Page 1 EC2-S Control Cabinet Operation and Maintenance Manual for Industrial Robot Apply to ER7-700 ER7-900 ER3-600 ER10-3-900 EFORT Intelligent Equipment Co., Ltd Service Hotline（Tel）：400-0528877...
Page 3 Not following the instructions and warnings of the manual may cause injury to you and EFORT robots, as well as loss of surrounding properties. This statement and manual are the latest version until this batch of products leave the factory.
Page 5: Table Of Contents
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Contents Chapter One Safety........................1 1.1 Safety Instructions....................... 1 1.2 Safety Criteria........................1 1.3 Safety Precautions during Work..................3 1.3.1 Safety in Robot Installation and Connection..............3 1.3.2 Safety Before Starting Robot.................... 4 1.3.3 Safety of Starting Robot....................5...
Page 6 EFORT Intelligent Equipment Co., Ltd 2.3 Installation on Site......................17 2.3.1 Transporting Precautions....................17 2.3.2 Transporting of Control Cabinet..................18 2.4 Electrical Connection......................18 2.4.1 Power..........................19 2.4.2 Power Cable, Signal Cable, and Ground Wire..............19 2.4.3 Emergency Stop......................20 Chapter Three Composition of Robot Control Cabinet System..........23 3.1 Composition of Robot Control Cabinet................
Page 7 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 3.7.2 Brake Release Unit Position................... 48 3.7.3 Manual Brake Release....................49 3.8 Teach Pendant Hot Swap Unit (Optional)................51 3.8.1 Teach Pendant Hot Unplug..................... 51 3.8.2 Teach Pendant Hot Insertion................... 51 3.8.3 Common Problems......................51...
Page 8 EFORT Intelligent Equipment Co., Ltd 4.5.1 Overview.........................63 4.5.2 Precautions........................63 Chapter Five Troubleshooting....................64 5.1 Overview..........................64 5.2 Common Hardware Faults....................64 5.3 Controller Fault Handling....................65 5.3.1 View Event Log......................66 5.3.2 Fault Light Display on the Controller................67 5.3.3 Controller Fault Handling....................69 5.4 Drive Fault Handling......................
Page 9 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 1.2.3 Warnings（4900-4999）....................92 Appendix 3 Drive Alarms and Warnings.................96 1.3 EC2-A Drive (Alarm:1000-1199，Warning:4050-4099)..........96 1.3.1 Alarms..........................96...
Page 11: Chapter One Safety
For safety concerns, complying with the requirements in other manuals offered by EFORT is also strongly advised. Safety information recorded in this manual is general and does not include all the aspects of the operating system of robots.
Page 12 EFORT INTELLIGENT EQUIPMENT CO.,LTD understand the existing risks are not allowed to operate robot. 7. Do not use robots under the following circumstances: • robot components exposed • safety device disabled • all or part of the fuse and/or mechanical equipment disabled •...
Page 13: Safety Precautions During Work
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Warning 1. The release of gravity and braking device may cause risks of falling. 2. The inspection of protective device may pose dangers to maintenance personnel because they are not working. Therefore, maintenance personnel must be very careful and take precautionary and protective measures.
Page 14: Safety Before Starting Robot
7. Before switching on the power of the robot, please confirm installation meets the requirements. 8. A supervisor who should have completed relevant training offered by EFORT must be assigned for operation monitor.
Page 15: Safety Of Starting Robot
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 9. The system must be equipped with monitor instruments to automatically detect abnormalities in water and gas supply in time for application items (water, compressed air, protective gas, etc.).
Page 16: Safety In Robot Test Run
1.3.5 Safety in Teaching Danger EFORT advises teaching should be administered outside the safety fence. However, if it is necessary to enter it, strictly follow the precautions below and refer to national/international standards. The design of safety functions should comply with Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006).
Page 17 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot the robot. 3. Teaching should be administered by one operator and one supervisor, who bears the responsibility of safety supervision. Confirm signals, such as "start work", before teaching.
Page 18: Safety In Automatic Operation
Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006). 1.Please read and understand all manuals, specifications, and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.
Page 19 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 1.Please read and understand all manuals, specifications, and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.
Page 20: Safety In Equipment Check And Maintenance
1.Please read and understand all manuals, specifications, and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.
Page 21 Reinstall the safety fence and confirm all safety measures, functions remain the same when check and maintenance are completed. 11. Only use parts supplied by EFORT for replacement. Be sure to use teaching mode and move the robot as slow as possible in check and maintenance.
Page 22 EFORT INTELLIGENT EQUIPMENT CO.,LTD • Only use batteries specified by EFORT; • Do not recharge, dismantle, change, or heat batteries; • Do not throw batteries in water or fire; • Never use surface-damaged batteries the inside of which may be short circuited.
Page 23: Chapter Two Transportation And Installation
It is vitally important to read all the safety information before any installation. Please be sure to read the following information carefully: EFORT robot safety manual, general safety information in the first chapter of this manual that must be read thoroughly, and introduction of dangers and safety risks during operation.
Page 24: Preparation Before Installation
EFORT INTELLIGENT EQUIPMENT CO.,LTD 2.2.2 Preparation before Installation This section includes information required for unpackaging, initial installation, and reinstallation of the robot. The following steps need to be checked before installation: Table 2-2 Installation Precautions Inspect the robot visually for any damage.
Page 25: Placement Of Control Cabinet
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Table 2-5 Work Cycle of Starting Robot in Cold Environment Work Cycle Speed Rate 3 cycles 5 cycles 5 cycles 5 cycles 2.2.6 Placement of Control Cabinet Dimension of control cabinet for EC2-S industrial robot（unit：mm）。...
Page 26 EFORT INTELLIGENT EQUIPMENT CO.,LTD wind direction air outlet air inlet horizontal air outlet air inlet wind direction vertical When installing the control cabinet on the rack, the threaded holes need to be processed to the right size. See the figure below for reference.
Page 27: Installation On Site
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Rack Installation Fig. 2-1 Dimension of Control Cabinet and its Installation Please do not block the vents of the control cabinet during placement so as not to affect dissipation.
Page 28: Transporting Of Control Cabinet
EFORT INTELLIGENT EQUIPMENT CO.,LTD applied. 3. Avoid damaging the wiring during transporting and installation. In addition, take precautionary measures, such as using protective cover, after installation to avoid wiring being damaged by operators and forklifts. 4. If the robot is not fastened on the base and remains stationary, it will be unstable in the entire work area.
Page 29: Power
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Fig. 2-3 Cable Connection 2.4.1 Power Requirements of input power and cables of the control cabinet: 1. The main power supply is single-phase (AC220V+PE), and the voltage fluctuation range is ±10%;...
Page 30: Emergency Stop
EFORT INTELLIGENT EQUIPMENT CO.,LTD Fig. 2-5 Location of Connectors Table 2-6 Cable Description Cable Type Description power encoder cable Transfer drive power from the drive device in the control cabinet to the motor of the robot. Transmit the encoder data to the serial measurement circuit board.
Page 31 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot The default setting is 0 stop. However, 1 stop can avoid unnecessary wear of the robot and the additional operations required to restore the system, so it is recommended.
Page 32 External devices need to know whether the emergency stop of the robot is triggered. The EMGO-AP and EMGO-AM, EMGO-BP and EMGO-BM in the external emergency stop terminal block of the EC2-S control cabinet are a pair of double-circuit output contacts in the emergency stop state. Users can wire according to their needs (wire diameter above 0.5mm²...
Page 33: Chapter Three Composition Of Robot Control Cabinet System
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Chapter Three Composition of Robot Control Cabinet System 3.1 Composition of Robot Control Cabinet 3.1.1 Basic Parameters Table 3-1 Parameters of Control Cabinet control cabinet EC2-S model IP rating...
Page 34 EFORT INTELLIGENT EQUIPMENT CO.,LTD front left side panel bottom plate...
Page 35 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot right side panel rear panel Fig. 3-1 Distribution of Components The following table is an introduction to each part of the components. Table 3-2 Description of Components Number...
Page 36: Motion Control Unit
EFORT INTELLIGENT EQUIPMENT CO.,LTD 3.2 Motion Control Unit This section aims to introduce the functions and interface definitions of the motion controller RP2 in the EC2-S robot control cabinet. 3.2.1 Motion Controller 1、Motion Controller Power Port Fig. 3-2 Location Indication Diagram of Power Port Fig.
Page 37 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot voltage range 22V~28V power baud rate 10/100Mbit/s a power failure signal occurs at ＜18V the voltage threshold connection terminal FK-MCP1.5/7-STF-3.81（Phoenix） 2、Ethernet Interface Fig. 3-4 Location of Ethernet Port...
Page 38 EFORT INTELLIGENT EQUIPMENT CO.,LTD Fig. 3-5 Definition of Port and Connection Circuit Diagram Table 3-4 Parameters of Port ETH1 ETH2 Specification signal comply with the signal specification of the Ethernet specification specification, IEEE 802.3u 100/10 BASE-T cable length comply with Ethernet specifications, IEEE 802.3u 100/10...
Page 39 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Fig. 3-6 Location of SER1 Port Fig. 3-7 Definition of SER1 Port and Connection Circuit Diagram Table 3-5 Parameters of SER1 Port SER1 Specification (RS232) signal follow the EIA RS232-E specification...
Page 40: Definition And Extension Of Local Io
EFORT INTELLIGENT EQUIPMENT CO.,LTD Fig. 3-8 Location of CAN Port Fig. 3-9 Definition of CAN Port and Connection Circuit Diagram Table 3-6 Parameters of CAN Port CAN Port Specification maximum frequency maximum frequency 1.0MHz length, type, signal follow the SPEC.ISO11898 specification...
Page 41 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Input Teach Pendant IO Serial External Terminal Block Description Number Number emergency stop alarm 1 (system occupied) servo enable (system occupied) servo confirmation (system occupied) teach pendant hot swap...
Page 42 EFORT INTELLIGENT EQUIPMENT CO.,LTD DI30 user-defined DI31 user-defined Output Teach Pendant IO Serial External Terminal Block Description Number Number system occupied system occupied servo confirmation status (system occupied) system occupied system occupied system occupied system occupied system occupied user-defined user-defined...
Page 43 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 2、Controller Local IO Expansion This section mainly introduces the expansion of the local IO module of the controller in the control cabinet. Due to space constraints, the local IO can be expanded by up to 2 16DI/16DO modules, input 24 VDC, output 24 V DC 500mA.
Page 44: Motion Control Card
(2) Be sure to use the motion control card recommended by EFORT. Other motion control cards not recommended by EFORT cannot guarantee the normal operation of the controller functions.
Page 45 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 2、Steps to Insert Motion Control Card Please follow the steps below to insert the motion control card: (1) Turn off the controller power (2) Insert the motion control card into the card slot. Pay attention to the direction, as shown in the figure below.
Page 46: Servo Drive Unit
EFORT INTELLIGENT EQUIPMENT CO.,LTD 3.3 Servo Drive Unit  J5 motor power  J4 motor power  braking resistor  power input port  J6 motor power port port port port  DC bus port  24VDC power port ...
Page 47 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot  motor brake port  motor brake power supply  manual brake release port  STO input port Fig. 3-12 Introduction to Drive Port...
Page 48 EFORT INTELLIGENT EQUIPMENT CO.,LTD  EtherCAT communication  J4-J6 encoder port  J1-J3 encoder port port-IN/OUT  External DO port  External I/O power  External DO port port Fig. 3-13 Introduction to Drive Port Table 3-11 Definition Table of Drive DI/DO Terminal...
Page 49: Safety Function Unit
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot R24VG1 X18（input） R24VP1 3.4 Safety Function Unit This safety function loop includes motion controller watchdog, control cabinet emergency stop, external emergency stop, teach pendant emergency stop, safety relay, safety relay expansion module, and servo drive STO function.
Page 50 EFORT INTELLIGENT EQUIPMENT CO.,LTD 1、 Electrical Hardware: The safety loop adopts dual loop redundancy design, and the signal source type is test pulse. The signal output by the safety relays S11 and S21 first passes through the WD signal of the controller (commonly known as "watchdog";...
Page 51 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot stop button of the control cabinet, and the external emergency stop button. The function of the emergency stop button is to quickly cut off the output of the driver and make the robot stop moving immediately. Turn the emergency stop button clockwise to release the emergency stop button.
Page 52 EFORT INTELLIGENT EQUIPMENT CO.,LTD emergency stop input channel 1 emergency stop input channel 2 emergency stop output channel 1 emergency stop output channel 2 Fig. 3-15 Wiring Diagram of X13 Emergency Stop Function emergency stop state output dry contact emergency stop state output dry contact...
Page 53: Human-Computer Interaction Unit
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot shown in the figure below. safety door lock channel 1 safety door lock channel 2 Fig. 3-17 Wiring Diagram of X13 Safety Door Lock 3.5 Human-Computer Interaction Unit 3.5.1 Button Operation Panel...
Page 54 EFORT INTELLIGENT EQUIPMENT CO.,LTD emergency hot swap button main power servo manual brake stop button switch confirmation release button button Fig. 3-18 Buttons on the Front Panel of the Electric Cabinet The following is an introduction to the functions of each button and switch, see the table below for details.
Page 55: Teach Pendant (Enable/Hand Press)
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot power. manual brake Pressing the button in the power-on state will open all motor release button brakes (dangerous operation). 3.5.2 Teach Pendant (Enable/Hand Press) The teach pendant is a device for the operator to interact with the robot. Using the teach pendant, the operator can complete all the functions of controlling the robot, such as manual control of robot movement, programming to control robot movement, setting of IO interaction signals, and so on.
Page 56 EFORT INTELLIGENT EQUIPMENT CO.,LTD mode knob three-stage mode knob film panel 1 contains 18 buttons and 1 red, yellow and green LED 2.0USB, used to import and export files and update the teach pendant three-stage hand press hand press the servo in manual mode switch Fig.
Page 57 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Number Name Number Name multifunction key F1, tentative: recall the current coordinate system switch alarm content multifunction key F2 back to homepage multifunction key F3 tentative: Program operation...
Page 58: Power Distribution Management Unit
EFORT INTELLIGENT EQUIPMENT CO.,LTD 3.6 Power Distribution Management Unit Switching Power Supply Name Switching Power Supply power 150W input voltage AC 100~240V output DC24V voltage frequency 50/60Hz Fig. 3-24 Switching Power Supply Table 3-17 Parameters of Switching Power Supply 3.7 Brake Release Unit 3.7.1 Overview...
Page 59: Manual Brake Release
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 3.7.3 Manual Brake Release If a worker is trapped in the robot arm, he must be rescued to avoid further injury. After the robot brake is released, the robot can be moved. Lifting equipment or similar equipment is required to ensure that the robot is lifted without causing secondary damage due to gravity.
Page 60 EFORT INTELLIGENT EQUIPMENT CO.,LTD corresponding motor brake. After releasing the button, the motor holding brake will resume work.
Page 61: Teach Pendant Hot Swap Unit (Optional)
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 3.8 Teach Pendant Hot Swap Unit (Optional) The hot swap function of the teach pendant means that the robot continues its previous running state without generating an alarm when the robot is inserted or pulled out of the teach pendant during the running process.
Page 62 EFORT INTELLIGENT EQUIPMENT CO.,LTD (4) Does the hot-swapping of the teach pendant affect the robot's running status and program execution status during the running of the program in the automatic mode? Hot plugging of the teach pendant during the running of the program in automatic mode will not affect the current robot operation.
Page 63: Chapter Four Maintenance
This safety information introduces general safety guidelines. You should also read the "Efort Robot Safety Manual" carefully. 3. If you want to connect to the EC2-S, make sure to ground the EC2-S protectively before starting any maintenance work! 4.2 Maintenance Plan...
Page 64: Check Activity
When the robot loses its zero position due to a malfunction or improper operation, it is necessary to perform the robot zero recovery work again on the robot. Please refer to the "Efort Industrial Robot Operation Manual" for details of the zero-point quick recovery steps. 4.3 Check Activity...
Page 65: Check The Information Label
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot check whether the top panel of the control cabinet fits tightly with the top of the surrounding side panels, and there is no abnormal tilting check whether the sealing of the reserved interface (cable lock head) on the left side of the control cabinet is normal 4.3.2 Check the Information Label...
Page 66: Check The Wiring Harness
EFORT INTELLIGENT EQUIPMENT CO.,LTD Number Description Post Location Pieces the bottom of the panel grounding mark grounding screw hole hot hand sign the rear brake resistor the bottom left corner of warning note combination logo the top panel of the...
Page 67: Check The Working Condition Of Main Electrical Components
4.4 Change/Replacement Activities This chapter describes the recommended replacement and maintenance work and maintenance activities for the main components of the EC2-S robot control cabinet. It consists of separate operating procedures, each of which describes specific maintenance activities.
Page 68: Replace The Controller
EFORT INTELLIGENT EQUIPMENT CO.,LTD 4.4.1 Replace the Controller Snap Fig. 4-1 Controller The following table details the steps to replace the controller. Table 4-7 Steps to Replace the Controller Number Steps Disconnect the power supply of the control cabinet; disconnect all terminals and network cables on the front of the controller;...
Page 69: Replace Safety Relay
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 4.4.2 Replace Safety Relay Fig. 4-2 Safety Relay The following table details the steps to replace the safety relay. Table 4-8 Steps to Replace the Safety Relay Number Steps Disconnect the power supply of the control cabinet;...
Page 70: Replace The Servo Drive
EFORT INTELLIGENT EQUIPMENT CO.,LTD 4.4.3 Replace the Servo Drive Fig. 4-3 Drive The following table details the steps to replace the servo drive. Table 4-9 Steps to Replace the Drive Number Steps Disconnect the power supply of the control cabinet and proceed to the next operation after 10 minutes;...
Page 71: Replace The Switching Power Supply
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 4.4.4 Replace the Switching Power Supply Fig. 4-4 Switching Power Supply The following table details the steps to replace the switching power supply. Table 4-10 Steps to Replace the Switching Power Supply...
Page 72: Replace The Fan
EFORT INTELLIGENT EQUIPMENT CO.,LTD determine the location of the fuse, fuse core, and fuse gear, FU1 is on the right side of the 24V terminal block in the center of the control cabinet, and the filter fuse is in the filter of the power interface of the control cabinet;...
Page 73: Cleaning
4.5.1 Overview To ensure a long uptime, please clean the EC2-S regularly. The cleaning interval depends on the environment in which the robot works. According to the different protection types of each part of the EC2-S robot, different cleaning methods can be used.
Page 74: Chapter Five Troubleshooting
5.1 Overview This chapter mainly introduces common hardware faults, controller fault handling, drive fault handling and program operation fault handling of EFORT industrial robots. When the robot fails, it will generally display alarms on the controller, teach pendant, and drive. When there is an alarm, both the controller error message and the drive error message will be displayed on the teach pendant interface.
Page 75: Controller Fault Handling
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot cannot be Handle the alarms according to the instructions. booted. 2. Please contact the service professionals if the fault still exists. It is strongly recommended that 1. Check if the hot plug button "Hot Plug" works normally;...
Page 76: View Event Log
EFORT INTELLIGENT EQUIPMENT CO.,LTD 5.3.1 View Event Log Fig. 5-2 Event Log Interface 1) Event log display area: Display the relevant code, date and content of the event. 2) Event description area: Show the cause of the specified event and the solution that is given.
Page 77: Fault Light Display On The Controller
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Fig. 5-4 Clear Event Log Operation 5.3.2 Fault Light Display on the Controller Table 5-1 explains the meanings that the different states of the LED lights in Figure 5-5 stand for.
Page 78 EFORT INTELLIGENT EQUIPMENT CO.,LTD always on Green light in the process of configuration phase flashes Red light is bus error always on Red light configuration error flashes Lights go out no configuration AXIO-E Yellow light I/O warnings on devices connected to the bus...
Page 79: Controller Fault Handling
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Green light is Contact us for support always on and the red light is always on FB-S-S-E Fieldbus slave station channel status LED. Its meaning depends on the type of the fieldbus that is loaded.
Page 80: Program Running Fault Handling
EFORT INTELLIGENT EQUIPMENT CO.,LTD Fig. 5-6 Drive Monitoring Interface 5.5 Program Running Fault Handling The program running alarm can be viewed in the log on the program editing interface. Fig. 5-7 Program Running Log Interface...
Page 81: Chapter Six Deactivation
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Chapter Six Deactivation 6.1 Overview This chapter describes the environmental information recommended for the deactivation of EC2-S Robot and precautions for the disposal of discarded robots. Correct disposal can effectively protect environment and avoid personal injury.
Page 82 EFORT INTELLIGENT EQUIPMENT CO.,LTD Attention 1. Be sure to remove all the batteries in the robot. The batteries will explode when heated (such as from a blowtorch). 2. Be sure to clean up the oil/grease in the gearbox. The oil will catch fire when heated (such as from a blowtorch).
Page 83: Chapter Seven Circuit Diagram
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Chapter Seven Circuit Diagram The electrical schematic diagram of EC2-S Robot shows the working principle of the equipment and the function of each electrical component, and a way of expressing the relationship between each other.
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Page 93: Appendix 1 Spare Parts List
Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Appendix 1 Spare Parts List Item Material Code Number Notes for Each Robot controller 10900019952 teach pendant 11500010563 with 8-meter standard wiring harness motion control card 10900022897 digital input / output...
Page 94 EFORT INTELLIGENT EQUIPMENT CO.,LTD robot wiring harness 10900023270 hot swap wiring harness (optional) robot wiring harness 4M control cabinet to main body 10900011250 ground wire...
Page 95: Appendix 2 Controller Alarms And Warnings
Appendix 2 Controller Alarms and Warnings 1.1 Controller Alarms 1.1.1 System Alarms (1-999) 1.1.1.1 Alarm 1 Fault Description: Abnormity in the value of user register that can be kept Fault Reasons: The read value of user register that can be kept is inconsistent with that of the last time when it was switched off.
Page 96 EFORT INTELLIGENT EQUIPMENT CO.,LTD Solutions: 1. Adjust the PID parameters of the drive or the maximum allowable value; 2. Check whether the target position of the robot and the current position are reasonable (the distance is too far); 3. Reduce robot motion parameters (speed, acceleration, jerk);...
Page 97 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Solutions: 1. Restart the controller; 2. Contact the manufacturer. 1.1.1.11 Alarm 807 Fault Description: Fault in loading OB Fault Reasons: Maybe it is controller fault. Solutions: 1. Restart the controller;...
Page 98: User Alarms And Warnings
EFORT INTELLIGENT EQUIPMENT CO.,LTD 1.1.1.16 Alarm 990 Fault Description: System locked Fault Reasons: The command causes system blockage or controller fault. Solutions: 1. Check the program; 2. Restart the controller; 3. Check whether there is interference from external PLC and any other equipment;...
Page 99 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Code=4: The target point exceeds the joint motion range. Please reset the position of target point. Code=5: The movement queue is full. Try it again or the check the controller.
Page 100: Minor Alarms (3900-3999)
EFORT INTELLIGENT EQUIPMENT CO.,LTD Fault Reasons: The robot violated the user-defined monitoring area. Solutions: 1. Switch the robot to manual mode; 2. Close the control command of the area monitor; 3. Reset the alarm switch; 4. Move the robot to a non-violating state by jog manually.
Page 101 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 2. Check whether the signal is correct. 1.2.2.3 Alarm 3902 Fault Description: Non-single material Fault Reasons: The material is not in a single state. Solutions: 1. A non-single material signal is detected;...
Page 102 EFORT INTELLIGENT EQUIPMENT CO.,LTD 1.2.3 Warnings（4900-4999） 1.2.3.1 Warning 4900 Fault Description: Axis group %s: illegal axis group mode Fault Reasons: Axis group mode is incorrect. Solutions: Reconfigure the axis group parameters. 1.2.3.2 Warning 4901 Fault Description: Axis group %s: zero position is lost.
Page 103 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Fault Reasons: Failed to read configuration file. Solutions: Check whether the robot configuration file exists in application/collisiondetect/ directory of the card or the comprehensive file is correct. 1.2.3.9 Warning 4908 Fault Description: The additional axis %d is running, and the motion command is invalid.
Page 104 EFORT INTELLIGENT EQUIPMENT CO.,LTD Fault Reasons: The failure to read auxiliary axis file will prompt an alarm. Solutions: Check whether there are 13 data items in the file. 1.2.3.16 Warning 4915 Fault Description: Failed to open the parameter file when writing the file.
Page 105 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 1.2.3.22 Warning 4921 Fault Description: It is illegal to switch modes when the robot is running. Fault Reasons: The operating mode was switched during the running of the robot.
Page 106 EFORT INTELLIGENT EQUIPMENT CO.,LTD Appendix 3 Drive Alarms and Warnings 1.3 EC2-A Drive (Alarm:1000-1199，Warning:4050-4099) 1.3.1 Alarms 1.3.1.1 Alarm 11 Fault Description: Position following error alarm (controller) Fault Reasons: Position following error alarm (controller) Solutions: 1. Check whether the specified faulty axis has a mechanical fault on the main body;...
Page 107 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 1.3.1.4 Alarm 639 Fault Description: Braking resistor is overloaded. Fault Reasons: Braking resistor is overloaded. Solutions: 1. Check the wiring of the braking resistor; 2. Replace the braking resistor;...
Page 108 EFORT INTELLIGENT EQUIPMENT CO.,LTD 3. Restart the electric cabinet. 1.3.1.9 Alarm 644 Fault Description: Hardware circuit torque (STO) is closed when the drive is powered on Fault Reasons: Hardware circuit torque (STO) is closed when the drive is powered on Solutions: 1.
Page 109 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot Fault Reasons: Code meaning -0x0001= Bottom transistor fault -0x0002= Top transistor fault (latched) -0x0004= Fault PWM U value is not updated -0x0008= Fault PWM U value is not updated...
Page 110 EFORT INTELLIGENT EQUIPMENT CO.,LTD Solutions: 1. Check the wiring of the motor encoder to ensure the wiring is connected correctly; 2. The encoder cable and motor power increase magnetic rings; 3. Connect to the ground wire of the drive reliably;...
Page 111 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 5. Check whether there is a problem with the wiring between the drive and the motor; 6. Check whether the drive parameters are set correctly; 7. Restart the robot.
Page 112 EFORT INTELLIGENT EQUIPMENT CO.,LTD 3. Connect to the ground wire of the drive reliably; 4. Check whether the specific parameters of the sensor are configured correctly; 5. Replace the motor encoder; 6. Remove the strong interference source around the drive. The drive and the surrounding strong interference source can be powered separately;...
Page 113 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 1.3.1.24 Alarm 737 Fault Description: Position sensor phase value error Fault Reasons: Position sensor phase value error Solutions: 1. Check the wiring of the motor encoder to ensure that it is connected correctly;...
Page 114 EFORT INTELLIGENT EQUIPMENT CO.,LTD 6. Remove the strong interference source around the drive. The drive and the surrounding strong interference source can be powered separately; 7. Add line filter to the input power of the drive; 8. Replace the drive;...
Page 115 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 5. Replace the encoder; 6. Replace the drive; 7. Restart the electric cabinet. 1.3.1.30 Alarm 747 Fault Description: An error occurred in the cabinet temperature. And the temperature of the control board is higher than the selected threshold.
Page 116 EFORT INTELLIGENT EQUIPMENT CO.,LTD 1. Adjust the input power of the drive to the allowable range; 2. Replace the drive; 3. Set the drive parameters correctly; 4. Check whether the input power line of the drive is in poor contact;...
Page 117 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot phenomenon; 4. Check the wiring of the motor brake to ensure that it is reliable; 5. Check whether the drive parameters are set properly; 6. Replace the motor;...
Page 118 EFORT INTELLIGENT EQUIPMENT CO.,LTD Solutions: 1. Alarm reset; 2. Save the parameters again; 3. Restart the electric cabinet. 1.3.1.41 Alarm 762 Fault Description: Internal execution error Fault Reasons: Internal execution error Solutions: 1. Enter mreport-a in RDE->shell for more information;...
Page 119 Electrical Operation and Maintenance Manual for Control Cabinet of EC2-S Industrial Robot 1.3.1.46 Alarm 775 Fault Description: Self-tuning fault Fault Reasons: Self-tuning fault Solutions: 1. Enter mreport-a in RDE->shell for more information; 2. Restart the electric cabinet.
Page 121 The technical data and illustrations are for reference only, and the right to change is reserved. EFORT INTELLIGENT EQUIPMENT CO.,LTD No 96,Wanchun Road,Jiujiang Economic Development Zone, Wuhu, Anhui,China http://www.efort.com.cn...

EFORT EC2-S Operation And Maintenance Manual

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