parts please contac...

Page 9: ...on 1 Visually check the robot to ensure it is not damaged 2 Ensure that the lifting device used is suitable for handling the specified robot weight 3 If the robot is not directly installed it must be...

Page 10: ...a robot in a cold environment The temperature rise rate must be adjusted according to the ambient temperature and the operating procedure used The following table shows an example of speed adjustment...

Page 11: ...n mode TCP IP Modbus TCP CAN open ProfibusDP EtherCAT Power supply 3 380V 10 50 60Hz Dimension W522mm D560mm H1165mm Weight 125kg Ambient temperature 0 45 Ambient humidity 80 RH no condensation 40 Max...

Page 12: ...obot workplace 2 1 ER6 1400V1 01 robot motion range diagram Note the workspace shown in this figure is the maximum that can be reached in theory and the actual operation will be affected by the instal...

Page 13: ...tric cabinet which will affect the heat dissipation of the electric cabinet Please reserve more than 150 mm space around the electric cabinet When installing the robot make sure it can move freely in...

Page 14: ...ve cover should be taken to avoid damage to wiring by operators and forklifts 2 3 2 Robot body handling 1 Handling method 1 When hanlinging the robot first set the robot according to the posture shown...

Page 15: ...ER6 1400V1 01 Industrial Robot Quick Operation Manual 14 Figure 2 3 schematic diagram of lifting hanling Figure 2 4 schematic diagram of forklift handling...

Page 16: ...locking the universal wheels you can directly push the control cabinet to the target position and then lock the universal wheels for fixation Please make sure that the control cabinet is not inclined...

Page 17: ...l may be exposed to danger Section 5 4 2 the provisions for establishing safety protection space and limited space the safety protection space shall be established through surrounding protection The l...

Page 18: ...fixation Name Specification quantity bottom plate thickness 30mm 1 reference area 600mm 600mm Chemical bolt group Above M16 strength grade 4 8 8 Set screw M16 45 strength grade 12 9 4 Parallel pins w...

Page 19: ...strength of concrete foundation The strength of concrete foundation is higher than that of corresponding chemical bolt components 2 4 5 Upside down installation In order to ensure safety the following...

Page 20: ...s Robot environmental conditions environmental conditions working conditions storage and transportation conditions Ambient temperature 0 45 40 55 Relative humidity 80 40 93 40 Atmospheric pressure 86...

Page 21: ...Figure 2 9 dimension of end load mounting Dimension drawing of external part installed on big arm Figure 2 10 installation dimension of external parts Dimension drawing of external parts installed on...

Page 22: ...ER6 1400V1 01 Industrial Robot Quick Operation Manual 21 Figure 2 10 Dimension drawing of external part installed on big arm Figure 2 11 Dimension drawing of external parts installed on motor base...

Page 23: ...ER6 1400V1 01 Industrial Robot Quick Operation Manual 22 Figure 2 12 Dimension drawing of external parts installed on wrist Figure 2 13 Dimension drawing of external parts installed on swivel seat...

Page 24: ...ER6 1400V1 01 Industrial Robot Quick Operation Manual 23 Figure 2 14 external air pipe and signal line...

Page 25: ...carried out after the power supply is cut off 2 Do not wind the redundant part of the robot connecting cable more than 10m into a coil When used in such a state the temperature of the cable may rise g...

Page 26: ...ion view of input power supply X10 Table 3 1 definition of input power X10 interface Terminal PIN bit Function description 1 L1 2 L2 3 L3 4 PE ground contact 3 2 Robot power signal and grounding cable...

Page 27: ...se it otherwise the overall tightness of the control cabinet will be damaged 3 3 Controller local IO definition Table 3 1 definition of OUTPUT port PIN bit Description 02 System occupancy 03 System oc...

Page 28: ...can be used as the input signal of the controller after the function of safety door and safety grating is triggered After the signal is triggered the robot alarms and stops in an emergency which needs...

Page 29: ...et Due to the limited space the local IO can expand up to four 16dDI 16DO modules with 24 VDC input and 24 V DC 500mA output Table 3 5 local IO module extension list Category Diagram Quantity Remark B...

Page 30: ...onnected to the positive pole of 24 V B1 B2 is connected to the negative pole of 24 v 3 4 2 Controller remote IO extension The remote IO extension of controller adopts standard Ether CAT bus communica...

Page 31: ...eration steps of updating IO module Steps Diagram Description 1 If the actual IO quantity of the hardware does not match the preset IO quantity the teach pendant will pop up an alarm 998 unfriendly RH...

Page 32: ...operable After the controller is fully started the teaching pendant can operate normally 3 5 2 Remote IO configuration Table 3 9 remote IO configuration operation steps Step Diagram Description 1 Ope...

Page 33: ...module pay attention to the length of address occupied by different modules and the occupied address cannot be set When the selection module is AD or DA module the type of four channels needs to be se...

Page 34: ...dress Channel when the selection module is AD or DA the channel value type needs to be selected There are 7 channel types of AD module and 6 channel types of DA module Enable Switch for remote IO conf...

Page 35: ...nter the IO free configuration interface Select IO free configuration function Click the configuration button to enter the configuration interface 3 Enter the IO free configuration interface IO config...

Page 36: ...scription input Serial number Description Illustration Detection of signal Operation mode 1 servo control robot servo switch pulse signal Automatic mode valid 2 start up the program runs from the curr...

Page 37: ...ogram is 9 high low level automatic mode valid 9 external alarm signal The robot stops immediately after receiving the alarm signal high low level automatic manual effective 10 safety door Safety door...

Page 38: ...is 1 forward motion Additional axis 1 negative motion Additional axis 2 forward motion Additional axis 2 negative motion In the manual mode when the robot upper servo and the asynchronous axis movemen...

Page 39: ...low level automatic manual effective 4 Servo status Servo status of current robot high low level automatic manual effective 5 Operation mode bit 1 Operation mode bit 2 The binary number is arranged i...

Page 40: ...odule 1 168 in which 1 3 is occupied by the system and cannot be configured valid address range of remote IO module 0 63 4 valid value 0 or 1 Valid value 1 means that when the state value is true high...

Page 41: ...n interface 3 Enter the analog IO configuration interface to configure channel parameters The previously configured IO information of analog quantity can be viewed here Click the Edit button to enable...

Page 42: ...m can be configured to stop the strike to produce any of the following effects Class 0 stop Stop the robot operation immediately by stopping the motor power supply Class 1 stop Stop the robot operatio...

Page 43: ...4 5 K4 9 is a pair of normally open contacts Users can wire according to their needs the recommended wire diameter is more than 0 5mm as shown in the figure below Figure 3 5 emergency stop dry contact...

Page 44: ...the functions of the robot For example manual control of robot motion programming control of robot motion setting IO interactive signal and so on Figure 4 1 EFORT teaching pendant Table 4 1 basic par...

Page 45: ...e teaching pendant Serial number Name Description 1 Membrane panel 3 Company logo painting 2 Liquid crystal display For human computer interaction operating robot 3 Membrane panel 2 Contains 10 button...

Page 46: ...e Serial number Name 1 Tricolor lamp 11 Axis 4 motion 2 start 12 Axis 5 motion 3 pause 13 Axis 5 motion 4 Axis 1 motion 14 Axis 6 motion 5 Axis 1 motion 15 Axis 6 motion 6 Axis 2 motion 16 step backwa...

Page 47: ...us single step in single step skip etc 8 Speed 4 Multifunction key F4 9 Speed 5 Multifunction key F2 10 Servo power on 4 1 3 How to hold the teaching pendant When the left hand holds the teaching pend...

Page 48: ...out Jogging operation is divided into continuous Jogging and incremental jogging 1 Continuous jogging is to press and hold the and buttons to make the robot move 2 Incremental jogging needs to set the...

Page 49: ...inate system type The order of switching is joint coordinate system robot coordinate systemt Tool coordinate system user coordinate system The switching result is displayed in the status bar of the te...

Page 50: ...ots please read ER series robot operation manual 4 4 Shut down and power off If it is necessary to shut down the robot on holidays or rest days the operation steps are as follows 1 After the robot run...

Page 51: ...ency stop alarm is displayed Check 1 whether the emergency stop button on the control cabinet panel is reset Check 2 whether the teaching pendant is connected normally and whether the emergency stop b...

Page 52: ...nd replace if damaged Check 2 whether fuse Fu5 fuse core is damaged If damaged please replace it When the fuse core and fuse are damaged please replace them with the same specification the specificati...

Page 53: ...n the lack of foundation rigidity 2 The specification and strength of chemical bolts do not meet the requirements Refer to the content of 3 2 3 ground installation in this manual to make the concrete...

Page 54: ...obot in the following two cases 1 Restart operation after long term shutdown 2 After changing the grease start the operation In these two cases there will be a running in stage at the initial stage of...

Page 55: ...ing screws of base and joints the connecting screws of end flange etc and use the torque wrench to tighten them with the required torque 2 If it is confirmed that the parts are damaged please consult...

Page 56: ...ter sales service department of the company to repair and replace it 2 Replace the motor If the overheating is eliminated it indicates the original motor is faulty The joint cannot be locked Joint loc...

Page 57: ...his product are subject to change without prior notice The technical data and illustrations are for reference only and we reserve the right to change them EFORT INTELLIGENT EQUIPMENT CO LTD No 96 Wanc...