Related Manuals for EFORT ER20-1100
Summary of Contents for EFORT ER20-1100
- Page 1 ER20-1100 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT Intelligent Equipment Co., Ltd Service Hotline（Tel）：+86-400-0528877...
- 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.
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Page 5: Table Of Contents
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Contents CHAPTER 1 SAFETY......................5 1.1 I ................5 NSTRUCTIONS FOR SAFE OPERATION 1.1.1 Safety precautions during adjustment, operation, maintenance, and other Work 5 1.1.2 Safety countermeasures for robot.................7 1.2 I ............... 10... - Page 6 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 3.2.1 Setting of safety bar................... 22 3.2.2 Robot installation method.................. 23 3.2.3 Ground installation.....................23 3.2.4 Bracket installation.....................25 3.2.5 Upside down installation..................25 3.3 I ...............26 NSTALLATION SITE AND ENVIRONMENT 3.4 I ..........26 NTEGRATED APPLICATION INSTALLATION INTERFACE 3.4.1 Interface of end load mounting flange...............
- Page 7 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 4.5.2 Qualification requirements for maintenance personnel and precautions... 36 4.6 C .................37 ALIBRATION OF HOME POSITION 4.6.1 Calibrating method of home position..............37 4.6.2 Mechanical calibration of axis home position........... 38 4.7 B ....................
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Page 9: Chapter 1 Safety
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Chapter 1 Safety 1.1 Instructions for safe operation Before performing installation, operation, repair and maintenance, and overhaul, please be sure to read this manual and other attached documents thoroughly to use this product correctly. - Page 10 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot damaged. 6). Disassembling parts and work not involved in this manual are forbidden. The robot is equipped with self-diagnostic and other abnormality detection function, so it can stop safely in case of abnormality. However, accidents may still occur sometimes.
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Page 11: Safety Countermeasures For Robot
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Approach the robot cautiously. Press emergency stop button or cut off power, so the robot cannot make movement when it’s not operation. A supervisor (the third person) should be assigned to monitor the safety and be able to immediately press the emergency stop button during robot’s movement. - Page 12 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot When installing attached machine on the end of the effector and the arm, strictly follow the manual to use specified torque wrench to fasten screws of specified size and quantity. Do not use rusty or dirty screws.
- Page 13 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Industrial Robot Control by Means of Gestures (Sample) 1. Connect: Connect to power. 2. No, disconnect: Raise right hand and wave vigorously. 3. Confirm whether it is OK: Raise right hand up high forward.
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Page 14: Instructions Of Labels On Robot Body
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Save completed programs to prevent accidental editing. Confirm the program number and procedure number in teaching before operation. Editing programs and procedures incorrectly could cause accidents. When it is not necessary to make robot’s movement and operate it, please cut off the power before proceeding. -
Page 15: Transfer And Sale Of Robot
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot removing the cable connector. Stepping on the robot during maintenance is forbidden to avoid personal NO stepping It is generally pasted on the injuries and damage of motor. components which will affect the performance of the robot. - Page 16 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Attention should be paid to clamp or injuries when performing abandoning work. Waste products should be discarded safely.
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Page 17: Chapter 2 Basic Instructions
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Chapter 2 Basic Instructions 2.1 Composition of Robot An industrial robot is composed of the following parts, as shown in figure 2-1： Body Control cabinet Teach pendant Cables (for power supply, etc) ... -
Page 18: Nameplate On Robot Body
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Earth cable Standard Standard length 8.5m Teaching pendant and Standard teaching pendant cable Power cable of control Standard cabinet IO cable from robot body to Standard electric control cabinet IO cable of Small arm end Standard 1.5M... -
Page 19: Body Composition And Direction Identification Of Each Axis
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 2.4 Body composition and direction identification of Each Axis The mechanical body mainly includes base, rotating part, upper arm, forearm, wrist. The joints are driven by the servo motor, each of which cooperate to achieve position and gesture adjustment of the robot end in space. -
Page 20: Robot Performance Parameters
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Home position of axis J6 Home position of axis J4 Home position of axis J5 Figure 2-4 Position of mechanical end stops and home position 2.6 Robot performance parameters Table 2-2 Parameter list of performance... -
Page 21: Maximum Wrist Payload
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Point P Trajectory of point P Figure 2-5 Schematic of robot working space 2.7 Maximum wrist payload The payload of installation at the front of the wrist is affected by the maximum carrying weight of the wrist, the maximum payload torque value, and the maximum moment of inertia. -
Page 22: Maximum Carrying Weight
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 2.7.1 Maximum carrying weight Robot model Maximum carrying weight ER20-1100 20 kg 2.7.2 Maximum static payload torque Maximum static payload torque Robot model Axis J4 rotation Axis J5 rotation Axis J6 rotation ER20-1100 42 N.m... -
Page 23: Chapter 3 Transportation And Installation
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Chapter 3 Transportation and installation 3.1 Robot transportation 3.1.1 Transportation precautions See below for transportation precautions. Please fully understand the following content, and then operate safely. Transporting robot and control devices must be performed by qualified personnel for hooking, lifting and forklift, etc. -
Page 24: Transporting Method
Attention should be paid to observing whether space for fork feet is reserved near the base of the robot if a forklift is chosen for transporting. Because ER20-1100 does not reserve space for fork feet, external fork feet should be installed to assist the forklift for transporting. - Page 25 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot (1) During lifting and handling, the user shall own the separate ring bolts conform to GB / T 825-1988, and the sling that shall be able to bear the weight of the robot itself. It is recommended that a single sling shall load 500kg;...
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Page 26: Robot Installation
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Platemetal bracket for packing DIAM 5 Flat washer of 2-C class for 2-M5*12 hexagon socket cap screw Full thread hexagon bolt M12*60 Forklift pins 2-C class hexagon nut Hexagon socket cap screw 4-M12*25 Fork feet ×2... -
Page 27: Robot Installation Method
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot In order to avoid equipment damage and personal injury to the operator and surrounding personnel during the operation of the robot, please set up the safety bar (with interlocking door and other safety settings)! Note: GB11291.2-2013 is equivalent to ISO 10218-2:2011. - Page 28 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot When installing on the ground, first fix the bottom plate on the ground. We recommend that the thickness of the bottom plate should be more than 30mm, and use 8 chemical bolts above M16 to fix the bottom plate on the ground.
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Page 29: Bracket Installation
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 3.2.4 Bracket installation When the height of the bracket is less than 600mm, its fixing mode is similar to the ground installation mode, which is divided into two parts: robot base installation, bracket and ground installation. -
Page 30: Installation Site And Environment
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 3.3 Installation site and environment The robot shall be able to keep normal when used, transported and stored under specified environmental conditions, and its performance shall meet the requirements. Table 3-2 Table of robot environment parameters... -
Page 31: Interface Of Peripheral Installation
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 3.4.2 Interface of peripheral installation Figure 3-9 Peripheral installation dimension diagram... -
Page 32: Terminal Definition Of Wrist I/O Signal Cable
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 3.4.3 Terminal definition of wrist I/O signal cable Table 3-4 External interface table Definition of terminal M12 on the forearm of robot ER20-1100 Serial Signal definition remark number 3.4.4 Position of pneumatic interface and signal interface Two external air pipes are used for standard robot, with the diameter of 10 millimeter, allowable maximum air pressure is 0.8MPa. - Page 33 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Signal cable Encoder cable interface interface Air intake 1 Power cable (ϕ10) interface Air intake 2 (ϕ10) Figure 3-11 Interface of pneumatic channel and signal cable on robot base Signal cable interface Air outlet 1 (ϕ10)
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Page 34: Chapter 4 Repair And Maintenance
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Chapter 4 Repair and maintenance Repair includes routine and scheduled repair. Technicians must make repair plans and perform them accordingly. Please refer to the following table for the items and intervals of repair and maintenance. -
Page 35: Annual Check
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 4.1.3 Annual check Table 4-3 Annual Check Number Item Essentials of checking cleaning, repair, and maintenance of each Check whether problems exist in components and component handle them. tighten external main screws Tighten the external main screws. -
Page 36: Change Lubricant
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot When the bolts need tightening and replacing, a torque wrench must be used to properly tighten, and then fix the bolts by paint coating. Besides, unloosened bolts are forbidden to be tightened with torque that higher than required. - Page 37 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot conditions provided in table 4-7. 2). Cut off the power supply. 3). Remove the M10 hexagon socket cap plug screw of lubricant intake or outlet, according to figure 4-1. 4). Inject the new lubricant until it overflow from the outlet port.
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Page 38: Release The Residue Pressure In Lubricant Cavity
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Lubricant outlet of axis J4 Lubricant outlet of axis J3 Lubricant intake of axis J3 Lubricant intake of axis J3 Figure 4-1 Distribution on robot of intake and outlet of lubricant... -
Page 39: Tightening The Timing Belt
6). Install the cover plate of the wrist part back, and the maintenance is completed. Fixing screws ×4, with the Adjusting screws ×1, with the specification of M5×16 (M5 specification of M3×22 flat washers are required) Figure 4-2 The structure of timing belt of axis J5 of ER20-1100 robot... -
Page 40: Replacement Of Timing Belt
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 4.4.2 Replacement of timing belt Timing belts need to be replaced every three years or every 11520 operation hours. It is noted that during the maintenance, the appearance and condition of timing belt needs to be checked. -
Page 41: Calibration Of Home Position
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 1). Maintenance personnel who enter the safety fence must receive professional training. 2). When maintenance personnel enter into the robot’s working area, the robot must be shut off and locked. Calibration area... -
Page 42: Mechanical Calibration Of Axis Home Position
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 4.6.2 Mechanical calibration of axis home position When re-calibrating the mechanical home positions for each axis of the robot, operate the robot in jogging mode to have each axis motion to the home position mark. And then enter the interface of home position information in teaching pendant, to record the coordinates of each axis. -
Page 43: Battery Replacement
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot 4.7 Battery replacement The data regarding home positions of each axis is saved by the encoder. The batteries of encoder need to be replaced every 7860 operation hours or two years (whichever is shorter). -
Page 44: Chapter 5 Common Faults And Troubleshooting
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Chapter 5 Common Faults and Troubleshooting When robot body malfunctions, read this chapter to diagnose initial faults. The table below covers common faults that may happen to robot body, possible reason analysis, and corresponding troubleshooting techniques, which can help users to troubleshoot them. - Page 45 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot from other surrounding simultaneously operate ; (2) Check the earth wire of robot, ensure it equipment in the (2) The operation of peripheral is effective. working environment. devices cause electromagnetic interference to the robot.
- Page 46 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot operating conditions: abnormal state, increase of the manual. Control the load within the (1) unmatched average current value, and then allowable range. parameters; overheating. (2) improper program commands; (3) Overload. (1) Check the joints of the robot whose...
- Page 47 Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot overload would both cause deviation of joint position and even damage of components. (1) The unsteady connection to peripheral devices can easily Check the working environment and Position deviation occurs cause position deviation;...
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Page 48: Appendices
Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot Appendices A Torque table of tightening screw Screw 12.9 grade Tightening torque (cast iron) Tightening torque (cast aluminum) 2±0.18 2±0.18 4.5±0.33 4±0.33 9.01±0.49 7.35±0.49 15.6±0.78 12.4±0.78 37.2±1.86 30.4±1.86 73.5±3.43 59.8±3.43 128.4±6.37 104±6.37... - Page 49 The technical data and illustrations are for reference only, and we reserve the right to change them. EFORT INTELLIGENT EQUIPMENT CO.,LTD No 96,Wanchun Road,Jiujiang Economic Development Zone, Wuhu, Anhui,China http://www.efort.com.cn website:...
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