Elite Technology EC63 User Manual
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Elite Technology EC63 User Manual

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Elite Robot User Manual
Doc. Name： EC63 User Manual
Suzhou Elite Technology Co. Ltd.
www.elibot.cn
April 3, 2020

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Summary of Contents for Elite Technology EC63

  • Page 1 Elite Robot User Manual Doc. Name： EC63 User Manual Suzhou Elite Technology Co. Ltd. www.elibot.cn April 3, 2020...
  • Page 2 Doc No.：T202001004 www.elibot.cn Original Version 4.1 Please read this manual carefully before use Please see the chapter of version information in this manual for the product version information corresponding to the user manual of this version, and please check the actual product version information carefully before use, as to ensure consistency.

  • Page 3: Table Of Contents

    Doc No.：T202001004 www.elibot.cn Contents Contents ............................. 2 Preface ............................5 Product Composition ......................6 More Information ....................... 6 Chapter 1 Safety ......................... 7 1.1 Profile ........................... 7 1.2 Safety Warning Symbols ....................7 1.3 Safety Cautions ......................8 1.3.1 Overview ......................8 1.3.2 Usage Notice .....................
  • Page 4 Doc No.：T202001004 www.elibot.cn 7.2 Robot Power-on ......................33 7.2.1 Preparations before power-on ................. 33 7.2.2 System power-on ..................... 34 7.3 Robot Shutdown ......................34 Chapter 8 Electrical Interface ....................35 8.1 Overview ........................35 8.2 Electrical Warnings and Cautions ................35 8.3 Controller I/O ......................
  • Page 5 Doc No.：T202001004 www.elibot.cn 9.6.2 Variables ......................92 9.6.3 IO ........................94 9.6.4 Motor ....................... 95 9.6.5 Operational Monitoring .................. 97 9.7 Convenient Functions ....................97 9.7.1 Key Combination Function ................97 9.7.2 Multi-Window Function.................. 98 9.8 System Setup ......................98 9.8.1 Tool Coordinates Setting .................

  • Page 6: Preface

    Thank you for purchasing and using the light 6-degree-of-freedom (DOF) collaborative robot EC63 developed by the company. The EC63, 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 3kg.The ELITE collaborative robot series takes a joint modular design, and uses a...

  • Page 7: Product Composition

    Doc No.：T202001004 www.elibot.cn Product Composition The detailed outbound list of one set of complete EC63 robot is shown in the table below. Name Quantity Robot body Control box including teach pendant Power cord Base (Optional) User manual (disk) Thin-walled wrench...

  • Page 8: Chapter 1 Safety

    Doc No.：T202001004 www.elibot.cn Chapter 1 Safety 1.1 Profile This chapter introduces the safety principles and specifications that should be followed when operating the robot or the robot system. The integrator and the user must read this manual carefully, and need to mainly master and strictly comply with contents with warning labels. As the robot system is complicated and dangerous, the user must fully understand the risk of operation, strictly comply with and implement the specifications and requirements in this manual.

  • Page 9: Safety Cautions

    Doc No.：T202001004 www.elibot.cn Indicating a potentially hazardous situation which, if not avoided, could result in personnel injury or serious damage of the equipment. As for the items marked with this symbol, the major consequence would probably occur sometimes in accordance with the specific situation. Indicating a situation which, if not avoided, could result in personnel injury or damage of the equipment .
  • Page 10 5. The brake is installed in the EC63 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 Doc No.：T202001004 www.elibot.cn 1. The robot and the control box may generate heat during running. When the robot is working or just stops working, please do not operate or touch the robot. 2. The robot may not be cooled down after turning off the power supply within an hour.

  • Page 12: Personnel Safety

    Doc No.：T202001004 www.elibot.cn 1.3.3 Personnel safety When running the robot system, safety of the operating personnel must be ensured first. The general cautions are listed below, please properly take corresponding measures of ensuring safety of the operating personnel. 1. All operating personnel using the robot system should receive t and pass the training courses hosted by Suzhou Elite Robot Co., Ltd.

  • Page 13: Liabilities And Specifications

    1.4 Liabilities and Specifications EC63, which is partly completed, 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

    Please note that the specific robot equipment may have other major dangers. The risk related to collaborative operation of the EC63 may be reduced to a reasonable and feasible level as far as possible by combining the inherent safety design measures applied to the ELITE collaborative robot and the safety specifications or risk assessment implemented by the integrator and the final users.

  • Page 15: Intended Use

    Doc No.：T202001004 www.elibot.cn If the robot is installed non-collaboratively (for example, when using the dangerous tool), the risk assessment may infer that the integrator needs to connect to an additional safety device (for example, a safety starting device) when programming, as to ensure personnel and equipment safety. 1.6 Intended Use The ELITE collaborative robot should be used on general industrial equipment only, for example, operate or fix the tool or the equipment, process or convey the parts and the products.

  • Page 16: Handling Of Emergency Situations

    IEC 60947-5-5. The EC63 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: Resuming From The State Of Emergency

    Doc No.：T202001004 www.elibot.cn 1.7.2 Resuming from the state of emergency All emergency stop equipments in form of button have "Locking" function. The "Lock" must be unlocked, as to end the emergency stop state of the equipments. The "Lock" may be unlocked by rotating the emergency stop button. Resuming from the emergency stop state is a simple and important step which can be operated only when the danger of the robot system is eliminated completely.
  • Page 18 Doc No.：T202001004 www.elibot.cn robot arm. The function may reduce the damage as a result of impact, and the risk assessment must be implemented when used for other purposes. Page 17 of 126...

  • Page 19: Chapter 2 Carrying And Cautions

    Doc No.：T202001004 www.elibot.cn Chapter 2 Carrying and Cautions When hoisting the robot, moving parts should be positioned with the appropriate measures, as not to cause the unanticipated motion which may lead to harm accordingly during hoisting and transportation. When packing and transporting, the robot should be packed in accordance with the packing standards, and the required marks should be printed outside a packing box.

  • Page 20: Chapter 3 Maintenance, Repair And Disposal

    Doc No.：T202001004 www.elibot.cn Chapter 3 Maintenance, Repair and Disposal 3.1 Maintenance and Repair The maintenance and repair work must be implemented in strictly accordance with all safety instructions in this manual. The maintenance, calibration and repair work must be operated in accordance with the latest service manual which can be searched on the supported website: www.elibot.cn.

  • Page 21: Disposal

    Doc No.：T202001004 www.elibot.cn Safety procedure: 1. Remove the mains input cable from the back of the control box to ensure that the robot is completely powered off. Take necessary precautions to prevent other persons from re-energizing the system during the repair period. When it is powered off, re-check the system to ensure the outage. 2.

  • Page 22: Chapter 4 Quality Assurance

    Doc No.：T202001004 www.elibot.cn Chapter 4 Quality Assurance 4.1 Product Quality Assurance A limited warranty period of the ELITE collaborative robot is 12 months. Suzhou Elite Robot Co., Ltd. should provide the necessary spare parts to replace or repair relevant parts if the new equipment and its components are trapped in defects resulting from manufacturing and/or poor materials within 12 months after entry into service (maximum of 15 months from shipment).
  • Page 23 Doc No.：T202001004 www.elibot.cn 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. In accordance with the product quality assurance agreement, Suzhou Elite Robot Co., Ltd. shall be responsible for making the commitment of quality guarantee for the defects or deficiencies occurring in the products and the parts sold to the dealers.

  • Page 24: Chapter 5 Robot Hardware Composition

    Chapter 5 Robot Hardware Composition Figure 5-1 EC63 robot system As shown in Figure 5-1, the EC63 collaborative robot system mainly consists of the robot body, the control box (multiple types of the control boxs are optional), the base and the teach pendant. The robot body imitates the arm of human body, and totally has six rotating joints and each representing one degree of freedom.
  • Page 25 Figure 5-2 Robot joints The control box is the main part of the control system of the EC63 collaborative robot. Please refers to the instructions of the control box in the user manual for the components inside the control box.

  • Page 26: Chapter 6 Robot Installation

    6.3 Workspace of the Robot 6.3.1 Mechanical dimensions of the robot The mechanical dimensions diagram of the EC63 robot is shown in Figure 6-1. The range of Page 25 of 126...

  • Page 27: Range Of Motion Of The Robot

    Figure 6-1 Mechanical dimensions diagram of the EC63 robot, with unit of mm 6.3.2 Range of motion of the robot Figure 6-2 shows the range of motion of the EC63, namely, a sphere with a radius of 624mm except the cylindrical space directly above and directly below the base. When choosing the...

  • Page 28: Robot Installation

    Doc No.：T202001004 www.elibot.cn Figure 6-2 Schematic diagram of workspace of the robot 6.4 Robot Installation The robot has the 360° pose self-adaptive function at the installation location, and is compatible with installation, hoisting, wall mounting and other specific installation ways on the base, as shown in Figure 6-3.
  • Page 29 Doc No.：T202001004 www.elibot.cn Figure 6-4 Dimensions of installation holes on the base, with unit of mm 1. When installing on the base, the robot should closely contact with a contact surface of the base, and the surface should be sufficient to bear at least 3500Nm torsional force in a selected installation direction of the base joints and a weight of at least 100kg.

  • Page 30: Installation Of The End/Tool Effector

    Doc No.：T202001004 www.elibot.cn 6.5 Installation of the End/Tool Effector 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.
  • Page 31 Doc No.：T202001004 www.elibot.cn WARNING 1. The load conditions should fall within the scope shown in the chart. 2. The payload shown in the diagram indicates a maximum payload which should not exceed a maximum weight shown in the diagram under any circumstances. 3.

  • Page 32: Chapter 7 Quick Start

    Doc No.：T202001004 www.elibot.cn Chapter 7 Quick Start 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.

  • Page 33: Connection Of The Control Box To The Mains Supply

    Doc No.：T202001004 www.elibot.cn rectangular plug into the control box. Pay attention to the insertion direction, and lock the connector after tight insertion, as shown in the following figure. Figure 7-2 Connection of the robot cable to the control box 7.1.2.2 Connection of the control box to the mains supply There is a heavy-load rectangular plug at the end of the mains cable of the control box.

  • Page 34: Robot Power-On

    Doc No.：T202001004 www.elibot.cn Figure 7-3 Diagram of the power interface of the control box 【DANGER】 1. Please make sure that the robot is grounded correctly (electrical connection to ground). The grounding conductor should have at least rated current of the highest current in the system. 2.

  • Page 35: System Power-On

    Doc No.：T202001004 www.elibot.cn state. • The mode selection button is positioned at the correct position. • Make sure the robot would not contact with the surrounding personnel and the equipment. System power-on 7.2.2 7.3 Robot Shutdown Shutdown sequence: turn off the power supply of the robot and the teach pendant first; then turn off the power supply of an I-series control box.

  • Page 36: Chapter 8 Electrical Interface

    Doc No.：T202001004 www.elibot.cn 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 37 Doc No.：T202001004 www.elibot.cn DANGER: 1. Make sure that all equipments which must be kept far away from water are kept dry. If the water enters into the product, please turn off the power supply and then contact with your provider for assistance. 2.

  • Page 38: Controller I/O

    Doc No.：T202001004 www.elibot.cn and factory equipments may not be longer than 30m, unless the prolonged test are performed. NOTE: All voltages and currents are in direct current (DC), unless otherwise specified. 8.3 Controller I/O This chapter describes how to connect the equipment to the I/O inside the control box. The I/O is extremely flexible and may be applied to various different equipments, including the pneumatic relay, the PLC and the emergency stop button.
  • Page 39 Doc No.：T202001004 www.elibot.cn J106 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. Page 38 of 126...

  • Page 40: Common Specifications Of All Digital I/Os

    Doc No.：T202001004 www.elibot.cn 8.3.1 Common specifications of all digital I/Os This section defines the electrical specifications of the following 24V digital I/Os of the control box. • Safety I/O. • Configurable I/O. • General purpose I/O. It is important to install the Elite robot in accordance with the electrical specifications which must be done for both two types of inputs.

  • Page 41: Safety I/O

    Doc No.：T202001004 www.elibot.cn Terminal Parameter Type Unit Digital output [DOUTx/ILOx] Current [DOUTx/ILOx] Voltage drop [DOUTx/ILOx] Leakage current [DOUTx/ILOx] Function Type [DOUTx/ILOx] IEC 61131-2 Type Digital input [DINx] Voltage [DINx] OFF region [DINx] ON region [DINx] Current (8-30V) [DINx] Function Type [DINx] IEC 61131-2 Type...
  • Page 42 Doc No.：T202001004 www.elibot.cn and the risk assessment in Chapter 1. All safety I/Os are paired (redundant) and two separate branches must be retained. A single failure should not cause loss of the safety function. There are two permanent inputs: emergency stop and safeguard stop.
  • Page 43 Doc No.：T202001004 www.elibot.cn into operation. Safety functions must be tested regularly. 4. The robot installation must conform to these specifications. Failure to do so may result in serious injury or even death as the safety stop device may be invalid. 8.3.2.1 Default safety configuration The default configuration is implemented for the delivered robot, which can be operated in absence of any additional safety equipment (the teach pendant is equipped with the emergency...

  • Page 44: General Purpose Digital I/O

    Doc No.：T202001004 www.elibot.cn opened, the robot is stopped. Please refer to the figure below (the software is required to configure the safeguard stop function cooperatively). This configuration is only intended for application where the operator cannot go through the door and close it behind him. The configurable I/O may be used to set a reset button outside the door, as to reactivate motion of the robot.

  • Page 45: Digital Input From A Button

    Doc No.：T202001004 www.elibot.cn safety function. Load controlled by the digital output This example shows a connection way of the load controlled by the digital output. See the figure below. 8.3.4 Digital input from a button This example shows a connection way of a simple button and the digital input. 8.3.5 General purpose analog I/O The analog I/O interface can be used to set or measure the voltage (-10V~10V) in and out of other equipments.
  • Page 46 Doc No.：T202001004 www.elibot.cn In order to acquire a high accuracy, it is recommended to comply with the following instructions: • Use the GNDPA terminal closest to the I/O. The I/O pair shares a common mode filter. • Use the same GND (0V) for the equipment and the control box. The analog I/O is not galvanically isolated from the control box.

  • Page 47: Ethernet

    Doc No.：T202001004 www.elibot.cn 8.3.5.2 Using an analog input This example illustrates how to connect with an analog sensor. 8.4 Ethernet The Ethernet is provided on the top of the control box. Please refer to the figure below. The Ethernet interface can be applied to the following applications: •...

  • Page 48: Mains Connection

    Doc No.：T202001004 www.elibot.cn 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. In order to power on the robot, the control box must be connected to the power supply. This process must be completed by connecting with the rectangular heavy-load plug at the bottom of the control box with the corresponding wire.
  • Page 49 Doc No.：T202001004 www.elibot.cn Rated operating power 1200 NOTE: The switch inside the NED-100D switching power needs to be switched to the gear 115V when the external mains supply is 90~130VAC. DANGER: 1. Please make sure that the robot is grounded correctly (electrical connection to ground).

  • Page 50: Robot Connection

    Doc No.：T202001004 www.elibot.cn 8.6 Robot Connection The robot cable must be inserted into the connector on the top of the control box, as shown in the figure below. Appropriately lock the connector when the robot arm is started. The power supply of the robot must be turned off when disconnecting the robot cable.
  • Page 51 Doc No.：T202001004 www.elibot.cn NOTE: The tool connector must be manually tightened up, with a maximum moment of force of 0.4Nm. 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.

  • Page 52: Tool Power Supply

    Doc No.：T202001004 www.elibot.cn table below: Parameter Type Unit 24V supply voltage 23.5 24.8 24V supply current 1000* *1000 mA for max 1 second. Maximum duty cycle: 10%. Average current should not exceed 600 mA 8.7.1 Tool power supply The tool I/O of the Elite collaborative robot can provide the external tool with a 24V power supply.

  • Page 53: Tool Digital Output

    Doc No.：T202001004 www.elibot.cn Logical high voltage Using the tool digital input: This example illustrates how to connect with a simple button. 8.7.3 Tool digital output 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;...
  • Page 54 Doc No.：T202001004 www.elibot.cn Caution: Even when the load is off, voltage is still present between the power connector and the shield / ground Page 53 of 126...

  • Page 55: Tool Analog Input

    Doc No.：T202001004 www.elibot.cn 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 MΩ Input resistance >100 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 illustratesan analog sensor connection with a non-differential output.

  • Page 56: Tool Communication I/O

    Doc No.：T202001004 www.elibot.cn 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 illustrates a method of connecting to an analog signal with a non-differential output.

  • Page 57: Chapter 9 Teach Pendant

    Doc No.：T202001004 www.elibot.cn 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. Figure 9-1 Components of the teach pendant The teach pendant mainly includes a 8.4-inch LCD touch screen, a mains switch, an emergency stop button, a force switch and a socket for a teach pendant connecting line.

  • Page 58: Programming Pendant Display

    Doc No.：T202001004 www.elibot.cn “ERC-G200 System Operation Manual”. Note: the pictures of the following Settings are for reference only 9.1 Programming Pendant Display Instruction Programming pendant supports keyboard and touch operations. The status control area, coordinate area and submenu area support operations by pendant keys, while all buttons, input boxes, options, etc.
  • Page 59 Doc No.：T202001004 www.elibot.cn 1. The display part of the programming pendant is an 8-inch colored touch screen, used for displaying the manipulator operation interface that could be used for performing corresponding operations. 2. The display interface is mainly composed of three areas (general-purpose display area, monitoring area, information prompt area) around with the main menu area, status control area, coordinate area, status display area.

  • Page 60: Main Menu Area

    Doc No.：T202001004 www.elibot.cn 6. The main menu area can only be operated by clicking on the screen. 7. The status control area, coordinate area, and sub-menu area can be switched or directly pressing by the corresponding keys outside of the screen; The button with corner mark will pop up when pressing, while it will directly switch the status when the key has no corner mark.
  • Page 61 Doc No.：T202001004 www.elibot.cn Line copy Copy Block copy Line cut Block cut Paste Line delete Expert user Delete Block delete Search Replace Logic instruction customization Reset Parameter Setting First Level Menu Second Level Menu Operation Authority Speed parameter Root System parameters Administrator Limit parameter Root...

  • Page 62: General-Purpose Display Area

    Doc No.：T202001004 www.elibot.cn Edit Instruction Second Level First Level Menu Operation Authority Menu Input/output instructions Control instruction Expert user Calculation instruction Process instruction Readiness for Operation First Level Menu Second Level Menu Operation Authority Tool coordinates Expert user User coordinates Expert user Interference area Expert user...
  • Page 63 Doc No.：T202001004 www.elibot.cn Program list Program editing Speed parameter setting Page 62 of 126...

  • Page 64: Monitoring Area

    Doc No.：T202001004 www.elibot.cn Tool coordinate setting 9.1.3 Monitoring Area The monitoring area is mainly used to display the robot coordinates, variable values, IO port status, motor running status, etc. All the options under the “Monitor” menu are displayed in the monitoring area, as shown in the following figure (the half-width display and full-frame display of the monitoring area).
  • Page 65 Doc No.：T202001004 www.elibot.cn Half display of the monitoring area Full display of the monitoring area Page 64 of 126...

  • Page 66: Information Prompt Area

    Doc No.：T202001004 www.elibot.cn 9.1.4 Information Prompt Area The information prompt area is mainly used to display work information, alarms, prompts, records of the manipulator. 9.1.5 Status Control Area The status control area mainly contains state control related to the robot, such as area folding/unfolding, coordinate system selection (joint, cartesian, tool, user, cylinder), operation cycle selection (single step, single cycle, continuous cycle), synchronized / unsynchronized state switching, reset, etc.

  • Page 67: Coordinate Area

    Doc No.：T202001004 www.elibot.cn ：Coordinate system selection, can only be operated in TEACH mode； ：Operation cycle selection, can only be selected in PLAY mode； ：Sync / Unsync button； ：Alarm reset button； 9.1.6 Coordinate Area The coordinate area will display the corresponding icon according to the selected coordinate system.
  • Page 68 Doc No.：T202001004 www.elibot.cn Joint coordinates Cartesian / User / Tool coordinates Page 67 of 126...

  • Page 69: Status Display Area

    Doc No.：T202001004 www.elibot.cn Cylindrical coordinates 9.1.7 Status Display Area The status display area is mainly used to display the current status of the robot, including permissions, running status/mode/speed, current tool coordinate number, current user coordinate number, system time, external axis, etc., as shown below. Permissions: Display the current permissions, can open the permission settings window by touching screen；...

  • Page 70: Submenu Area

    Doc No.：T202001004 www.elibot.cn clicking the tool coordinate setting page； Current user coordinate: Display the current user coordinate number, which can be open by clicking the user coordinate setting page； System time: Display the current time of the system, click to pop up the modify system time page；...
  • Page 71 Doc No.：T202001004 www.elibot.cn the “Synchronized” status 9.2.1.3 TEACH Mode Selection The axis operation can only be performed in TEACH mode (turn the key in the upper right corner of the pendant to the middle position). 9.2.1.4 Coordinate System Selection Press the coordinate option icon of the status control area, will pop up the menu which displays the options of [JOINT], [CARTESIAN], [TOOL], [USER], [CYLINDER], and then select the coordinate system.

  • Page 72: Coordinate Systems And Axis Operations

    Doc No.：T202001004 www.elibot.cn displayed in green (safe speed) . When the speed is within 31%-70%, the icon is gray (normal speed) ; when the speed is within 71%-100%, the icon is displayed in Red (alert speed) (3) Press the speed adjustment button on the right side of the pendant directly to adjust the running speed.
  • Page 73 Doc No.：T202001004 www.elibot.cn Cartesian coordinates of each manipulator type is different, and the position of the corresponding Cartesian coordinate origin is also different. After setting the manipulator’s parameters, the origin and direction of the Cartesian coordinates are determined, and the direction of the Cartesian coordinates cannot be modified. In a non-singular position, the manipulator can move parallel to the X-, Y-, or Z-axes.
  • Page 74 Doc No.：T202001004 www.elibot.cn with the workpieces. User can set the tool coordinates number 0-7 according to the actual tool conditions. 9.2.2.4 User Coordinates The user coordinates are defined by teaching the manipulator three points, and the manipulator moves parallel to each axis of the coordinates which are set by the user. The user can set the user coordinates number 0-7 as needed.
  • Page 75 Doc No.：T202001004 www.elibot.cn 9.2.2.5 Cylindrical Coordinates In the cylindrical coordinates, the manipulator rotates around the Z axis of the body or moves parallel to the Z axis at right angles. The θ-axes, R-axes and Z-axes directions of the cylindrical coordinates are shown as below. 9.2.2.6 Control Points Remain Unchanged The operation in which the control point remains unchanged means that the position of the tool tip point (control point) is not changed, and only the axis operation of the tool posture is...
  • Page 76 Doc No.：T202001004 www.elibot.cn In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the tool coordinates. In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user coordinates. Page 75 of 126...

  • Page 77: Teaching

    Doc No.：T202001004 www.elibot.cn 9.3 Teaching 9.3.1 Preparation for Teaching Before teaching, please verify the emergency stop buttons are normal. If the manipulator is used for the first time, you need to verify the mechanical zero. 9.3.1.1 Emergency Stop Buttons Verification Before using the manipulator, please verify all the emergency stop buttons on the control cabinet and the teach pendant are function correctly.
  • Page 78 Doc No.：T202001004 www.elibot.cn Each robot has a fixed mechanical zero point (the zero-point mark on each axis of the robot). After performing the zero-return operation, please observe whether the mark of each axis overlaps. For the specific mechanical zero return operation, please refer to Section9.8.4.1. 9.3.1.3 Program File Operations When the program list is focused in the programming...

  • Page 79: Teaching Procedure

    Doc No.：T202001004 www.elibot.cn to display the existing program in the USB. Select the desired program file and press [USB TO LOCAL] in the sub-menu bar. The file will be imported successfully. 9.3.2 Teaching Procedure 9.3.2.1 Teaching Window Open the program file and enter the program editing page. After entering the teaching window, the [PROGRAM EDITING] and [EDITING INSTRUCTIONS] in the main menu bar are enabled.
  • Page 80 Doc No.：T202001004 www.elibot.cn The destination position, the interpolation method, the play speed, etc. are registered in the move instruction.  Joint Interpolation The joint interpolation is used when the manipulator does not need to move in a specific path toward the next step position. When the joint interpolation is used for teaching a robot axis, the move instruction is MOVJ.
  • Page 81 Doc No.：T202001004 www.elibot.cn MOVL P1-P3 Circular MOVC Joint or Linear MOVJ MOVL 9.3.2.3 Teaching Steps There are two types of program instruction mode in this system: normal mode and advanced mode. The normal mode is used by default after booting. In the normal mode, only the basic items for each instruction are available for editing.
  • Page 82 Doc No.：T202001004 www.elibot.cn 4) After selecting the move instruction, edit the contents of its additional items and press [OK] to insert it. The Enable switch must be hold when inserting the move instructions. Otherwise, the move instruction cannot be inserted. Page 81 of 126...
  • Page 83 Doc No.：T202001004 www.elibot.cn  Inserting Other Instructions The methods of inserting other instructions except the move instruction are identical. In the program editing page, move the cursor on the line immediately before the position where the instruction to be inserted. Then press [EDIT INSTRUCTIONS] under the main menu or [QUICK INSTRUCTIONS] in the submenu area to select the instruction to be inserted.
  • Page 84 Doc No.：T202001004 www.elibot.cn For the move instructions, two options can be used in the submenu area: [UPDATE POINT] and [UPDATE PARAMETERS]. [UPDATE PARAMETERS] can only update the additional items of the move instruction, and cannot modify the point data. [UPDATE POINT] can record the current position of the manipulator into the instruction while modifying the addition items.
  • Page 85 Doc No.：T202001004 www.elibot.cn 4) Hold the Enable switch to turn on the servo. continuously press the [PROGRAM START] button on the bottom right corner of the programming pendant, the manipulator will move to the step point and stop. Release the [PROGRAM START] button, the manipulator will slow down and stop.
  • Page 86 Doc No.：T202001004 www.elibot.cn immediately before the desired position in the program editing page. Press [PASTE] to complete the paste operation. Note that the instruction lines are inserted in the next line of the cursor line.  Deleting There are two types of delete operations: [LINE DELETE] and [BLOCK DELETE]. [LINE DELETE] only deletes the instruction line selected by the cursor (Note that the NOP and END lines cannot be deleted).
  • Page 87 Doc No.：T202001004 www.elibot.cn requirements with the given value. Press [REPLACE], then the submenu area displays three new options: [REPLACE], [SKIP] and [REPLACE ALL]. [REPLACE] can be used to sequentially replace the value of the matching item with the specified value one by one. [SKIP] can be used to skip the current matching item.

  • Page 88: List Of Program Instructions

    Doc No.：T202001004 www.elibot.cn  Resetting If a failure occurs during the welding process or in the reservation mode, the program needs to be reset before re-execution. [RESET] under the [PROGRAM EDIT] menu can be pressed to reset the system status. 9.3.3 List of program instructions Instruction Group Instruction...
  • Page 89 Doc No.：T202001004 www.elibot.cn Subprogram return. PAUSE Program pause. WAIT Wait. CLEAR Clear the variable. Variable plus one. Variable minus one. Variable assignment. SETJOINT Position assignment. Add operation. Subtraction operation Multiplication operation. Calculation Division operation. Instructions Mod operation. Logic AND operation. Logic OR operation.

  • Page 90: Playback

    Doc No.：T202001004 www.elibot.cn 9.4 Playback 9.4.1 Preparation Before performing playback operations, confirm that the program to be executed is correct and that there are no person or obstacles present in the work envelope of the manipulator. 9.4.1.1 Selecting Programs Playback is the act of executing a taught program. Before playback operation, first select the program to be executed in the program list, and press [OPEN] in the submenu area to open the program.
  • Page 91 Doc No.：T202001004 www.elibot.cn servo is enabled. Then press [PROGRAM START] button , and the program starts running automatically. 9.4.2.2 Modifying Speed in Play Mode When the program is executed in PLAY mode, [SPEED CONTROL] buttons are invalid and the speed value cannot be modified. If speed adjustment is required in this mode, first press [PROGRAM PAUSE] button to pause the program.

  • Page 92: User Processes

    Doc No.：T202001004 www.elibot.cn Note: After the emergency stop, the program call relations between the main program and the subprogram will be cleared.  Stop Caused by Alarm Except for program pause and emergency stop, when other system alarms occur during program runtime, the program execution will be stopped, and the manipulator will stop immediately.

  • Page 93: Variables

    Doc No.：T202001004 www.elibot.cn 9.6.2 Variables The variable monitor page displays 4 types of variables: B, I, D, and P. The data formats and number ranges for the variables are described as follows: B: Byte Type, B000 - B255 (256); I: Integer Type,I000 - I255 (256); D: Double Type,D000 - D255 (256);...
  • Page 94 Doc No.：T202001004 www.elibot.cn The P variable is the position type variable. Select the desired P variable using the cursor in the variable monitor page. Press [VIEW] to view its value in the information prompt area. Press [CLEAR] to reset it to the default value. Press [MODIFY] to record the current joint coordinates into the variable.
  • Page 95 Doc No.：T202001004 www.elibot.cn 9.6.3 IO The IO monitor page includes four options: input, output, virtual input, and virtual output. Select the desired option to open the corresponding monitor page. The user can switch between the four options in the submenu area quickly. Page 94 of 126...

  • Page 96: Motor

    Doc No.：T202001004 www.elibot.cn The inputs and virtual inputs can only be used to monitor the state changes. The states of the outputs and the virtual outputs can be modified. Note that the outputs and the virtual outputs with red labels are used by the system, and their states cannot be modified. For example, in the output monitor page, select Y000 using the cursor and press [MODIFY] in the submenu area to reverse its state.
  • Page 97 Doc No.：T202001004 www.elibot.cn In the motor speed monitor page, the real-time rotational speed of each axis can be viewed according to the actual requirements. In the absolute position monitor page, the pulse counting at the current position for the motor of each axis can be viewed according to the requirements. Page 96 of 126...

  • Page 98: Operational Monitoring

    Doc No.：T202001004 www.elibot.cn 9.6.5 Operational Monitoring In the operational monitor page, the coordinate values at the current position and the coordinate values of the target point recorded in the move instruction can be viewed. The joint coordinates are displayed by default, which can be switched to the Cartesian coordinates by pressing [JOINT/CARTESIAN] button in the submenu area.

  • Page 99: Multi-Window Function

    Doc No.：T202001004 www.elibot.cn screenshot, normal mode, advanced mode, etc. There are different key combination functions for different user processes, which can be used according to the actual requirements. 9.7.2 Multi-Window Function Some windows in the system can be displayed in both full size mode and half-size mode. The selected window can be expanded towards the desired direction by pressing [Expand Up / Down] and [Expand Left / Right] buttons.
  • Page 100 Doc No.：T202001004 www.elibot.cn are established by registering the coordinates of the TCP and the tool angle in the flange coordinates of the manipulator. After that, the TCP is automatically calculated and registered in the tool file. There are 8 tool coordinates numbered from 0 to 7 can be set in the system. Go to the page of "Readiness for operation - Tool coordinates", and select the tool coordinate number.
  • Page 101 Doc No.：T202001004 www.elibot.cn Three cases corresponding to the tool A, B and C are given as examples for registering the coordinate data, as shown in the figures below. tool A tool B tool C  Cases of Tool A, B: X, Y, Rx, Ry, Rz are 0, and Z is 260.
  • Page 102 Doc No.：T202001004 www.elibot.cn 9.8.1.2 Seven-point Tool Calibration In order to perform the seven-point tool calibration, seven points with different postures must be taught with the TCP as the reference point. The tool dimensions are automatically calculated on the basis of these seven points. In the page of tool coordinates, press [CALIBRATE] in the submenu area to enter the seven-point tool calibration window.

  • Page 103: User Coordinates

    Doc No.：T202001004 www.elibot.cn 9.8.2 User Coordinates The user coordinate settings allow easy teaching and programming in various situations. When multiple positioners are used, manual operation can be simplified by setting the user coordinates for each fixture, as shown in the following figure. User coordinates are defined by three points that have been taught to the manipulator through axis operations.
  • Page 104 Doc No.：T202001004 www.elibot.cn User coordinate definition: RORG is the home position, and RXX is a point on the X-axis. RXY is a point on the Y-axis side of the user coordinates that has been taught, and the directions of Y- and Z-axes are determined by point RXY. Note that it is important that the two points RORG and RXX be taught accurately.

  • Page 105: Interference Area

    Doc No.：T202001004 www.elibot.cn 9.8.3 Interference Area The interference area is a function that prevents interference between multiple manipulators or the manipulator and peripheral device. The area can be set up to 16 areas. There are two types of interference areas: ...
  • Page 106 Doc No.：T202001004 www.elibot.cn and the target cubic interference area will be set successfully. (2) Number Input of the Side of Cube and Teaching Center Move the manipulator to the center point of the cube using the axis keys and record it. Then enter the length, width, and height of the cube, and press [SAVE] button in the submenu area.
  • Page 107 Doc No.：T202001004 www.elibot.cn 9.8.3.2 Axis Interference Area The axis interference area is a function that judges the current position of each axis and outputs a signal. Once the maximum and minimum values have been set at the plus and minus sides of the axis to define the working range, a signal indicating whether the current position of the axis is inside or outside this range is output.

  • Page 108: Home Position

    Doc No.：T202001004 www.elibot.cn 9.8.3.3 Signal Corresponding to Interference Area The output signals of the interference area 1 to 16 are corresponding to the virtual outputs M440 to M455 respectively. If the signal needs to be output to the external device, the corresponding virtual output should be mapped to the actual output Y by modifying the PLC program.
  • Page 109 Doc No.：T202001004 www.elibot.cn workpiece, etc. To calibrate the mechanical home position, use the axis keys to calibrate the home position mark on each axis so that the manipulator can take its posture for the home position by pressing [RECORD] button for each axis in the mechanical home position page. The calibration can also be directly completed by modifying the pulse counting at the mechanical home position.
  • Page 110 Doc No.：T202001004 www.elibot.cn production line. 9.8.4.3 Home Position Calibration The mechanical home position of the manipulator body and the accuracy of TCP can be calibrated by using the home position calibration function. The operation procedures can be described as follows: (1) Create a program with 20 positions which must be taught with the TCP as the reference point, and the TCP can be defined by the tip of the calibration cone.

  • Page 111: Authority

    Doc No.：T202001004 www.elibot.cn For the detailed setting instructions, please refer to << ERC-G200 Mechanical Home Position Calibration Manual >>. 9.8.5 Authority There are two options under the "Settings - Authority" menu: switching users and changing password. 9.8.5.1 Switching users The system provides four types of user authorities: general user, expert user, root and administrator.
  • Page 112 Doc No.：T202001004 www.elibot.cn 9.8.5.2 Changing Password The password of the current user authority can be modified in the page of changing password. Enter the previous password and the new password at the given locations, and press [OK] to change the password. Page 111 of 126...

  • Page 113: Speed Parameters

    Doc No.：T202001004 www.elibot.cn 9.8.6 Speed Parameters In the page of "Settings - Speed Parameters", the following parameters can be set: the maximum and minimum rotational speeds of each axis, the maximum and minimum speeds for moving in straight line, the maximum and minimum posture angle speeds, the speed of returning to the home position, the joint acceleration time, etc.

  • Page 114: System Configuration

    Doc No.：T202001004 www.elibot.cn 9.8.8 System Configuration The "System - System Configuration" menu includes three options: robot configuration, network configuration and language configuration. 9.8.8.1 Robot Configuration The robot process settings, additional function selections and drive mode settings can be configured in the robot configuration page, as shown in the figure below. After finishing the robot configurations, press [SET] button, and the users will be prompted to decide whether to restart the system.

  • Page 115: Backup And Upgrade

    Doc No.：T202001004 www.elibot.cn 9.8.8.3 Language Configuration The current system supports two display languages: Simplified Chinese and English. Select the language configuration, and choose Simplified Chinese or English in the popup window. Press [OK] button, and the selected language will take effect after the restart. 9.9 Backup and Upgrade The backup and upgrade operations of the system software are simple, fast, and convenient, which only need an ordinary USB flash disk.

  • Page 116: Software Information

    Doc No.：T202001004 www.elibot.cn 9.9.1 Software Information Under the "System - Software Info" menu, the basic information, detailed information and registration information of the system software can be viewed. 9.9.1.1 Basic Information The basic information includes the IP address of the controller, the software version number and the system version number.

  • Page 117: Local From Usb

    Doc No.：T202001004 www.elibot.cn parameters, limit parameters, servo parameters, mechanism parameters, and other parameters. IO Annotation Backup: Backup comment files for input, output, virtual input and virtual output. PLC Backup: Backup system PLC program files. User Data Backup: Include parameter backup, IO annotation backup, and PLC backup. In addition, backup all program files, user coordinates files, tool coordinates files, user processes files and screenshots, etc.
  • Page 118 Doc No.：T202001004 www.elibot.cn (1) Prepare a USB flash disk and copy the system upgrade file "firmware.bin" to its root directory; (2) Insert the USB flash disk into the USB port of the controller or the collaborative robot cabinet; (3) Go to "System - Save to USB" and select "User Data Backup" to back up the user data; (4) Go to "System - System Upgrade", then press [OK] button and wait several minutes.
  • Page 119 Doc No.：T202001004 www.elibot.cn (3) Go to "System - System Upgrade", and a dialog box with the message "Confirm System Upgrade" will pop up. After pressing [OK] button, the system will give the message "Please select the content that needs to be upgraded". Then select "Upgrade Firmware"; Page 118 of 126...

  • Page 120: Appendix

    Doc No.：T202001004 www.elibot.cn 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 121 Doc No.：T202001004 www.elibot.cn 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 122: B Certification And Detection

    The EC63 robot has passed the EU CE certification, and the product is in line with all relevant requirements of the EU CE directive:...
  • Page 123 Doc No.：T202001004 www.elibot.cn The EC63 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 124: C Stopping Time And Stopping Distance

    Doc No.：T202001004 www.elibot.cn 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 125: D Reference Standards

    Doc No.：T202001004 www.elibot.cn 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:...

  • Page 126: E Technical Specifications

    Doc No.：T202001004 www.elibot.cn E Technical Specifications Robot type EC63 Weight 13kg Maximum payload Reach 624mm joint range +/-360° Joint speed 144° /s to 224° /s TCP speed 1m/s Repeated positioning 0.03mm accuracy Control box IO 16 digital in, 16 digital out, 2 analog in and 4 analog out...

  • Page 127: F Alarm Information And Description Of Routine Problems

    Doc No.：T202001004 www.elibot.cn F Alarm Information and Description of Routine Problems See the detailed instructions of the control system for the alarm information Page 126 of 126...

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