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EFORT ER10-1600 Quick Operation Manual

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ER10-1600 Quick Operation Manual for Industrial Robot
ER10-1600 Quick Operation Manual
for Industrial Robot
EFORT Intelligent Equipment Co., Ltd.
Service Line（Tel） ：400-0528877
Ⅰ

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Summary of Contents for EFORT ER10-1600

  • Page 1 ER10-1600 Quick Operation Manual for Industrial Robot ER10-1600 Quick Operation Manual for Industrial Robot EFORT Intelligent Equipment Co., Ltd. Service Line（Tel） ：400-0528877 Ⅰ...
  • Page 2 The statement and instruction manual is the latest version for ER10-1600 series. More updates can be found at www.efort.com.cn.

  • Page 3: Table Of Contents

    ER10-1600 Quick Operation Manual for Industrial Robot Contents Chapter One Safety....................... 1 1.1 Safety Instructions......................1 1.2 Safety Regulations......................1 Chapter Two Handling and Installing the Robot..............3 2.1 General Introduction......................3 2.2 Basic Description......................3 2.2.1 Unpacking......................3 2.2.2 Preparatory Work before Installation..............4 2.2.3 Storage Environment..................
  • Page 4 ER10-1600 Quick Operation Manual for Industrial Robot 2.4.2 Installation Procedures..................12 2.4.3 Ground Mounting....................13 2.4.4 Supporter Installation..................14 2.4.5 Suspended Installation..................14 2.4.6 Installation Environment...................15 2.4.7 Integrated Connection Interface................16 Chapter Three Electrical Connection..................19 3.1 Robot Power Supply......................19 3.2 Robot Power Cable, Signal Cable and Ground Wire............20 3.3 Definition of Controller Local IO...................
  • Page 5 ER10-1600 Quick Operation Manual for Industrial Robot 3.6.3 X12 Safety Door....................35 Chapter Four Teach Pendant Operations................37 4.1 Teach Pendant........................37 4.1.1 About the Teach Pendant...................37 4.1.2 Function Keys and Interfaces................38 4.1.3 How to Hold a Teach Pendant?.................39 4.2 Power On.........................40 4.3 Jogging..........................

  • Page 6: Chapter One Safety

    An operator must read the following information carefully and pay special attention to the safety measures described. An EFORT industrial robot user should promise to abide by its national or regional safety laws and regulations and to make sure that the necessary safety protection equipment is reasonably designed and correctly installed.
  • Page 7 ER10-1600 Quick Operation Manual for Industrial Robot regarding the operational risks are not allowed to operate the robot. 7. The robot cannot be operated under the following circumstances:  A robot element is exposed.  The safety equipment is disabled.

  • Page 8: Chapter Two Handling And Installing The Robot

    This chapter explains how to handle and install a small and medium load robot in a workplace. It is strongly recommended that users should read the Safety Manual of EFORT Industrial Robots carefully and refer to the first chapter of this manual for the detailed descriptions on safety issues before installation.

  • Page 9: Preparatory Work Before Installation

    ER10-1600 Quick Operation Manual for Industrial Robot Note: The packing list contains only the standard articles while the customized articles are not included. 2.2.2 Preparatory Work before Installation This section contains the information to be used when the robot is newly installed or reinstalled.

  • Page 10: Robot Performance Parameters

    ER10-1600 Quick Operation Manual for Industrial Robot 2.2.6 Robot Performance Parameters The following table describes the performance parameters for the robot. Table 2-6 Robot Performance Parameters Model ER10-1600 Motion Type Joints Control Axes 6 Axes 170°/s Axis J1 Axis J2 160°/s...
  • Page 11 ER10-1600 Quick Operation Manual for Industrial Robot The following table describes the performance parameters of the control cabinet. Table 2-7 Performance Parameters of the Control Cabinet Control Cabinet Type EC-M6 IP Rate IP54, Heat radiator:IP30 IO Port 16 digital input ports and 18 digital output ports...

  • Page 12: Robot Motion Space

    ER10-1600 Quick Operation Manual for Industrial Robot 2.2.7 Robot Motion Space Fig. 2-1 Motion Space of ER10-1600 Robot Note: Fig. 2-1 shows the theoretical maximum motion space of ER10-1600 robot which might be affected by the way the robot is installed.

  • Page 13: Control Cabinet Position

    ER10-1600 Quick Operation Manual for Industrial Robot 2.2.8 Control Cabinet Position Control Cabinet Size of Small and Medium Load Robots（unit: mm）. Fig. 2-2 Size of Robot Control Cabinet The ventilation scoop of the control cabinet must not be covered under any circumstance and a minimum separation space of 150 mm around the cabinet should be guaranteed in order to maximize the heating radiator efficiency.

  • Page 14: Handling The Robot Body

    ER10-1600 Quick Operation Manual for Industrial Robot The handling must be performed by a professional with lifting and forklifting work qualifications. Unprofessional performance might lead to flipping or falling Caution accidents. Please follow the procedures described in the manual and check whether the weight of the robot and the control cabinet exceeds the maximum lifting load before handling the robot.
  • Page 15 ER10-1600 Quick Operation Manual for Industrial Robot Fig. 2-3 Lifting Sketch Map Fig. 2-4 Forklifting Sketch Map...

  • Page 16: Handling The Control Cabinet

    ER10-1600 Quick Operation Manual for Industrial Robot Corresponding Fixtures must be used in handling the robot. Ensure that no pressure is put on the robot arm or electric motor if neither lifting nor forklifting is applied. Attention Remove the fixtures and rubber protection after installation.

  • Page 17: Installing The Robot

    ER10-1600 Quick Operation Manual for Industrial Robot 2.4 Installing the Robot 1. Set up a safety fence to prevent from accidents leading to physical injury or property damage. The robot should be placed in a position from which the end tool or the sharp end...

  • Page 18: Ground Mounting

    ER10-1600 Quick Operation Manual for Industrial Robot 4-M10 screws for lifting Fig. 2-6 Size of Base Interface of ER10-1600 Robot 2.4.3 Ground Mounting The strength rate and maximum load of the concrete ground should meet the requirements of relevant quality regulations. The thickness of the concrete ground should be no less than the depth of the buried chemical bolts and the concrete ground should cover the entire base area to ensure the safety and reliability of installation.

  • Page 19: Supporter Installation

    ER10-1600 Quick Operation Manual for Industrial Robot 8 chemical bolts (M16 or above) Chemical bolts (M16*200 or above) Robot base Floor depth: 30mm Ground Fig. 2-7 Floor and Robot Base Installation 2.4.4 Supporter Installation The fixing procedures are the same as those described in ground mounting if the height of the supporter is less than 600 mm.

  • Page 20: Installation Environment

    ER10-1600 Quick Operation Manual for Industrial Robot Anti-fall safety device Anti-fall safety device Fig. 2-8 Suspended Installation 2.4.6 Installation Environment The robot should be transported, stored and operated in a suitable environment and its performance should meet the general requirements.

  • Page 21: Integrated Connection Interface

    ER10-1600 Quick Operation Manual for Industrial Robot 2.4.7 Integrated Connection Interface The following table shows the size of integrated connection interfaces. Table 2-11 List of Integrated Connection Interface Type Illustration Remarks End Flange Interface Fig. 2-9 End Effector Connection Interface Dimension Big Arm Interface Fig.
  • Page 22 ER10-1600 Quick Operation Manual for Industrial Robot Fig. 2-10 Size of Big Arm Connection Interface Fig. 2-11 Size of Motor Base Connection Interface Fig. 2-12 Size of Wrist Connection Interface Fig. 2-13 Size of Rotating Base Connection Interface...
  • Page 23 ER10-1600 Quick Operation Manual for Industrial Robot Air pipe interface (diameter 8mm) IO signal cable interface IO signal cable interface Air pipe interface (diameter 8mm) Fig. 2-14 Size of Air Pipe and IO Signal Cable Connection Interface...

  • Page 24: Chapter Three Electrical Connection

    ER10-1600 Quick Operation Manual for Industrial Robot Chapter Three Electrical Connection The connection cables between the control cabinet and the robot body include power cables, signal cables and the ground wire. Fix the control cabinet and the robot body before connecting the cables to the interfaces placed at the left side of the control cabinet and the back part of the robot base.

  • Page 25: Robot Power Cable, Signal Cable And Ground Wire

    ER10-1600 Quick Operation Manual for Industrial Robot 3. A disconnecting switch must be placed in between the electric wires and the control cabinet to ensure the physical safety of maintenance professionals. X10 power circular socket Fig. 3-2 Interface and Location of Input Power X10...

  • Page 26: Definition Of Controller Local Io

    User-defined All the output ports are defined and occupied by the system except for those labeled by “User-defined”. Users can expand the local or remote IO ports when in need by consulting the EFORT service team. Table 3-4 Input Description...

  • Page 27: Io Module Expansion

    ER10-1600 Quick Operation Manual for Industrial Robot 3.4 IO Module Expansion 3.4.1 Local IO Module Expansion This section explains how to expand the local IO modules of the controller. There are 4 expandable 16DI/ 16DO type of modules in local IO of which both the input DC voltage and output voltage is 24 V and the output current is 500 mA.

  • Page 28: Remote Io Module Expansion

    ER10-1600 Quick Operation Manual for Industrial Robot 3.Mount the controller on the bus coupler and mount the I/O module on the bus basic module. 4. Connect the a1/a2 pins of I/O module to the 24 voltage positive source and connect the...

  • Page 29: Io Module Update

    ER10-1600 Quick Operation Manual for Industrial Robot 3.5.1 IO Module Update Table 3-8 IO Module Update Procedures Procedures Demonstration Remarks 1.The teach 988 Bad pendant pops RHW.CFG up an alarm code=2. message if the 9200 PFX.INT. controller’s IO configuration number does...
  • Page 30 ER10-1600 Quick Operation Manual for Industrial Robot Table 3-9 Remote IO Configuration Procedures Procedures Demonstration Remarks 1.Enter the Click on “IO Remote IO setting” on the teach Configuration pendant and choose page. “Adapt to remote IO configuration”. 2.Configure the Type in “1975” in...

  • Page 31: Io Function Io Configuration

    ER10-1600 Quick Operation Manual for Industrial Robot addresses already occupied by other modules cannot be reconfigured. The channel types as demonstrated need to be further defined if the selected module type is AD or DA. Click to save the configuration to file.
  • Page 32 ER10-1600 Quick Operation Manual for Industrial Robot Table 3-10 Function IO Configuration Procedures Procedures Demonstration Remarks 1. Enter IO Click on “IO Setting” setting. on the teach pendant. 2.Select Click on “Configure” to “Function IO enter the setting page. Configuration” as...
  • Page 33 ER10-1600 Quick Operation Manual for Industrial Robot Users can check the 3．Enter the previous configuration configuration details. page.
  • Page 34 ER10-1600 Quick Operation Manual for Industrial Robot 4. Configure the Click on Edit to enable common the function edition. The functions. IO status cannot be refreshed while IO is being edited. Click to save the configuration to file. Click on Exit to return to the setting page.
  • Page 35 ER10-1600 Quick Operation Manual for Industrial Robot sequence number. The Auto mode sequence number of programs 1 to 4 is calculated by the signal status which is signified by binary numbers. The status signals of programs 1-4 are converted into 4 binary numbers.
  • Page 36 ER10-1600 Quick Operation Manual for Industrial Robot occupied input signal from a non-shared area and waits until the occupation signal is cleared off. Step-in signal 1 for These signals are sent to the 1 additional axis the robot specifying the...

  • Page 37: Analog Io Configuration

    ER10-1600 Quick Operation Manual for Industrial Robot Detect running status of the high and Effective in Run status current program low level Manual mode high and Effective in Alarm status Detect the alarms low level Manual mode The emergency stop is in...
  • Page 38 ER10-1600 Quick Operation Manual for Industrial Robot 1.Enter IO setting Click on IO setting page. on the teach pendant. 2.Select “Analog Click on Configure IO Configuration”. to enter the configuration page.

  • Page 39: Introduction To Emergency Stop

    ER10-1600 Quick Operation Manual for Industrial Robot 3.Configure the Users can check the channel previous parameters for configuration details. analog IO. Click on Edit to enable the parameter edition. Click to save or discard the channel parameter configuration. Click on Exit to return to the setting page.

  • Page 40: External Emergency Stop

    ER10-1600 Quick Operation Manual for Industrial Robot 3.6.1 External Emergency Stop Pull out the short-circuit strip from the X7-type terminal block and connect the emergency stop switch into the series circuit as shown in Fig. 3-4. The recommended wire cross-section should be larger than 0.5 mm².
  • Page 41 ER10-1600 Quick Operation Manual for Industrial Robot speed or automatic mode. Short-circuit contacts 1 and 2 or contacts 3 and 4 if the user does not want to use a safety door bridge ware.

  • Page 42: Chapter Four Teach Pendant Operations

    ER10-1600 Quick Operation Manual for Industrial Robot Chapter Four Teach Pendant Operations 4.1 Teach Pendant 4.1.1 About the Teach Pendant The teach pendant is an interactive equipment between the operator and the robot. An operator can complete all the designed functions of a robot through the teach pendant, such as manual jogging, programed jogging and IO configuration etc.

  • Page 43: Function Keys And Interfaces

    ER10-1600 Quick Operation Manual for Industrial Robot 4.1.2 Function Keys and Interfaces Fig. 4-2 Teach Pendant Table 4-2 Teach Pendant Function Description Item Remarks Membrane panel 3 EFFORT LOGO 2、3 LCD Display Used for interactive operations Membrane panel 2 Equipped with 10 keys...

  • Page 44: How To Hold A Teach Pendant

    ER10-1600 Quick Operation Manual for Industrial Robot Table 4-3 Right Side Keys Description Item Item Three-colored LED J4 Movement - Start J5 Movement + Pause J5 Movement - J1 Movement + J6 Movement + J1 Movement - J6 Movement -...

  • Page 45: Power On

    ER10-1600 Quick Operation Manual for Industrial Robot Three staged press switch. Stage 1: Servo-OFF, Stage 2: Servo-On, Stage 3: Servo-OFF Fig. 4-5 Hold the Teach Pendant with the Left Hand 4.2 Power On Turn the power switch clockwise to start the robot system. Users can operate the robot with the authorized user type from the logging page.

  • Page 46: Jogging

    ER10-1600 Quick Operation Manual for Industrial Robot 4.3 Jogging 4.3.1 What is Jogging? Jogging is performed under the Manual-S mode through the function keys “-” or “+” on the right side of the teach pendant. When the servo is on, an operator needs to select the coordinate reference system and the speed ration before jogging the robot.

  • Page 47: Joint Coordinate System-Jogging

    ER10-1600 Quick Operation Manual for Industrial Robot Fig. 4-8 Coordinate System Switch 4.3.4 Joint Coordinate System-Jogging Select joint coordinate system and hold the enabling key. Press the function keys “-”、“+” on the control panel of teach pendant to adjust the motion angles of the corresponding axis as shown in Fig. 4-9.

  • Page 48: Power Off

    ER10-1600 Quick Operation Manual for Industrial Robot and medium payload industrial robots. 4.4 Power Off The procedures for turning off the main power are as follows: 1. Press “Stop” on the teach pendant to stop the robot if the current program is completed.

  • Page 49: Chapter Five Common Faults And Recommended Solutions

    ER10-1600 Quick Operation Manual for Industrial Robot Chapter Five Common Faults and Recommended Solutions Part One: Electrical or Software Faults Fault Verification procedures Remarks description 1. Check if the power supply is working or not. 2. Check if the power circular connector is correctly wired.
  • Page 50 ER10-1600 Quick Operation Manual for Industrial Robot 4. Please contact the service professionals if the fault still exists. 1. Check if there are alarm messages on the teach pendant. Handle the alarms according to the The robot cannot instructions. be booted.
  • Page 51 ER10-1600 Quick Operation Manual for Industrial Robot Part Two: Mechanical Faults Fault Type Possible causes Verification procedures description 1. Check and adjust the 1. The flatness of the base or mounting flatness floor does not meet the The robot base is not required.
  • Page 52 ER10-1600 Quick Operation Manual for Industrial Robot 2. The robot is started might be damaged if the right after situation does not improve maintenance. after a 2-day running-in. Consult service professionals replacement. Fault Type Possible causes Verification procedures description 1. The cables between the 1.Check whether the cables...
  • Page 53 ER10-1600 Quick Operation Manual for Industrial Robot not properly set. programing. Ensure 2. The program mechanical load is within instructions are not the maximum load limit. proper. 3. The working load exceeds the designed maximum limit. 1. Check the corresponding...
  • Page 54 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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