EFORT ER10-3-900 Operation And Maintenance Manual
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EFORT ER10-3-900 Operation And Maintenance Manual

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ER10-3(4)-900 Mechanical Operation and
Maintenance Manual for Industrial Robot
EFORT INTELLIGENT EQUIPMENT CO.,LTD
Hotline(Tel):400-0528877

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  • Page 1 ER10-3(4)-900 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT INTELLIGENT EQUIPMENT CO.,LTD Hotline(Tel):400-0528877...
  • Page 2 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Statement Thank you for purchasing EFORT robot products. In order to ensure that the products have been set correctly, please read this operation manual carefully before using. The contents mentioned in this announcement and the manual are related to your personal and property safety.

  • Page 3: Table Of Contents

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Content Chapter One Safety............................1 1.1 Instructions for Safe Use of Robots.................... 1 1.1.1 Safety precautions during adjustment, operation, maintenance, etc........1 1.1.2 Safety Countermeasures of Robot Body................3 1.2 Shift, Transfer, and Sale of Robots....................7 1.3 Abandonment of Robots......................
  • Page 4 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 4.3.3 Lubricant Replacement Steps for J1~J4 Axis Reducer and Wrist Parts......34 4.3.4 Release the Residual Pressure in the Lubricating Oil Cavity........35 4.4 Robot Maintenance and Use Area..................... 36 4.5 Home Position Calibration......................36 4.5.1 Home Position Calibration Method................37 4.5.2 Mechanical Home Position Calibration of Each Axis...........

  • Page 5: Chapter One Safety

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Chapter One Safety 1.1 Instructions for Safe Use of Robots Before performing installation, operation, maintenance, and overhaul operations, please be sure to read this manual and other attached documents thoroughly and use this product correctly. Please fully grasp the equipment knowledge, safety information and all precautions before using this product.
  • Page 6 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 from time to time. Danger! Most robot accidents are as follows: 1 、 The automatic operation was performed without confirming whether there is anyone in the robot's motion range. 2、It enters the robot's motion range in the automatic operation state, and the robot Danger starts suddenly during the operation.

  • Page 7: Safety Countermeasures Of Robot Body

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 During the operation of the robot, please configure a monitor (the third party) who can immediately press the emergency stop button to monitor the safety status. Danger During the operation of the robot, the operation should be carried out in a state where the emergency stop button can be pressed immediately.
  • Page 8 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 When designing and manufacturing the end effector, it is controlled within the allowable load range of the robot wrist. Attention The fail-safe protection structure should be adopted, even if the power supply or compressed air supply of the end effector is cut off, the installation object will not be released or fly out, and the corner or protruding part should be treated to prevent damage to people and objects.
  • Page 9 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Connect 2. No way! Disconnect Attention Do the work related to the Raise your right hand and wave connection. vigorously left and right. 4. OK 3. Is that OK? (to confirm) Raise your right hand up high forward.
  • Page 10 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Operators should also maintain awareness of escape at all times during operations. It must be ensured that in an emergency, you can escape immediately. Attention Always pay attention to the actions of the robot, and do not work with your back to the robot.

  • Page 11: Shift, Transfer, And Sale Of Robots

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 When it is not necessary to make the robot move and operate, please turn off the power before performing the work. Attention After the teaching operation is completed, the robot movement should be manually checked at a low speed.

  • Page 12: Abandonment Of Robots

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 1.3 Abandonment of Robots Do not decompose, heat or incinerate the batteries used for the control device and robot body. Otherwise, fire, rupture and burning accidents will occur. Attention Do not disassemble the board and components of the control device before discarding it.

  • Page 13: Chapter Two Basic Description

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Chapter Two Basic Description 2.1 Robot system composition The industrial robot is composed of the following components: Robot body  Control Cabinet  Teach pendant  Connection (power supply) cables, etc. ...

  • Page 14: Machine Body Nameplate

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 robot 220V main power cord 10900022860 robotics demonstrator & cables 11500010563 PC/SET Two-dimensional instruction manual code grounding cable 10900025100 50PIN external IO 10900025794 adapter plate external IO harness 1 10900025470 external IO harness 2 10900025473 hexagon socket cap 10300000480...

  • Page 15: Robot Axis Range Limit And Home Position

    Fig. 2-3 Definition of Mechanical Body Components and Motion Joints of ER10-3-900 the small arm part the wrist body part the big arm part the base part Fig.

  • Page 16: Robot Performance Parameters

    J1 axis home position J2 axis mechanical end stop J2 axis home position J3 axis home position Fig.2-5 Mechanical End Stop Position and Home Position of ER10-3-900 J1 axis mechanical end stop J1 axis home position J4 axis home position...
  • Page 17 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Maximum arm span 860mm Repeat accuracy ±0.08mm Protection level IP54 Ambient temperature 0-45℃ Relative Humidity 40%~90% Atmospheric pressure 86KPa~106KPa Body weight 30kg P-point range P-point Fig2-7 Robot Workspace Diagram of ER10-3-900...

  • Page 18: Allowable Value Of Wrist Payload

    When using the robot with a wrist payload other than Attention the allowable value, normal operation cannot be guaranteed. 2.7.1 Allowable Weight Robot model Allowable weight ER10-3-900 10 kg ER10-4-900 10 kg 2.7.2 Allowable Maximum of Static Payload Torque Robot model...

  • Page 19: Allowable Maximum Of Moment Of Inertia

    1.5 kg.㎡ 0.8 kg.㎡ 2.7.4 Allowable Payload Curve Diagram Distance from the center of rotation of J3 axis Fig.2-9 Wrist Axis Torque Diagram of ER10-3-900 Distance from the center of rotation of J3 axis Fig.2-10 Wrist Axis Torque Diagram of ER10-4-900...

  • Page 20: Chapter Three Handling And Installation

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Chapter Three Handling and Installation 3.1 Robot Handling 3.1.1 Handling Precautions The following are precautions for robot handling operations. Please work safely after fully understanding the following: The handling of robots and control devices must be carried out by qualified personnel for hook, lifting operation, forklift, etc.
  • Page 21 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 M6×10 M5×10 Fig.3-1 Packing and Fixing Bracket Diagram Fig.3-2 Packing and Fixing Bracket Installation Diagram of ER10-3-900...

  • Page 22: Handling Method

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Fig.3-3 Packing and Fixing Bracket Installation Diagram of ER10-4-900 3.1.3 Handling Method In principle, a crane should be used for robot handling operations. When handling the robot, first set up the robot in the position shown in Figure 3-4/Figure 3-5 and fix the robot small arm with a bracket. Then, install 4 eyebolts (M10) on the rotating base and lift it with 2 soft slings.
  • Page 23 2-M5×10(chrome plated) soft cushion protection flat washers-grade C-5 packing bracket Please strictly follow the drawing for ring-4-M10 lifting and handling. The weight of the body is about 30kg. Fig.3-4 Schematic Diagram of Lifting and Handling of ER10-3-900...

  • Page 24: Robot Installation

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 2-M6×10(chrome plated) 4 soft slings-50Kg×2m flat washers-grade C-6 contact with the body part with 2-M5×10(chrome plated) soft cushion protection flat washers-grade C-5 packing bracket Please strictly follow the drawing for ring-4-M10 lifting and handling.

  • Page 25: Robot Installation Method

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 the establishment of safety protection space and limited space stipulates that“safe protection space shall be established through peripheral protection. The establishment of safety protection space shall fully consider the location and layout of the machine and the hazards in the safety protection space”. Safety protection in 5.10 regulates: "when the design cannot remove the danger or cannot reduce the risk sufficiently, then the safety protection shall be applied.
  • Page 26 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 reference area（600mm×600mm） chemical bolt above M16, strength grade ≥ 4.8 eight group fixing screws M16×45, strength grade 12.9 four taper pins with M12x45 internal thread 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.

  • Page 27: Supporter Installation

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Too long or too short screws for fixing the base of the robot will cause bad fixing accidents! The connection strength of chemical bolts depends on the strength of concrete. When the strength of concrete is insufficient, it can be strengthened by the following methods: Attention...

  • Page 28: Installation Site And Environment

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Anti-drop device Anti-drop device Fig.3-8 Suspended Installation 3.3 Installation Site and Environment The robot should be able to keep normal when used, transported and stored under the specified environmental conditions, and its performance should meet the requirements. Table3-2 Robot Environmental Conditions Robot Environmental Conditions storage and transportation...
  • Page 29 Fig. 3-11 external component installation installed on the small arm size dimensions of external component Fig. 3-12 external component installation installed on the wrist size uniform distribution （a）ER10-3-900 uniform distribution （b）ER10-4-900 Fig. 3-9 End Load Installation Flange Size...
  • Page 30 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Fig.3-10 Dimensions of the External Component Installed on the Boom of ER10-3(4)-900 （a） ER10-3-900 （b） ER10-4-900 Fig,3-11 Dimensions of the External Component Installed on the Small Arm （a） ER10-3-900 （b） ER10-4-900...

  • Page 31: Chapter Four Overhaul And Maintenance

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Chapter Four Overhaul and Maintenance Overhaul is divided into daily overhaul and regular overhaul. Inspectors must prepare overhaul plans and carry out overhaul. Please refer to the table below for overhaul items and overhaul periods. In addition, the overhaul must be carried out every 40,000 hours of work or every 8 years (the principle of choosing which way to reach the deadline first).

  • Page 32: Annual Inspection

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 tightening of external main tighten the end effector screws and external main screws screws 4.1.3 Annual Inspection Table 4-3 Annual Inspection Table Numbe Inspection items Inspection position cleaning and overhaul of various check whether there is a problem with the components component and deal with it...

  • Page 33: Change The Lubricant

    If you have any questions or require technical support, please contact our after-sales service department promptly. 4.3.1 The Oil Supply Quantity of Lubricant Table 4-6 Oil Supply Table of Changing the Lubricant of ER10-3-900 Amount of The position...

  • Page 34: Lubricant Replacement Steps For J1~J4 Axis Reducer And Wrist Parts

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Table 4-8 The Orientation of Each Axis When Filling Lubricant of ER10-3-900 Orientation The position J1 axis reducer 0° J2 axis reducer 0° J3 axis reducer 0° Table 4-9 The Orientation of Each Axis When Filling Lubricant of ER10-4-900 方位...

  • Page 35: Release The Residual Pressure In The Lubricating Oil Cavity

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 7） In order to avoid accidents caused by slips and falls, the excess lubricant on the ground and the robot should be completely removed. 8） After the oil is supplied, follow the steps in item 4.3.4 to release the residual pressure in the lubricating oil tank and install the hexagon socket screw plug.

  • Page 36: Robot Maintenance And Use Area

    1）To enter the safety fence, you must go through professional training; 2） When entering the robot's working area, it must be powered off and locked. Fig. 4-2 Maintenance and Use Area of ER10-3-900 Fig. 4-3 Maintenance and Use Area of ER10-4-900 4.5 Home Position Calibration...

  • Page 37: Home Position Calibration Method

    "ER Series Robot Operation Manual" provided by our company. The mechanical home position distribution of each axis is as follows: J1home position J2 home position J3 home position Fig.4-4 Robot Home Position Map of ER10-3-900...

  • Page 38: Battery Replacement

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 J1home position J4 home position J3 home position J2 home position Fig.4-5 Robot Home Position Map of ER10-4-900 4.6 Battery Replacement The home position data of each axis of the robot is saved by the encoder battery. Every 7860 hours or 2 years of operation (whichever is shorter), the battery should be replaced in time.

  • Page 39: Chapter Five Common Faults And Treatment Measures

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Chapter Five Common Faults and Treatment Measures When the robot body fails, please refer to this chapter for initial fault diagnosis. The conditions listed below cover the common faults that may occur on the robot body, the analysis of the fault causes, and the corresponding handling measures, which can help users to troubleshoot common faults.
  • Page 40 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 （ 3 ） Long-term replace the lubricant according to the operation maintenance requirements this absence manual. maintenance. （1 ）Resonance occurs when robot peripheral The robot vibrates due (1) Try to adjust the distance between equipment are running at the to the influence of the robot and peripheral equipment;...
  • Page 41 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 （ 1 ） Loose screws at key connection screws, etc., use a torque connection parts; wrench to tighten with the required （2）Damage to internal parts torque; of the robot, such as worn or （...
  • Page 42 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Fault Fault classification Possible cause of fault Treatment measures joint parts abnormal due to impact or long-term overload, including casting damage, O-ring wear, （1）Check whether the relevant parts oil seal damage, etc.; are normal, and replace them in time if (2) If the robot has undergone they are abnormal;...
  • Page 43 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 line, etc.). After some parts of the robot body are removed, other parts may lose support, resulting in unpredictable movements and causing damage to personnel and equipment. Therefore, the replacement and maintenance of parts requires professionals to use professional tools to operate.

  • Page 44: Appendix

    Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Appendix A Screw Tightening Torque Table Tightening torque (cast Tightening torque (cast Screw 12.9 grade iron) aluminum) 2±0.18 2±0.18 4.5±0.33 4±0.33 7.35±0.49 9.01±0.49 12.4±0.78 15.6±0.78 30.4±1.86 37.2±1.86 59.8±3.43 73.5±3.43 104±6.37 128.4±6.37 180±10.2 204.8±10.2 259±15.9...
  • Page 45 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900 Table 3 ER10-3(4)-900 Sealant and others Name Model specification Unit per robot Application area flat sealant THREEBOND 1110F screw tightening agent THREEBOND 1374 grease MOLYWHITE RENO.00 According to refueling volume detergent THREEBOND 6602T thread sealant LOCTITE577...
  • Page 46 The rated power, specifications and external dimensions of this product subject change without prior notice. The technical data illustrations 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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Er10-4-900

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