Related Manuals for Omron Regular Payload
Summary of Contents for Omron Regular Payload
- Page 1 Regular Payload Series Hardware Installation Manual Corresponding models: TM5 Series Original Instruction I623-E-05...
- Page 2 This Manual will be reviewed periodically. The Corporation will not be liable for any error or omission. logo is registered trademark of TECHMAN ROBOT INC. in Taiwan and other countries and the company reserves the ownership of this manual and its copy and its copyrights. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2...
-
Page 3: Table Of Contents
4.2.2.4 End Indication Light Ring Table ......................39 4.2.3 Control Box ..............................39 4.2.3.1 Robot Stick ............................40 4.2.4 Robot Light Module ............................. 42 4.2.4.1 Light Module Surface ..........................42 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... - Page 4 5.6.4 Detachable I/O Panel ..........................66 6. Unboxing & Installation ............................... 68 6.1 Overview ................................68 6.2 Inspecting the Equipment ..........................68 6.2.1 Before Unpacking ............................68 6.2.2 Upon Unpacking ............................68 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2...
- Page 5 Table 2: Danger, Warning, and Caution Symbols ..................... 11 Table 3: Denotation of Labels ........................... 16 Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series ...... 34 Table 5: Robot Stick Basic Functions ....................... 41 Table 6: Robot Stick Advanced Functions ......................
- Page 6 Figure 28: The Exterior and Diagram of the Control Box ................. 39 Figure 29: Securing the ground wire with control box ..................40 Figure 30: Robot Stick ............................40 Figure 31: Light Module Surface ........................42 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2...
- Page 7 Figure 64: The TM5M-700 SEMI / TM5M-900 SEMI ..................66 Figure 65: Detachable I/O Panel ........................67 Figure 66: Robot Arm Carton ..........................69 Figure 67: Control Box Carton .......................... 69 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2...
- Page 8 Figure 70: Moving the Robot Arm (1/2) ......................74 Figure 71: Moving the Robot Arm (2/2) ......................74 Figure 72: Connecting the Robot and the Control Box ..................75 Figure 73: Air Filter Tray ........................... 77 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2...
-
Page 9: Revision History Table
August 2019 Minor test fixes. Added cables length August 2019 Added Table of Rated Torque and Limit for Repeated Peak Torque. Added X Model information. December 2019 Added Hardware 3.2 changes. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 10: Product Dscription
Manual Title Description Safety Manual Contains safety information for TM Robots. TMflow Instructions for use of TMflow software. TMvision Instructions for use of TMvision software. Table 1: Manual Title & Description Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 11: Safety Information
Safety Manual according to the software and hardware version of this product, and must comply with all local and national safety regulations for the location in which the robot is installed. The TM Robot must be used according to its intended use. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 12: Validation And Liability
1.6m above the floor, at 80% of maximum speed). If the sound pressure is over 80 dB(A) while operating, wear proper ear protection. Environmental Conditions: Ambient air temperature: 0˚C ~ +50˚C Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 13: Risk Assessment
If the robot loses power, and joints need to be moved in order to clear error conditions, you will need to release the brake for each joint as follows: Remove joint cover screws (M3, Torx-T10) and joint cover. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 14: Figure 1: References Of Joints By Models
Joint Joint Joint Base Base TM5X-700 TM5X-900 Figure 1: References of Joints by Models Release the brake by pushing the pin on the brake solenoid shown in the following figures. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 15: Labels
Do not put your hand or fingers close to moving parts Be careful not to be close to the moving parts and nearby areas to avoid impact Do not touch any internal electric parts to avoid electric shock Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 16: Table 3: Denotation Of Labels
Product label Table 3: Denotation of Labels Figure 3: Locations of Labels Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 17: Transportation And Storage
The product must always be stored and shipped in an upright position in a clean, dry area that is free from condensation. Do not lay the package on its side or any other non-upright position. This could damage the product. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 18: System Hardware
This chapter introduces the mechanical interface of the TM Robot System. 4.2 System Overview TM Robot is made up of the robot arm and control box (including a robot stick). Robot arm Control Box Robot Stick Figure 4: System Overview Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 19: Robot Arm
4.2.1 Robot Arm 4.2.1.1 Dimension Drawings of Robot Shown below is the dimension drawing of the robot TM5-700 / TM5M-700 Figure 5: Dimension of TM5-700 / TM5M-700 *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 20: Figure 6: Dimension Of Tm5-900 / Tm5M-900
TM5-900 / TM5M-900 Figure 6: Dimension of TM5-900 / TM5M-900 *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 21: Figure 7: Dimension Of Tm5X-700
TM5X-700 Figure 7: Dimension of TM5X-700 *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 22: Robot Assembly Diagram
Shown below is an illustration of the robot components. To avoid safety risks, do not attempt to disassemble any component on your own. Contact your local corporation support for any service request. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 23: Figure 9: Assembly Of Tm5-700 / Tm5M-700
TM5-700 / TM5M-700 Figure 9: Assembly of TM5-700 / TM5M-700 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 24: Figure 10: Assembly Of Tm5-900 / Tm5M-900
TM5-900 / TM5M-900 Figure 10: Assembly of TM5-900 / TM5M-900 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 25: Figure 11: Assembly Of Tm5X-700
TM5X-700 Figure 11: Assembly of TM5X-700 Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 26: Range Of Motion
Figure 12: Assembly of TM5X-900 4.2.1.3 Range of Motion The working spherical (radius) range from the base is 700 mm for the TM5-700 series and 900 mm for the TM5-900 series. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 27: Figure 13: Side View Of Tm5-700 / Tm5M-700 / Tm5X-700 Movement Range Diagram
TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram Figure 13: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 28: Figure 14: Pictorial View Of Tm5-700 / Tm5M-700 / Tm5X-700 Movement Range Diagram
Position arm. the arm. Figure 15: Top View of TM5-700 / TM5M-700 / TM5X-700 Movement Range *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 29: Figure 16: Side View Of Tm5-700 / Tm5M-700 / Tm5X-700 Movement Range Diagram
Figure 16: Side View of TM5-700 / TM5M-700 / TM5X-700 Movement Range Diagram *All measures are in mm. Figure 17: Pictorial Views of TM5-900 / TM5M-900 / TM5X-900 Movement Range Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 30: Robot Hazard Zone Diagram And Operator Position Diagram
Shown below is an illustration of the robot hazard zone and operator position diagrams. Do not operate the robot while anyone is inside of the hazard zone to avoid safety risks. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 31: Figure 19: Robot Hazard Zone Diagram And Operator Position Diagram Of Tm5-700 / Tm5M-700 / Tm5X-700
Position Figure 19: Robot Hazard Zone Diagram and Operator Position Diagram of TM5-700 / TM5M-700 / TM5X-700 *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 32: Payload And Torque
The following figure shows the relationship between payload and the center of gravity offset: Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 33: Figure 21: Relationship Between Payload And The Center Of Gravity Offset In Tm5-700 / Tm5M-700
Refer the table below for the rated torque and the limit of repeated peak torque of the robot. Exceeding torque may reduce the life of the robot or damage the robot. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 34: Robot Arm Installation
Limit for repeated peak torque Unit: Nm Table 4: Rated Torque and Limit for Repeated Peak Torque of Regular Payload Robot Series WARNING: Use the total weight of the end-effector and the payload to stay within the payload rating of the robot. -
Page 35: Robot End Module
Use the M4L5 pan head screw to secure the ground wire with the robot as shown below. Figure 24: Securing the ground wire with the robot 4.2.2 Robot End Module 4.2.2.1 End Module Components Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 36: Figure 25: References Of Tm5-700/ Tm5M-700/ Tm5-900 / Tm5M-900 End Module Components
FREE Button Analog I/O Digital I/O Indication Light Ring GRIPPER Button Light module Flange (ISO 9409-1-50-4-M6) Camera module Figure 25: References of TM5-700/ TM5M-700/ TM5-900 / TM5M-900 End Module Components Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 37: Tm5X-700
TM5X-700 / TM5X-900 End Module Components FREE Button Indication Light Ring Analog I/O Digital I/O POINT Button GRIPPER Button Flange (ISO 9409-1-50-4-M6) Figure 26: References of TM5X-700 / TM5X-900 End Module Components Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 38: End Flange Surface
4.2.2.2 End Flange Surface Digital l/O Analog l/O Camera Figure 27: References of End Flange Surface *All measures are in mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 39: End Mounting Caution
The control box can be placed on the floor or in your working cell. Note that 5 cm clearance should be left at both sides for ventilation. Use the M4L6 screw to secure the ground wire with the control box as shown below. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 40: Robot Stick
This indicator shows the robot's power status. Not on: Switched off Power Indicator Flashing: Booting Constant: Startup completed Mode Indicator One is Manual Mode, the other one is Auto Mode. They show the Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 41: Table 5: Robot Stick Basic Functions
Pay extra attention to environments with conductive dust (such as metal particles). Be noted that the control box can only be in standing pose for the IP32 rating. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 42: Robot Light Module
The weight of the light module The center of gravity of the light module Table 7: Reference of the Symbol and Unit in Calculation the Torque Load of the Light Module Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 43: Table 8: Electrical Specification Of The Light Module
The total current of the tool end and the light module has to be lower than 1.5A. Table 8: Electrical Specification of the Light Module Fill light cable: Figure 33: Electrical Polarity of Fill Light Cable Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 44: Operating Position Of Tm Robot With Agv/Aiv
100 mm and the maximum working distance is about 300 mm. The zero working distance point is approximately 49 mm in front of the flange surface and right behind the center of the protection lens. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 45: Table 9: The Relation Between The Working Distance And The Field Of View
The relation between the working distance and the field of view is listed below. Working distance (mm) Field of view (mm) Width 281.6 96.9 Height 211.2 72.7 Table 9: The Relation between the Working Distance and the Field of View Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 46: Electrical Interface
Except for USB ports, other interfaces have to be installed while arm is powered off. Do not install while arm is on to avoid abnormal shutdown. Control Box I/O configuration Figure 36: Control Box I/O Configuration (1/2) Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 47: Table 10: Definitions Of Safety Connectors
SO4-1 Robot Encoder SF16 SF14 SI4-2 Robot ESTOP SO4-2 Standstill Output Output Table 10: Definitions of Safety Connectors NOTE: For details about safety functions, please refer to the Safety Manual. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 48: Safety Connector
5. User Connected ESTOP Input Port without Robot ESTOP Output functions as the User Connected ESTOP Input Port above, but it does not trigger the function of Robot ESTOP output. Figure 38: Safety Input Connector Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 49: Figure 39: The Wiring Diagram Example Of Switch Type Safety Device
Figure 39: The Wiring Diagram Example of Switch Type Safety Device. Figure 40: The Wiring Diagram Example of PNP Output Type Safety Device Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 50: Safety Output Connector
Robot Encoder Standstill Output Port. When the Encoder Standstill is not monitoring (robot is moving), the output will be LOW. For details about the safety functions, please refer to the Safety Manual. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 51: Figure 42: Safety Output Connector
Before putting to use the robot, be sure to check the safety functions and schedule to check the safety functions for a regular basis. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 52: Power Connector
Digital input/output each has 16 channels, and its application is connected to the following sections. 5.3.3.1 Digital Input Inputs can be set to either sink input or source input by selection. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 53: Figure 45: Digital Input
Set to sink input type When a device such as a transistor output sensor is connected, NPN open collector transistor output can be used. Figure 46: Set to Sink Input Type Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 54: Digital Output
Outputs can be set to either sink output or source output by selection. The maximum drive current is 300mA per channel. If the load exceeds 300mA, a relay should be used to drive it. Figure 48: Digital Output Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 55: Figure 49: Set To Sink Output Type
Connect DO_COM terminal to the minus side of the power supply. Figure 49: Set to Sink Output Type Set to source output type Connect DO_COM terminal to the plus side of the power supply. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 56: Analog In
Figure 50: Set to Source Output Type 5.3.4 Analog In Figure 51: Analog In Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 57: Analog Out
Table 11: Analog In & Analog Out 5.3.6 System Remote Power ON/OFF The function of Remote ON/OFF shares the same functionality of the Robot Stick Power Button. Figure 53: System Remote Power ON/OFF Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 58: Ethercat: For Ethercat Slave I/O Expansion
The tool end 24V has a total maximum output current of 1.5A included 900mA of the light module. If overloaded, overload protection is activated and the robot will turn off the 24V output power. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 59: Table 12: 8-Pin Digital I/O Connectors Of Cable
Digital intput0 Orange DI_1 Digital intput1 Yellow DI_2 Digital intput2 Digital Green DO_0 outtput0 Digital Blue DO_1 outtput1 Digital Purple DO_2 outtput2 Black Table 13: 8-pin Digital I/O Connector of Robot Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 60: Connecting Tool End Digital Output
Table 15: 5-pin Analog I/O connector of Robot 5.4.2 Connecting Tool End Digital Output The following figure shows how to connect the tool end digital output: Figure 55: Connecting Tool End Digital Output Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 61: Connecting Tool End Digital Input
The following figure shows how to connect the tool end Analog input: (Because AIN_GND is connected to ground, when AIN is a dead contact, a pressure difference will occur, which is a normal phenomenon.) Figure 57: Connecting Tool End Analog Input Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 62: Control Box Interfaces
Air Filter Screw Mic-in COM1 COM3 USB 2.0 *4 LAN for GigE Camera*2 USB3.0*2 HDMI Robot Cable Adapter COM2 Figure 59: Interfaces of the TM5-700 / TM5X-700 / TM5-900 / TM5X-900 Series Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 63: Figure 60: Interfaces Of The Tm5M-700 / Tm5Mx-700 / Tm5M-900 / Tm5Mx-900 Series
Robot Cable Adapter COM2 HDMI LAN for GigE Camera*2 3.0*2 DC IN for External Power Supply External Power Supply Remote Control Figure 61: Interfaces of the TM5M-700 SEMI / TM5M-900 SEMISeries Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 64: Control Box Power Interface And Robot Interface
It is recommended to install a master switch on the equipment power supply for robot applications for servicing and inspection. Parameters Minimum value Typical value Maximum value Unit Input voltage External mains fuse (100V~120V) Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 65: Robot Interface
2. Do not extend or modify the original cable of robot. 3. The cable of the robot is only suitable for a fixed installation. If the applications have the request for flexible or longer cable, contact the corporation. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 66: Semi Emergency Off Interfaces (Semi Series Exclusive)
3 m. The box header connector comes with 40 pins and 44 pins in spacing for 2.54 mm. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 67: Figure 65: Detachable I/O Panel
Figure 65: Detachable I/O Panel NOTE: The control box comes with the IP32 rating, but the Corporation does not guarantee this rating for disassembling detachable I/O panel from its original location. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 68: Unboxing & Installation
(see HOW Can I Get Help? on 1.2) Retain all shipping containers and packaging materials. These items may be necessary to settle claims or at a later date, to relocate equipment. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 69: Unboxing
6.3.2 Contents of Each Carton Each carton has the following contents. Check them when you unpack the cartons for the first time. If any item is missing, contact your vendor. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 70: Table 19: The Robot Arm Carton Contents
No Calibration Plate includes in the following series: TM5X-700 / TM5X-900 IO cables (One 8-pin digital I/O cable and one 5-pin analog I/O cable) Length: 100 cm Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 71: Table 20: The Control Box Carton Contents
Length: 180 cm Power cable of the control box (TM5M-700 / TM5M-900) (1 cable) Length: 120 cm Ground Wire (2 wires) Length: 300 cm Table 20: The Control Box Carton Contents Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 72: Installing Your Robot
Remove the control box (At least two people should remove the control box from the carton. Refer the figure below for the correct holding positions.) Connect the power cable to the control box Place the control box near the robot base Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 73: Verification Before Removal Of The Robot Arm
(M10 *4) that used to attach the robot to the base near the robot base in advance. If the base is designed with corresponding pinholes, mount them to the base. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 74: Removal Of The Robot Arm And Tightening
Joint as well as the Joint. Before the Robot Base is fastened with screws tightly, the Robot Arm should always be supported to avoid tipping. Figure 71: Moving the Robot Arm (2/2) Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 75: Connect The Robot And The Control Box
When the robot is turned on, do not disconnect cables of the robot. When cables of the robot are not connected to the connection interface, do not turn on the robot. Do not extend or modify the original cables of the robot. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 76: Maintenance And Repair
Before performing maintenance or service record the details of each setting for the robot for normal operation. Make sure that each setting satisfies the original conditions before resuming normal operation, including but not limited to: Safety Software Settings Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 77: Figure 73: Air Filter Tray
Turn off the power and lay the control box flat. Remove the rubber edge trim and loosen the air filter screw. Pull out the air filter tray and replace the filter with a new one. Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... -
Page 78: Appendix A. Technical Specifications
Eye to Hand (Optional) Support Maximum 2 GigE cameras *Refer to the official website of TM Plug&Play for camera models compatible to TM Robot. Table 23: Technical Specifications Regular Payload Series-Hardware Installation Manual TM5 Series Hardware Version: 3.2... - Page 79 OMRON AUTOMATION AMERICAS HEADQUARTERS • Chicago, IL USA • 847.843.7900 • 800.556.6766 • automation.omron.com OMRON CANADA, INC. • HEAD OFFICE OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE Toronto, ON, Canada • 416.286.6465 • 866.986.6766 • automation.omron.com São Paulo, SP, Brasil • 55 11 5171-8920 • automation.omron.com OMRON ELECTRONICS DE MEXICO •...
Need help?
Do you have a question about the Regular Payload and is the answer not in the manual?
Questions and answers