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Elite EC66 User Manual

Collaborative robot
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ELITE COLLABORATIVE ROBOT
EC66 User Manual
 

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Summary of Contents for Elite EC66

  • Page 1   ELITE COLLABORATIVE ROBOT EC66 User Manual  ...
  • Page 2 Suzhou Elite Robot Co., Ltd. shall assume no liability for any errors which will occur in the manual probably. Suzhou Elite Robot Co., Ltd. shall assume no liability for the accident or indirect injury as a result of using of this manual and the product mentioned herein.

  • Page 3: Table Of Contents

    7.1.2.2 Connection of the control box to the mains supply ........  3 0   7.2 Robot Power-on ......................  3 1   7.2.1 Preparations before power-on .................  3 1   7.2.2 System power-on  .....................  3 2   7.3 Robot Shutdown  ......................  3 2   Chapter 8 Electrical Interface ....................  3 3   ELITE ROBOT...
  • Page 4 D Reference Standards  .....................  6 2   E Technical Specifications ....................  6 3   F Payload .........................  6 4   G Installation Requirements of the Robot Arm ...............  6 5   H Alarm Information and Description of Routine Problems ...........  6 6   ELITE ROBOT...

  • Page 5: Preface

    Accordingly, the work efficiency of the practical application may be improved greatly. The EC66, as one of the ELITE modular collaborative robot series, is an intelligent light 6-DOF modular collaborative robot launched by Suzhou Elite Robot Co., Ltd., with a payload of 6kg.

  • Page 6: Product Composition

      Product Composition The detailed outbound list of one set of complete EC66 robot is shown in the table below. Name Quantity Robot body Control box including teach pendant Power cord Base (Optional) User manual (optical disk) Thin-walled wrench More Information If you need more information, please visit the website: www.elibot.cn...

  • Page 7: Chapter 1 Safety

    This indicates an imminently hazardous electrical situation which, if not avoided, could result in  casualties or serious damage of the equipment. This indicates a potentially hazardous hot surface which, if touched, could result in the personnel injury. ELITE ROBOT...
  • Page 8 This indicates a situation which, if not avoided, could result in personnel injury or damage of the equipment . As for the item marked with this symbol, the major consequence would probably occur sometimes in accordance with the specific situation. ELITE ROBOT...

  • Page 9: Safety Cautions

    However, it is impossible to cover all aspects. In practical application, the concrete problem needs to be analyzed in a concrete way. ELITE ROBOT...
  • Page 10 5. The brake is installed in the EC66 joint module, to maintain the pose of the robot arm when the power is switched off. Do not artificially switch the power supply system on and off frequently.
  • Page 11 The authorized reassembling of the robot shall be done in accordance with all relevant service manuals of the latest versions. If the robot is changed or altered in any way, Suzhou Elite Robot Co., Ltd. shall refuse to take all responsibilities.
  • Page 12 1. All operating personnel using the robot system should receive the training through training courses hosted by Suzhou Elite Robot Co., Ltd. The user should ensure to fully grasp the safe and normative operational process and have the qualification of operating the robot. For detailed training, please contact with the company.

  • Page 13: Liabilities And Specifications

      1.4 Liabilities and Specifications EC66, which is not complete, may form a complete machine with other equipments. Therefore, the information in this manual neither covers how to design, install and operate one complete robot comprehensively, nor covers all possibilities of affecting safety of the peripheral equipment of the complete system.

  • Page 14: Danger Identification

    Suzhou Elite Robot Co., Ltd. strives to ensure accuracy and reliability of the contents in this manual, and takes no responsibility for any errors or missing information herein.

  • Page 15: Intended Use

    The ELITE robot shall be allowed to use only under the specified condition. For specific information about the relevant operating environment and operating conditions, please refer to the appendix.

  • Page 16: Handling Of Emergency Situations

    IEC 60947-5-5. The EC66 is equipped with the emergency stop buttons on the control box and the teach pendant. The button should be pressed only when meeting the dangerous situations or emergencies, as shown in following figure.
  • Page 17 The function may ensure that the damage to the personnel, other objects and the robot arm is reduced when the operating personnel or other objects bump against the robot arm. ELITE ROBOT...
  • Page 18   The function may reduce the damage as a result of impact, and the risk assessment should be implemented when used for other purposes. ELITE ROBOT...

  • Page 19: Chapter 2 Carrying And Cautions

    1. Make sure that your back or other parts of the body are not overloaded when raising the equipment. 2. All regional and national guides should be followed. Suzhou Elite Robot Co., Ltd. shall not be responsible for damage generating during transportation of the equipment.

  • Page 20: Chapter 3 Maintenance, Repair And Disposal

    The authorized system integrator or Suzhou Elite Robot Co., Ltd. must implement the maintenance. When the parts are returned to Suzhou Elite Robot Co., Ltd., operation should be implemented in accordance with the provisions in the service manual.

  • Page 21: Disposal

    4. The control box does not have a part that the end user can repair by himself. If you need maintenance or repair services, please contact with your dealer or Suzhou Elite Robot Co., Ltd. 3.2 Disposal The ELITE robot must be disposed in accordance with the applicable national laws and regulations and the national standards.

  • Page 22: Chapter 4 Quality Assurance

    In case of defects of the equipment which is out of warranty, Suzhou Elite Robot Co., Ltd. shall not be responsible for any damage or loss caused therefrom, such as loss of production or damage due to other production equipments.
  • Page 23   3. The failure can not be reproduced, or Suzhou Elite Robot Co., Ltd. cannot identify the failure. 4. This product is used on the radioactive equipment, the biological test equipment or in the dangerous use judged by Suzhou Elite Robot Co., Ltd.

  • Page 24: Chapter 5 Robot Hardware Composition

    Chapter 5 Robot Hardware Composition Figure 5-1 EC66 robot system As shown in Figure 5-1, the EC66 collaborative robot system mainly consists of the robot body, the control box (multiple modes of the control boxs are optional), the base and the teach pendant.
  • Page 25 The EC66 provides multiple IO interfaces, and the tool flange of the robot end is equipped with four digital input and output interfaces and two analog input and output interfaces. The control box may communicate with the robot arm through the high-speed dedicated bus.

  • Page 26: Chapter 6 Robot Installation

    Description of installation of the additional device: if the additional components, such as the cable which is outside the rang that Suzhou Elite Robot Co., Ltd. should provide, are integrated into the industrial robot, it is the user’s responsibility to ensure that these components are completely unaffected and the safety functions would not be affected.

  • Page 27: Workspace Of The Robot

    Figure 6-1 Mechanical dimensions diagram of the EC66 robot, with unit of mm 6.3.2 Range of motion of the robot Figure 6-2 shows the range of motion of the EC66, namely, a sphere with a reach of 914mm except the cylindrical space directly above and directly below the base. When choosing the...

  • Page 28: Robot Installation

    Figure 6-3. Figure 6-3 Schematic diagram of different installation poses When installing on the base, the robot body is fixed on the base with four M8 bolts. It is ELITE ROBOT...

  • Page 29: Installation Of The End Tool

    The tool flange has four M6 threaded holes and one Ф6 positioning hole, in this way the clamp may be conveniently installed and connected to the robot end. The mechanical dimensions of the tool flange are shown in Figure 6-5. ELITE ROBOT...
  • Page 30 Figure 6-5 Mechanical dimensions diagram of the tool flange of the robot, with unit of mm 1. Make sure the tool is correctly and securely installed in place. 2. Make sure the tool is safely constructed such that it cannot create a hazardous situation by a dropping part unexpectedly. ELITE ROBOT...

  • Page 31: Chapter 7 Introduction To Use

    Chapter 7 Introduction to Use 7.1 Installation 7.1.1 Robot installation Take the ELITE robot out of the packing box and install it on the base. Please refer to Chapter 6 Robot Installation for the specific installation instructions. 【NOTES】 1. The control box should be placed on the ground horizontally. A 50 mm clearance should be reserved on each side of the control box to ensure smooth air circulation.

  • Page 32: Connection Of The Robot Arm To The Control Box

    There is a heavy-load rectangular plug at the end of the mains cable of the control box. Connect the local dedicated mains cable to the heavy-load rectangular plug. Pay attention to the insertion direction, and lock the connector after tight insertion, as shown in the following figure. ELITE ROBOT...

  • Page 33: Robot Power

    Check whether the teach pendant is well connected with the control box. • Check whether the power cable of the control box is well connected. • The power master switch of the control box is OFF when the power supply is turned ELITE ROBOT...

  • Page 34: System Power

    2. Turn off the power supply of the I-series control box. Warning: shutdown of the system by directly unplugging the power cord from the wall socket may cause damage of the file system of the robot, and accordingly lead to function failure of the robot. ELITE ROBOT...

  • Page 35: Chapter 8 Electrical Interface

      Chapter 8 Electrical Interface 8.1 Overview This chapter describes all electrical interfaces of the collaborative robot. Examples are given for most types of I/Os. The term “I/O” refers to both digital and analog control signals of an import interface. •...
  • Page 36 Very high signal level or excessive exposure may damage the robot permanently. The EMC problems happen usually during welding and are usually prompted by the error messages in the log. ELITE shall not be held responsible ELITE ROBOT...

  • Page 37: Controller I

    I/O is extremely flexible and may be applied to various different equipments, including the pneumatic relay, the PLC and the emergency stop button. The layout of the electrical interfaces inside the control box is shown in the following figure. ELITE ROBOT...
  • Page 38 Dedicated safety signals J102,J103,J104,J105 Configurable digital input DI J109,J110,J111,J112,J113 General purpose digital DO J108,J107 General purpose analog I/O The following chapters shall describe how to use the digital I/O. This section describes the common specifications that must be followed. ELITE ROBOT...

  • Page 39: Common Specifications Of All Digital I

    • Configurable I/O. • General purpose I/O. It is of importance to install the Elite robot in accordance with the electrical specifications, and this point must be done for both two types of inputs. The internal 24V power supply shall be provided to the digital I/O, and access of the power interface shall be implemented through the J14 terminal on the IO plate via the internal 24V power supply.
  • Page 40 Digital input/safety input [DINx /x_STOPx] Voltage [DINx /x_STOPx] OFF region [DINx /x_STOPx] ON region [DINx /x_STOPx] Current (-10V-19V) [DINx /x_STOPx] Function Type [DINx /x_STOPx] IEC 61131-2 Type NOTE: The word “Configurable” is intended for the input which may be ELITE ROBOT...

  • Page 41: Safety I

    Stop category (IEC 60204) Performance level (ISO 13849-1) The emergency stop output and other safety I/O functions may be set with the configurable I/O. Some examples about how to use the safety I/O are given in the section below. ELITE ROBOT...
  • Page 42 (the teach pendant is equipped with the emergency stop button; the equivalent circuit is shown below; and the short circuit is required to implement for E_STOP1 and GNDP when the E_STOP1 enabling is not configured in the software). 8.3.2.2 Connecting with the emergency stop button ELITE ROBOT...
  • Page 43 DANGER: The robot shall resume motion automatically when the safeguard signal is re-established. Do not use this configuration if the signal can be re-established from the inside of the safety perimeter. ELITE ROBOT...

  • Page 44: General Purpose Digital I

    Load controlled by the digital output This example shows a connection way of the load controlled by the digital output. See the figure below. ELITE ROBOT...

  • Page 45: Digital Input From A Button

    • Use a shielded cable or twisted pair. Connect the shielded cable to the “GNDP” terminal on the “Power” terminal. The electrical specifications are shown below. Terminal Parameter Type Unit Analog input [AINx - GNDPA] Voltage ELITE ROBOT...
  • Page 46 The following example shows a way of using the analog I/O. 8.3.5.1 General purpose analog output The following example illustrates how to control a welding current of a welder with an analog input. 8.3.5.2 Using an analog input This example illustrates how to connect with an analog sensor. ELITE ROBOT...

  • Page 47: Ethernet

    Parameter Type Unit Communication speed Mb/s 8.5 Mains Connection The mains cable of the control box has a standard rectangular heavy-load plug at the end. Connect the local dedicated mains socket or cable to the rectangular heavy-load plug. ELITE ROBOT...
  • Page 48 The electrical specifications are shown in the table below. Parameter Type Unit Input voltage External mains fuse (when the voltage is 90-130V) 16 External mains fuse (when the voltage is 200-240V) 8 Input frequency Rated operating power 1200 ELITE ROBOT...
  • Page 49 4. Please make sure that all cables are connected correctly before the control box is powered on. Always use the original power cord. 5. The operation of switching the switch inside the NED-100D switching power should be implemented before the box is not connected with the power supply. ELITE ROBOT...

  • Page 50: Robot Connection

    Do not extend or modify the original cable. 8.7 Tool I/O A 12-pinned connector is arranged near the tool flange of the collaborative robot end, for providing the different grippers and sensors connected to the robot with the power supply and the control signals. ELITE ROBOT...
  • Page 51 The following figure should be used for reference for a function list of 12 connecting pins of an aviation plug: Note: the mode of the aviation plug is HR10A-10R-12P of HRS company Pin No. Function description Digital ground (GND) Digital output interface 1 (DO1) Digital output interface 2 (DO2) Digital input interface 1 (DI1) ELITE ROBOT...

  • Page 52: Tool Power Supply

    *1000 mA for max 1 second. Maximum duty cycle: 10%. Average current must not exceed 600 mA 8.7.1 Tool power supply The tool I/O of the Elite collaborative robot may provide the external tool with the 24V power supply. ELITE ROBOT...

  • Page 53: Tool Digital Input

    The digital output is compatible with a sinking drive mode (NPN), namely, it is in the low level state when the output port is activated; and the level state is in a high-impedance breaking state when the output port is not activated. ELITE ROBOT...
  • Page 54 This example illustrates how to open and use a load of the internal 24V power supply: It is recommended to use a protective diode for the inductive load, as shown in the figure below. Caution: There is voltage between the power connector and the shield/ground even when the load is turned off. ELITE ROBOT...

  • Page 55: Tool Analog Input

      8.7.4 Tool analog input The tool analog input is a non-differential input, with voltage (0-10V). The electrical specifications are shown below. Parameter Type Unit Input voltage -0.5 Input resistance >100 MΩ Resolution Two examples of how to use the analog input are illustrated in the following section. Using the tool analog input, non-differential This example shows an analog sensor connection with a non-differential output.

  • Page 56: Tool Analog Output

      8.7.5 Tool analog output The tool analog output is a non-differential output, with voltage (0-10V). The electrical specifications are shown below. Parameter Type Unit Output current Output short circuit current Resolution The examples of how to use the analog output are illustrated in the following section. Using the tool analog output This example shows a method of connecting to an analog signal with a non-differential output.

  • Page 57: Chapter 9 Teach Pendant

      Chapter 9 Teach Pendant The teach pendant is an important component of the ELITE robot. Through the teach pendant, the user may read log information of the robot while enabling the robot to move with a teaching way and simply programming the robot.
  • Page 58   “ERC-G200 System Operation Manual”.    ...

  • Page 59: Appendix

      Appendix A Glossaries Stop Category 0: the robot motion is stopped immediately when the power supply of the robot is turned off. It is an uncontrolled stop, where the robot may deviate from the programmed path as each joint may brake as fast as possible. This protective stop may be used when a safety-related assessment limit is exceeded, or when a fault occurs in the safety-related assessment part of the control system.
  • Page 60   Risk assessment: The risk assessment is the whole process of identifying all risks and reducing these risks to an appropriate level. The risk assessment should be recorded and archived. please refer to ISO 12100 for details. Performance level (PL): the PL is a discrete level which is used to specify the ability of each safety-related part in the control system to implement the safety function under foreseeable conditions.

  • Page 61: B Certification And Detection

    The EC66 robot has passed the EU CE certification, and the product is in line with all relevant requirements of the EU CE directive:...
  • Page 62   The EC66 robot has been certified and tested by National Robot Testing and Assessment Center (Headquarters) of China, has passed the CR certification and is in line with all relevant requirements of the CR certification standards regarding the collaborative robot. The test standards are as follows: GB 5226.1-2008, GB 11291.1-2011...

  • Page 63: C Stopping Time And Stopping Distance

      C Stopping Time and Stopping Distance Stopping distance and stopping time of stop category 0 The table below shows the stopping distance and the stopping time measured when the stop category 0 is triggered. These measuring results correspond to the following configurations of the robot: •...

  • Page 64: D Reference Standards

      D Reference Standards The robot is designed by using the following standards for reference: Standard Definition 2006/42/EC:2006 Machinery Directive: Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on machinery, and amending Directive 95/16/EC (recast) 2004/108/EC:2004 EMC Directive: Directive 2004/108/EC of the European Parliament and of the...

  • Page 65: E Technical Specifications

      E Technical Specifications Robot type  EC66 Weight 17.5kg Maximum payload Reach 914mm Joint speed 144°/s to 224°/s TCP speed 1m/s Repeated positioning accuracy 0.03mm Control box IO 16 digital in, 16 digital out, 2 analog in and 4 analog out...

  • Page 66: F Payload

      F Payload D(mm) A wrist payload diagram is shown above. Herein, the horizontal ordinates d respectively indicate the offset of the center of gravity. The offset of the center of gravity is a distance from a center of a flange plate of the tool end to the center of gravity of the tool. WARNING 1.

  • Page 67: G Installation Requirements Of The Robot Arm

      G Installation Requirements of the Robot Arm The robot arm having a 6KG load runs normally without bumping against the outside, in which a center of gravity of the load is deviated from a central axis of the tool end for 100mm. Three ways of installation (forward installation, hoisting and vertical installation) are available, and it is recommended that the minimum anti-overturning force should be available at each hole position of fixing the bolt of the robot arm.

  • Page 68: H Alarm Information And Description Of Routine Problems

      H Alarm Information and Description of Routine Problems See the detailed instructions of the control system for the alarm information.    ...
  • Page 69   Suzhou Elite Robot Co., Ltd. Website: http://www.elibot.cn/ Tel: 010-82170718 E-mall: support@elibot.com Address: Building C, 28#, Heshun Road, Suzhou Industrial Park Postal code: 102300    ...

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