Related Manuals for EFORT ECR5
Summary of Contents for EFORT ECR5
- Page 1 ECR5 Collaborative Robot ---------Quick Start Manual Please Read This Manual Carefully Before Use...
- Page 2 EFORT INTELLIGENT EQUIPMENT CO.,LTD. ECR5 User Manual Quick Start Manual) Version: V1.0 ------ ------ Service Hotline(Tel):4000528877...
- Page 3 This manual is only used as a guide for the normal operation of the product. During the use of the product, EFORT will not be liable for personal injury and property loss caused by other reasons except product defects. EFORT Company...
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Page 4: Table Of Contents
Contents ............................1 ......................4 1.1 unpacking inspection ....................4 1.2 confirmation of product information ..............5 ......................6 2.1 Wiring ..........................6 2.2 Power line connection ..................... 6 2.2.1 Boby wiring ..................... 7 2.2.2 Teaching pendant connection ..............7 2.3 control cabinet startup / shutdown .............. - Page 5 4.1.3 Manual full speed operation ..............25 4.1.4 Automatic operation ................. 26 4.2 Example 2: writing the first program ..............27 4.2.1 New program ....................27 4.2.2 JOG teaching point A ................28 4.2.3 Insert the movement instruction first, and then teach it ....30 4.2.4 Drag mode teaching point C ..............
- Page 6 Preface EFORT INTELLIGENT EQUIPMENT CO.,LTD Preface About this manual This manual is a quick start manual for ECR series robot operation, which aims to make users understand the robot quickly and operate the robot simply in a short time. Operation premise Before operating the robot, please read the relevant safety instructions of the product carefully.
- Page 7 Risk Assessment In principle, ECR5 collaborative robot can be used without external fence, but the risk of operation and normal operation must be assessed. The risk assessment must be completed before the robot is put into use. Integrators and users must fully consider all tasks of the robot in its whole life cycle to measure the risk level and acceptability.
- Page 8 Preface EFORT INTELLIGENT EQUIPMENT CO.,LTD safety mode of the robot can be turned off, and the internal safety settings are invalid. Integrators and users must consider additional safety equipment and evaluate its safety risk. After changing the configuration and replacing the end effector of the robot, the...
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Page 9: Unpacking Inspection
EFORT INTELLIGENT EQUIPMENT CO.,LTD Chapter One Unpacking 1.1 Unpacking Inspection When you order a complete ECR5 collaborative robot, you will receive two packages: Box a: length 725 mm × width 435 mm × height 397.5 mm, packed as follows: 1) 1 ECR5 robot body... -
Page 10: Confirmation Of Product Information
Unpacking EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 1-2 packing contents of Box B 1.2 Confirmation of Product Information Before using the robot system, please check whether the serial number on the nameplate of the robot body and the electric cabinet matches. The control cabinet... -
Page 11: Wiring
Description Power switch Turn on the main power switch to supply power to the robot system Body power supply interface The ECR5 robot is powered by cable Teaching pendant interface Power supply and communication for teaching pendant through cable Spare... -
Page 12: Boby Wiring
Installation EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 2-2 main electrical interface 2.2.1 Body Wiring As shown in Figure 2-1 body power supply interface (2), the body is connected with the control cabinet by using the inter panel line (Figure 2-3) in Box B (Figure 1-2), in which the "Ctrl"... -
Page 13: Composition Of Teach Pendant
Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Chapter Three Basic Operation 3.1 Composition of teaching pendant The teaching pendant is a hand-held device that controls the robot. Usually, the left hand holds the teaching pendant, and the right hand clicks the touch screen for interaction. - Page 14 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Table3-1 Front part description of teaching pendant Sequence Name Description Display HMI operation area (touch screen ) Function key Provide shortcut keys for some functions Control key Running program, manual inching robot (JOG) Indicator light...
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Page 15: User Login
Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Please refer to section §1.2.2 for specific Enable key usage Bracelet When holding the teaching pendant, preve nt it from leaving Outlet cover plate The cover plate needs to be opened when replacing the wiring harness 3.2 User login... - Page 16 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Table 3-3 Comparison table of roles and functions Operator Engineer Administrator × Program module √ √ × Installation and setting ○ √ module Mobile module √ √ √ Monitoring module √ √ √ Log module ○...
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Page 17: Manual Mode + Up Servo
Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD 3.3 manual mode + upper servo Manual motion robot (also known as JOG) can be divided into the following motion modes: Joint movement: control each joint of robot to rotate forward / reverse independently;... -
Page 18: Manual Mode - Joint Movement
Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 3-6 upper servo The operation is complete 3.4 manual mode – joint movement Operation method: Step 1: touch the "coordinate system" button on the teaching pendant panel, as shown in Figure 3-7 (left), until the robot motion mode is set to "joint", and the corresponding icon status of "status bar"... - Page 19 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 3-8 robot "enable key" Step 3: press and hold the "enable key" with the left hand for a long time, and press and hold the control keys "-" and "+" of "1" in Figure 3-9 with the right hand in turn to control the 1 axis of the robot to rotate in reverse / forward direction (stop if release the key).
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Page 20: Manual Mode - Cartesian Motion
Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD （above） （below） Figure 3-10 speed adjustment The operation is complete. Tips! In "manual slow" mode, the range of robot motion speed is 0 ~ 20%; In the "manual full speed" mode, the range of robot motion speed is 0 ~ 100% 3.5 manual mode - Cartesian motion... - Page 21 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 3-11 robot body The robot can be moved to the posture shown in Figure 3-12 through joint motion, which is taken as the initial posture of Cartesian motion. Joint-1 Joint-2 Joint-3 Joint-4 Joint-5...
- Page 22 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 3-13 manual slow + up servo Step 2: switch the robot motion reference system to "robot" (touch the "coordinate system" button on the teaching pendant panel). Figure 3-14 "robot" motion reference system Tips! In "automatic mode", it is not allowed to switch the robot motion reference system.
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Page 23: Drag Teaching
Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Tips! In "automatic mode", it is not allowed to switch the robot motion reference system. Only in "manual slow speed" and "manual full speed" mode, the switch of reference system can take effect. When the robot takes "robot" as the motion reference system, the buttons (① ~ ⑥) “-”... - Page 24 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Operation steps: Step 1: switch the mode knob to "auto mode (Auto)", as shown in Figure 3-16 (left), and the corresponding status of the status icon in the teaching interface is shown in Figure 3-16 (right).
- Page 25 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Step 3: gently hold the "enable key" on the back of the teaching pendant with the left hand. At this time, the “” button light on the end flange is red, and the end flange light belt is green, indicating that the robot can be moved by dragging;...
- Page 26 Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD Tips! There are three states of “” button light on the end flange: 【green breath flashing】 、 【 green always on】 、 【 light off】 . Each time you click the key (it must be in the "automatic mode + up servo"...
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Page 27: Example 1: Running Example Program
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Chapter Four Programming 4.1 Example 1: running the example program Warning! When performing the following steps, make sure that the robot arm is open and free of people or objects. 4.1.1 open sample program The operator role can load and run the program. The following operations in example 1 are performed in the operator role. -
Page 28: Manual Slow Operation
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 4-2 loading sample program After loading, the software will automatically jump to the "program" module, as shown in Figure 4-3. Figure 4-3 program loading completed 4.1.2 manual slow operation Operation method: Step 1: set the robot state to "manual slow speed" + "up servo" state, see 3.3.2 "manual mode + up servo";... - Page 29 Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 4-4 manual slow + up servo + enable key Step 3: always hold the "enable key" and click the "program run" button on the panel of the teaching pendant, as shown in the figure below (left). After the program starts to run, the status bar icon on the interface of the teaching pendant is shown in the figure below (right).
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Page 30: Manual Full Speed Operation
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD 4.1.3 manual full speed operation After the program is suspended, click the "restart" button, as shown in Figure 4-6 (left), to reinitialize the program (as shown in Figure 4-6 (right)), and then the program will be executed from the first line of the program tree. -
Page 31: Automatic Operation
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Mode 2: click the "speed" status area in the status bar of the teach pendant interface to make a quick selection Step 3: repeat the operation in section 4.1.2. The operation is complete. 4.1.4 automatic operation Operation steps: Step 1: click the "restart"... -
Page 32: Example 2: Writing The First Program
Usually with the login of engineer role, it can meet most of the debugging, production functions. Operation steps: Step 1: click EFORT "logo" to switch to the user login interface, as shown in Figure 4-8 below; Figure 4-8 login interface Step 2: input the corresponding login password of the engineer;... -
Page 33: Jog Teaching Point A
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Step 3: click the "new" button, input the file name of the program to be built, and click the "√" button to complete the program creation, as shown in Figure 4-10; Figure 4-10 new program Step 4: after the program is loaded automatically, the interface will automatically jump to the program module, as shown in Figure 4-11;... - Page 34 Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 4-12 first pose point Step 2: insert a robot motion instruction (MJJOINT instruction) into the program tree. The specific operation is as follows: in the "program" interface, select the "end" line of the "program tree", and then click the "motion command / MJOINT"...
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Page 35: Insert The Movement Instruction First, And Then Teach It
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Figure 4-14 MJOINT instruction target point The operation is complete. Suggestions! When editing the first pose point of robot motion, MJOINT command is recommended. 4.2.3 insert the movement instruction first, then teach The operation sequence in the previous section is as follows: ... - Page 36 Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Operation steps: Step 1: insert the second MJOINT instruction into the program; Click the "end" line in the "program tree", and then click the "MJOINT" instruction to insert the instruction; Figure 4-15 inserting the second MJOINT instruction Step 2: "manual slow motion"...
- Page 37 Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Step 3: teach point B Select the fifth line of code (target) in the "program tree", you can find that the value of target is the pose value of point A, as shown in Figure 4-17 (left);...
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Page 38: Drag Mode Teaching Point C
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD 4.2.4 drag mode teaching point C Step 1: drag the robot vertically downward to a certain distance in the dragging mode (see section 3.6), and the pose value after the operation is shown in Figure 4-19;... -
Page 39: Automatic Operation
Programming EFORT INTELLIGENT EQUIPMENT CO.,LTD Tips! The difference between MLIN instruction and mjoint instruction is as follows: MLIN moves to the target point in a straight line; Mjoint moves the target point in PTP mode. 4.2.5 Automatic operation Step 1: set the robot state to "automatic mode" + "up servo";... - Page 40 The CD-ROM documents included with the robot are as follows: 《CR series collaborative robots - Quick Start Manual》 《User manual of ECR5 collaborative robot - mechanical and electrical》 《User manual of ECR5 collaborative robot - operation of teach pendant》 《"RPL programming manual》...
- Page 41 The technical data and illustrations are for reference only, and we reserve the right to change them. Efort Intelligent Equipment Co.,Ltd Address: No.96 Wanchun East Road, Jiujiang Economic Development Zone, Wuhu, Anhui. Website: http://www.efort.com.cn...
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