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EFORT ER15-1400 Operation And Maintenance Manual

Industrial robot
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ER15-1400 Mechanical Operation and
Maintenance Manual for Industrial Robot
EFORT INTELLIGENT EQUIPMENT CO., LTD
Hotline (Tel): +86-400-0528877
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Summary of Contents for EFORT ER15-1400

  • Page 1 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT INTELLIGENT EQUIPMENT CO., LTD Hotline (Tel): +86-400-0528877...
  • Page 2 EFORT. EFORT is not responsible for the losses, injuries and any legal liabilities caused by the direct or indirect use of this product. Users should follow but not limited to the safety guidelines mentioned in this manual.

  • Page 3: Table Of Contents

    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 Robot Body Label Description......................7 1.3 Shift, Transfer, and Sale of Robots......................7 1.4 Abandonment of Robots........................
  • Page 4 4.1.3 Annual Inspection........................29 4.1.4 Inspect Every Three Years...................... 29 4.2 Overhaul of Main Bolts........................29 4.3 Change the Lubricant.........................30 4.3.1 The Oil Supply Quantity of Lubricant................... 30 4.3.2 Space Orientation of Lubrication................... 30 4.3.3 Lubricant Replacement Steps for J1~J4 Axis Reducer and Wrist Parts........ 31 4.3.4 Release the Residual Pressure in the Lubricating Oil Cavity..........

  • Page 5: Chapter One Safety

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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...
  • Page 9 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Industrial robot gesture method (example) 1. Connect: Do the work related to the connection 2. No way! Disconnect: Raise your right hand and wave vigorously left and right 3. Is that...
  • Page 10 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot According to the setting place and operating content, the relevant operation regulations and checklists such as starting method, operation method, solution in case of abnormality, etc. of the robot should be compiled. And carry out the operation according to the operating regulations.

  • Page 11: Robot Body Label Description

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 1.2 Robot Body Label Description Safety warning labels will be pasted on the robot body. These labels are pasted on specific parts of the robot body to remind users of safety matters that need to be paid attention to when operating and maintaining the robot.

  • Page 12: Abandonment Of Robots

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot language, and ensuring compliance with local laws and regulations. The new user does not read the instruction manual and performs wrong operation or unsafe operation, which may lead to accidents. When the robot is shifted, transferred, or sold abroad, if there are no special provisions in the contract terms at the time of the initial sale, the security-related terms shall not be inherited by the new recipient.
  • Page 13 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Waste products should be discarded in a safe state. Attention...

  • Page 14: Chapter Two Basic Description

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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 15: Machine Body Nameplate

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot standard The cable is equipped with 8m as ground wire configuration standard. teach pendant + teach standard pendant wire configuration control cabinet power standard wire configuration control cabinet to body standard...

  • Page 16: Body Part Composition And Direction Identification Of Each Axis

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Fig2-2 Robot Body Nameplate 2.4 Body Part Composition and Direction Identification of Each Axis The robot mechanical body is mainly composed of the base part, the rotating part, the big arm part, the small arm part, and the wrist part.

  • Page 17: Robot Performance Parameters

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot J2 axis mechanical end stop J2 axis home position J1 axis mechanical end stop J1 axis home position J3 axis home position J3 axis mechanical end stop J6 axis home position...
  • Page 18 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot ground installation, upside-down installation, Installation conditions side-mount installation Protection level IP65/ IP67(the wrist part) Repeat positioning accuracy ±0.05mm Body weight 150kg P-point P-point range Fig2-5 Robot Workspace Diagram Note: The working space shown in this figure is the theoretical maximum reachable range of point p.

  • Page 19: Allowable Value Of Wrist Payload

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 2.7 Allowable Value of Wrist Payload The installation payload at the front end of the robot wrist is affected by the allowable weight of the wrist, the allowable payload torque value, and the allowable moment of inertia.

  • Page 20: Chapter Three Handling And Installation

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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: Handling Method

    If you choose to move the robot with a forklift, you need to observe whether there are fork feet near the base of the robot; the base of the ER15-1400 robot does not have fork feet, so you need to install external fork feet to assist the forklift.
  • Page 22 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot In Figure 3-3, no other devices are installed on the end effector and robotic arm, so Attention please pay more attention once you install other devices. 2） Handling method two Set the robot to the posture shown in Figure 3-4 and use a forklift to carry it.
  • Page 23 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Lift with 4×two-meter-long soft cables bearing load of 500kg. Steel cables are forbidden. Contact with the body part with protective soft cushion 3-M12 separate ring screws Center of gravity location Fig. 3-3 Schematic Diagram of Lifting and Handling 2-Hexagon socket cap screws M6×16...

  • Page 24: Robot Installation

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 3.2 Robot Installation （1）Set up safety fence Otherwise, accidents such as personal injury and equipment damage may occur. The robot should be placed in a position where the tool and the tip of work piece of the robot arm will not touch the safety fence even if the robot arm reaches the longest.

  • Page 25: Ground Mounting

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Fig.3-5 Robot Base Size 3.2.3 Ground Mounting Ground mounting requires the concrete foundation to be firm, the strength level and load-bearing capacity should meet the relevant quality specifications, the thickness of the concrete should not be less than the filling depth of the chemical bolts, and the effective range should completely cover the fixed bottom plate to ensure the safety and reliability of the bottom plate installation.

  • Page 26: Supporter Installation

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Chemical bolt components Specification requires M16 and above 8 chemical bolt components Specification requires M16 and above Fig.3-6 “Robot Installation Example” 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.

  • Page 27: Suspended Installation

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Measures such as the specification, quantity, and embedded depth of the chemical bolt group can be appropriately increased; Improve the strength of the concrete foundation, the strength of concrete foundation Attention is higher than that of chemical bolt components;...

  • Page 28: Integrated Application Installation Interface

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot relative humidity ≤80%（40℃） ≤93%（40℃） atmospheric pressure 86~106 kPa vibration less than0.5G，4.9m/s others no corrosive gas (Note) Note: For the robot to be used, if there is strong vibration, a lot of dust, cutting oil splashing, or other objects in the use environment, please contact our after-sales service department to use a robot cover or other methods to protect the robot parts.

  • Page 29: External Installation Interface

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 3.4.2 external installation Interface Fig.3-9 Dimensions of External Installation Size 3.4.3 Definition of Wrist I/O Single Cable Connector Table 3-4 External Interface Size Table Small arm end M12 plug definition of ER15-1400 robot...

  • Page 30: Location Of Pneumatic And Signal Line Interface

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot three three four four five five seven seven night night nine nine eleven eleven 3.4.4 twelve twelve Location of Pneumatic and Signal Line Interface For the standard robot, the specification of the external air pipe is 2 × Φ10; the maximum atmospheric pressure allowed is 0.8MPa, and the schematic diagram of the air...
  • Page 31 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Single cable connector Encoder cable interface Air inlet Power cable interface Air inlet Fig.3-11 Base Part of the Air Circuit and Signal Line Interface Air outlet Signal cable interface Air outlet...

  • Page 32: Chapter Four Overhaul And Maintenance

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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.

  • Page 33: Annual Inspection

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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 Number Inspection items Inspection position cleaning and overhaul of various...

  • Page 34: Change The Lubricant

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot For installation of J4 axis servo motor To tighten and replace the screws, you must use a torque wrench to tighten with the correct torque, and then paint to fix it. In addition, it should be noted that bolts that are not loose should not be tightened with a torque higher than the required torque.

  • Page 35: Lubricant Replacement Steps For J1~J4 Axis Reducer And Wrist Parts

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 4.3.3 Lubricant Replacement Steps for J1~J4 Axis Reducer and Wrist Parts 1） Move the robot to the lubrication position described in Table 3.7 2） Cut off the power. 3） Remove the M10*1 hexagon socket screw plugs of the lubricant filling and drain ports, see Figure 4-1.

  • Page 36: Release The Residual Pressure In The Lubricating Oil Cavity

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot J4 Oil drain port J3 Oil drain port J4 Oil filling port J3 Oil filling port Fig. 4-1 Distribution Map of Oil Filling and Drain Ports of Robot Table 4-8 Tools Required for Changing Lubricant...

  • Page 37: Timing Belt Tension

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 4.4.1 Timing Belt Tension A tension gauge is required for timing belt tensioning. Customers can operate it by themselves or contact our company's after-sales service personnel. Specific tensioning standards refer to Table 4-9.

  • Page 38: Robot Maintenance And Use Area

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot The replacement of the timing belt involves the disassembly posture of the robot, the selection of the timing belt and the zero calibration after replacement, and special tools are needed in the process of disassembly and assembly. There are Attention potential safety hazards in the disassembly and assembly of the customer.

  • Page 39: Home Position Calibration Method

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot with the encoder count value. The purpose of the home position calibration operation is to obtain the encoder count value corresponding to the home position. "Home position calibration" is done before leaving the factory. In daily operations, there is generally no need to perform home position calibration operations.

  • Page 40: Battery Replacement

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot J4 home position J3 home position J6 home position J5 home position Fig.4-5 Robot Home Position Map 4.7 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 41: Chapter Five Common Faults And Treatment Measures

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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 42 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot collision; to avoid collision and long-term overload operation, and regularly （2）Long-term overload operation; replace the lubricant according to the maintenance requirements of this （3）Long-term operation in the manual. absence of maintenance.
  • Page 43 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot by hand following conditions to base and joint fixing screws, end flange cause shaking: connection screws, etc., use a torque （1）Loose screws at key wrench to tighten with the required connection parts;...
  • Page 44 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot influence of gravity. enters the motor brake, the seal failure, and then replace the causing the brake to fail. motor after solving the seal problem. (1)The joint parts are abnormal due to impact or...
  • Page 45 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot （1）The position accuracy cannot be guaranteed due to loose screws and abnormal （1）Tighten the screws and check the The robot repeat Shift connection of the main joint connection; positioning accuracy command body structure;...

  • Page 46: Appendix

    ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot 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 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±6.37 204.8±10.2...
  • Page 47 ER15-1400 Mechanical Operation and Maintenance Manual for Industrial Robot Table 3 Sealant and others Name Model specification Unit per robot Application area grease MOLYWHITE RENO.00 2.5kg flat sealant THREEBOND 1110F screw tightening agent THREEBOND 1374 detergent THREEBOND 6602T thread sealant...
  • Page 48 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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