Table of Contents
Advertisement
Advertisement
Table of Contents
Related Manuals for Han's Robot Elfin Series
Summary of Contents for Han's Robot Elfin Series
- Page 1 Collaborative Robot Elfin Series Hardware Installation （E03/E05/E10） V2.0.0...
-
Page 2: Introduction
Security Configuration: It introduces the basic safety settings. Technical Support Shenzhen Han's Robot Co., Ltd will provide you with long‐term technical services. If you have any technical problems or other needs during using our robot, you are welcome to visit our company website: www.hansrobot.com, or directly contact our technical engineers. -
Page 3: Table Of Contents
Contents INTRODUCTION ......................II .....................II OW TO ANUAL ......................II ECHNICAL UPPORT ....................II ONTACT NFORMATION CHAPTER 1 PRODUCT INTRODUCTION..............1 ...........12 1.1 I NTRODUCTION TO OLLABORATIVE OBOT LFIN ERIES ....................... 12 1.2 L IST OF ARTS ......................13 1.3 R OBOT ................13 1.3.1 AME OF... - Page 4 （E03/E05 R ）.............. 24 3.4 F IXING THE OBOT OBOT （E03/E05 R ）..... 25 3.5 I NSTALLING OOLS TO THE ERMINAL OF OBOT OBOT （E10 R ）..............26 3.6 F IXING THE OBOT OBOT （E10 R ）......27 3.7 I NSTALLING OOLS TO THE ERMINAL OF...
- Page 5 Chapter 1 Safety Precautions Warning sign The following different levels of safety signs will appear in this manual: Danger ： Failure to follow instructions can result in death or serious injury.。 ： Warning Failure to follow instructions can result in personal injury or serious damage to equipment。...
- Page 6 1.2 Safety Introduction This chapter introduces the safety principles and specifications that should be followed when operating the robot or robot system. Integrators and users must read this manual carefully, and the contents with warning signs need to be mastered and strictly followed.
- Page 7 Safety Precautions Overview This manual contains safety measures to protect users and prevent damage to the machine. Users need to read all relevant descriptions in the manual and be fully familiar with security matters. In this manual, we try to describe various situations, but due to too many possibilities, it is impossible to record all situations that cannot or cannot be done.
- Page 8 Elfin series robots, but requires that the robot system must be within the normal operating range and use the Elfin series control cabinet. If the user develops the controller himself, the robot does not have the above functions.
- Page 9 Operation and mechanical heating 1. The robot body and control cabinet will generate heat during operation. Robot is Do not operate or touch the robot while working or just after stopping work. 2. Turn off the power and wait an hour for the robot to cool down. 3.
- Page 10 unpredictable danger to the integrator. The authorization and reorganization of robots must be in accordance with the latest version of all relevant service manuals. If the robot is changed or modified in any way, Shenzhen Han Robot Co., Ltd. refuses to take all responsibility. Application environment 1.
- Page 11 1.3 Responsibilities and specifications The Elfin series of robots can be combined with other equipment to form a complete machine, which is not complete in itself. Therefore, the information in this manual does not include how to fully design, install, and operate a complete robot, nor does it include all the possibility of affecting the safety of the peripheral equipment of this complete system.
- Page 12 perform the risk assessment process. ISO 12100:2010 Safety of machinery‐General design principles‐Risk assessment and risk reduction. ISO 10218‐2:2011 Robots and robotic equipment‐Safety requirements‐Part 2: Industrial robot systems and integration. RIA TR R15.306‐2014 Technical Report on Industrial Robots and Robot Systems‐Safety requirements, mission‐based risk assessment methods.
- Page 13 right to upgrade the product without prior notice. Shenzhen Han Robot Co., Ltd. strives to ensure the accuracy and reliability of the contents of this manual, but is not responsible for any errors or missing information.
- Page 14 Elfin series robots are reduced to a reasonable and feasible level as much as possible. This document can be used to communicate any remaining risks of the robot before installation to the integrator and end user.
- Page 15 integrator needs to connect additional safety equipment (for example, safe start‐up equipment) to ensure the safety of personnel and equipment during their programming. 1.4 Intended use The following statement of use, when Elfin robots are only used for general industrial equipment, such as operating or fixing tools, equipment, processing or transferring parts, products.
- Page 16 The emergency stop button meets the requirements of IEC 60947‐5‐5. Elfin series robots are equipped with an emergency stop button on the control cabinet and the teach pendant. This button must be pressed in a dangerous or emergency situation, as shown in the following figure.
- Page 17 Forced manual movement of the robot arm is limited to emergency situations and may damage the joints. Robot safety protection (strong torque) The robot body has a strong security protection function. When the robot body is powered on and stationary, when an operator or other object accidentally touches the robot body and the collision force exceeds the safety threshold, the robot body will passively move in the direction of the collision force.
- Page 18 caused during the transportation of equipment. Make sure to strictly follow the installation instructions in the manual when installing the robot. 1.7 Other potential risks Please note that there may be other major hazards with certain robotic devices： Fingers are caught between the robot feet and the base. Fingers are caught between the forearm and the forearm.
- Page 19 to prevent others from reconnecting the system energy during maintenance. Please check the ground connection before restarting the system. Please observe ESD regulations when disassembling the robot arm or electrical control box. Avoid splitting the power supply system in the electric control box. After the electric control box is closed, its power supply system can still retain high voltage (up to 600V) for several hours.
-
Page 20: Chapter 1 Product Introduction
Chapter 2 Product Introduction Introduction to Collaborative Robot Elfin Series Elfin robot is a new type of human‐machine collaborative six‐axis robot. Its overall design is lightweight, modular, compact and beautiful, and it can flexibly accommodate to all kinds of complicated and varying industrial production environments. -
Page 21: Robot Body
Robot Body 2.3.1 Name of Each Part Base Upper arm Communication and power cable J5-J6 module JI-J2 module Tool IO Lower arm Tool flange J3-J4 module... -
Page 22: Size And Specification（E03
2.3.2 Size and Specification（E03）... -
Page 23: Size And Specification（E05
2.3.3 Size and Specification（E05）... -
Page 24: Size And Specification（E10
2.3.4 Size and Specification（E10）... -
Page 25: Robot Working Space
2.3.5 Robot Working Space The working space of robot refers to the area within the specified range around the joint of robot base (as shown in the following table). When selecting the location to install robot, considerations should be given to the cylinder space above and below the robot. Please try to keep the tool away from the cylindrical space as much as possible, otherwise it will cause the situation where the tool moves slowly and joints move too fast, which leads to the low efficiency of robot and difficult risk assessment. -
Page 26: Tool Payload Range
2.3.6 Tool Payload Range Due to different distances between load center at the end of robot and the center of installed flange, the allowable maximum payload of robot will change accordingly. The relationship between the centroid distance and allowable payload is shown as below:... -
Page 28: Electric Control Box
Electric Control Box Size and Specification... - Page 29 Specification of electric control box: Item Specification Weight 18.5Kg Working temperature range 0~50ºC Size 445.2*236.5*536mm Paint color Dark gray + white External power input 200-240V AC,50-60Hz...
-
Page 30: Chapter 3 Mechanical Installation
Chapter 3 Mechanical Installation Open the Carton Step 1 Open the carton and check whether the goods inside are consistent with the items on the packing list. If there is any loss or redundant, please contact the local sales office in time. -
Page 31: Installation Environment Requirements
Installation Environment Requirements The robot should be installed indoors and meet the following requirements: Room temperature of 0‐50℃ (to prevent excessive temperature change). Relative humidity of 10‐80% (no condensation). Avoid direct sunlight. Keep it away from dust, soot, salt, metal powder and water. Avoid shock and vibration. -
Page 32: Fixing The Robot（E03/E05 Robot
Fixing the Robot（E03/E05 Robot） Please use 6 M6 bolts (in accordance with ISO898‐1 performance level 10.9 or 12.9) to fasten the robot onto the mounting base, and tighten screws with the torque of 15Nm. No installation platform is provided when you purchase the robot, please make it by yourself or buy a robot installation platform. -
Page 33: Installing Tools To The Terminal Of Robot （E03/E05 Robot
The installation dimensions of the robot base are shown in the following figure, and the measuring unit is mm. Installing Tools to the Terminal of Robot （ E03/E05 Robot） No end‐effector is provided when you purchase the robot, please make it by yourself or buy an end‐effector. -
Page 34: Fixing The Robot（E10 Robot
Fixing the Robot（E10 Robot） Please use 8 M8 bolts (in accordance with ISO898‐1 performance level 10.9 or 12.9) to fasten the robot onto the mounting base, and tighten screws with the torque of 35Nm. No installation platform is provided when you purchase the robot, please make it by yourself or buy a robot installation platform. -
Page 35: Installing Tools To The Terminal Of Robot（E10 Robot
The installation dimensions of the robot base are shown in the following figure, and the measuring unit is mm. Installing Tools to the Terminal of Robot（E10 Robot） No end‐effector is provided when you purchase the robot, please make it by yourself or buy an end‐effector. -
Page 36: Chapter 4 Quality Warranty
Chapter 4 Quality Warranty Product Quality Warranty In the principle of no prejudice to any claim agreement that may be reached between users (customers) and distributors or retailers, the manufacturer shall give customers a product quality warranty according to the following terms: If any defect occurs due to defective manufacturing or materials within 12 months after new equipment and its components are put into operation (not more than 15 months if transportation time is included), Han ’... -
Page 37: Disclaimer
Disclaimer Han’s Robot reserves the right to upgrade products without prior notice because it devotes itself to continual improvement on product reliability and performance. Han’s Robot does its best to ensure the accuracy and reliability of the contents of this manual, but disclaim any liability for any error or missing information. -
Page 38: Chapter 5 Appendix
Chapter 5 Appendix Technical Specifications E03 Robot Name Parameter 17kg Weight Payload 590mm Reach +/-360° Joint range 180°/s Wrist joint (J5/J6):200°/s Joint speed 2m/s Tool +/- 0.05mm Repeatability Φ 156mm Installation area 6 rotating joints Degree of freedom 445.2*236.5*536mm Control box dimensions Digital input 3 Digital Output 3 I/O ports... - Page 39 IP54 IP class About 100W Power 10 advanced security configuration functions Collaboration Aluminum alloy Main material 0-50° Operating ambient temperature 200~240vac 50~60Hz External power input Control box connecting cable：5m Cables Demonstrator connecting cable：5m...
- Page 40 E05 Robot Parameter Name 23kg Weight Payload 800mm Reach +/-360° Joint range 180°/s Wrist joint (J5/J6):200°/s Joint speed 2m/s Tool +/- 0.05mm Repeatability Φ 156mm Installation area 6 rotating joints Degree of freedom 445.2*236.5*536mm Control box dimensions Digital input 3 Digital Output 3 I/O ports Analog input 2...
- Page 41 Aluminum alloy Main material 0-50° Operating ambient temperature 200~240vac 50~60Hz External power input Control box connecting cable：5m Cables Demonstrator connecting cable：5m...
- Page 42 E10 Robot Parameter Name 40kg Weight 10kg Payload 800mm Reach +/-360° Joint range J1-J2:120°/s J3-J4:135°/s J5-J6:180°/s Joint speed 2m/s Tool +/- 0.05mm Repeatability Φ 156mm Installation area 6 rotating joints Degree of freedom 445.2*236.5*536mm Control box dimensions Digital input 3 Digital Output 3 I/O ports Analog input 2...
- Page 43 Aluminum alloy Main material 0-50° Operating ambient temperature 200~240vac 50~60Hz External power input Control box connecting cable：5m Cables Demonstrator connecting cable：5m...
-
Page 44: Limiting Security-Related Functions
Limiting Security-Related Functions Limiting Safety Function Description Joint position Min. and Max. joint angular positions Joint speed Max. joint angular speed Plane where the TCP position of the robot is limited TCP position in Cartesian space TCP speed Max. speed of robot TCP TCP force Max. - Page 45 Class 1 stop: The robot stops when you stop it for power supply to it. The power supply is cut off after the robot stops. This is a controlled stop. The robot will follow a route compiled in the program. The power supply is cut off after 1s or once the robot keeps its feet. Class 2 stop: Controlled stop during power-on of the robot.
Need help?
Do you have a question about the Elfin Series and is the answer not in the manual?
Questions and answers