EFORT ER180-4-3200 Quick Operation Manual
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EFORT ER180-4-3200 Quick Operation Manual

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ER180-4-3200 Quick Operation Manual
for Industrial Robot
Efort Intelligent Equipment Co., Ltd
Service Hotline（Tel）：+86-400-0528877

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Summary of Contents for EFORT ER180-4-3200

  • Page 1 ER180-4-3200 Quick Operation Manual for Industrial Robot Efort Intelligent Equipment Co., Ltd Service Hotline（Tel）：+86-400-0528877...
  • Page 2 This manual is only used as a guide for the normal operation of the product. During the use of the product, EFT will not be liable for personal injury and property loss caused by other reasons except product defects. EFORT company solemnly suggests that: personnel participating in robot operation, teaching,...

  • Page 3: Table Of Contents

    Industrial Robot Quick Operation Manual for ER180-4-3200 Contents Chapter One Safety......................1 1.1 Safety instructions......................1 1.2 Safety guidelines......................1 1.3 Safety precautions in the process of work.................3 1.3.1 Safety of robot installation and connection............3 1.3.2 Safety before robot starting................4 1.3.3 Safety of robot starting..................5...
  • Page 4 Industrial Robot Quick Operation Manual for ER180-4-3200 3.5 IO settings........................41 3.5.1 Update IO module.....................41 3.5.2 Remote IO configuration.................. 42 3.5 Analog IO configuration..................46 3.5.5 Group IO configuration..................47 3.6 Introduction of external emergency stop.................49 Chapter 4 Quick operation....................52 4.1 Teach pendant........................52...
  • Page 5 Industrial Robot Quick Operation Manual for ER180-4-3200...

  • Page 6: Chapter One Safety

    Operators must carefully read the following information, especially the safety measures listed in this chapter. Users of the EFORT industrial robots shall be responsible for ensuring compliance with applicable safety laws and regulations in the country/district and that the necessary safety equipment used to protect the operator of the robot system is designed reasonably and installed correctly.
  • Page 7 Industrial Robot Quick Operation Manual for ER180-4-3200 5. It is not allowed to use unsuitable materials, adjust and modify the robot improperly. 6. Unauthorized personnel or personnel who have not received training in the use of the robot and are aware of the existing risks shall not operate the robot.

  • Page 8: Safety Precautions In The Process Of Work

    (GB11291.1-2011/ISO10281- 1:2006). 1. Before operation, please read and understand all manuals, specifications and other relevant documents provided by Efort. In addition, a complete understanding of the operation, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 9: Safety Before Robot Starting

    Industrial Robot Quick Operation Manual for ER180-4-3200 to indicate that the inspection / maintenance and maintenance are in progress, and lock or clamp the main power switch. 9. When the wiring is finished, always shut the cover plate of the input power connection end.

  • Page 10: Safety Of Robot Starting

    1. Before operation, please read and understand all manuals, specifications and other relevant documents provided by Efort. In addition, a complete understanding of the operation, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 11: Test Run Safety

    1.3.5 Safety in teaching process DANGER Efort recommends that teaching should be completed outside the safety fence. However, if it is necessary to enter the safety fence, please strictly observe the following items, and refer to the following domestic / international safety standards.
  • Page 12 Industrial Robot Quick Operation Manual for ER180-4-3200 1. Please read and understand all manuals, specifications and other relevant documents provided by Efort before operation. In addition, the operation, teaching, maintenance and other processes are fully understood. At the same time, confirm that all safety measures are in place and effective.

  • Page 13: Security In Autorun

    1. Before operation, please read and understand all manuals and other relevant documents provided by Efort. In addition, a complete understanding of the operation, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 14: Safety During Maintenance

    1. Before operation, please read and understand all manuals and other relevant documents provided by Efort. In addition, a complete understanding of the operation, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 15: Safety During Spot Check And Maintenance

    9. When replacing, please use only the parts provided by Efort company. 10. Support the robot arm with a suitable lifting device before removing the servo motor of any joint axis.
  • Page 16 11. Please use only the parts approved by Efort company for replacement. In addition, in the spot inspection / maintenance, please use the teaching mode and move the robot as low as possible.
  • Page 17 Industrial Robot Quick Operation Manual for ER180-4-3200 changing to 0V, replace or pull out the connector. In addition, if the robot has just stopped running, the heat sink or regenerative absorption resistance may still be hot. Therefore, be careful not to touch any hot parts.
  • Page 18 Industrial Robot Quick Operation Manual for ER180-4-3200 external components.

  • Page 19: Chapter Two Handling And Installation

    Before starting any installation work, it is very important to check all safety information first! Be sure to read the safety manual of EFORT robot carefully, as well as the first chapter of this manual. There are several general safety aspects that must be read in full, as well as more specific safety information about the dangers and safety risks encountered in performing the operation procedures.

  • Page 20: Preparation Work Before Installation

    Industrial Robot Quick Operation Manual for ER180-4-3200 10900001122 accessories (bracket, pin) has been installed on the robot body Note: the above is the standard configuration list, excluding customized models. 2.2.2 Preparation work before installation This section is intended for the first time to open the box and install the robot. It also contains useful information needed in the process of reinstalling the robot later.

  • Page 21: Start Robot In Cold Environment

    Industrial Robot Quick Operation Manual for ER180-4-3200 Parameter Value Minimum ambient temperature 0℃ Maximum ambient temperature +45℃ Maximum ambient humidity 80% RH, no condensation（40℃） 2.2.5 Start robot in cold environment This procedure describes how to start a robot in a cold environment. The temperature rise rate must be adjusted according to the ambient temperature and the operating procedure used.
  • Page 22 Industrial Robot Quick Operation Manual for ER180-4-3200 Installation conditions Ground installation and suspension installation Degree of protection Body IP65( IP43 Electric cabinet) The repeat positioning ±0.2mm accuracy The body weight 1500kg The following table shows the performance parameters of the control cabinet...

  • Page 23: Robot Workplace

    Mechanical operation and maintenance manual for Er180-4-3200 industrial robots System operation manual of Efort industrial robot 2.2.8 Working space of control cabinet...

  • Page 24: Handling

    Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 2-2 dimensions of robot control cabinet When placing the control cabinet, please do not block the air vent of the electric cabinet, which will affect the heat dissipation of the electric cabinet. Please reserve more than 150 mm space around the electric cabinet.

  • Page 25: Robot Body Handling

    Industrial Robot Quick Operation Manual for ER180-4-3200 When handling and installing, pay attention to avoid damaging the wiring. In addition, after the assembly of the device, protective measures such as covering with protective cover should be taken to avoid damage to wiring by operators and forklifts.
  • Page 26 Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 2-3 schematic diagram of lifting handling Figure 2-4 schematic diagram of forklift handling...

  • Page 27: Robot Control Cabinet Handling

    Industrial Robot Quick Operation Manual for ER180-4-3200 When handling, please be sure to install and use the fixed fixture! When using other handling methods instead of crane and forklift, please note that the arm and motor of the robot cannot be affected by external force!

  • Page 28: Installation

    Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 2-6 forklift handling diagram of control cabinet 2.4 Installation 1. Set security bar Otherwise, personal injury, equipment damage and other accidents may occur. The robot should be placed in a position where the tool and workpiece tip of the robot arm will not touch the safety bar even if the robot arm reaches the longest.

  • Page 29: Robot Installation Method

    Industrial Robot Quick Operation Manual for ER180-4-3200 2.4.2 Robot installation method The robot installation, especially the fixed base and the foundation, can bear the dynamic load of the robot when the robot is accelerated and decelerated and the static weight of the robot and the clamp. In addition, when the mounting surface of the robot is not flat, it may deform the robot and affect its performance.
  • Page 30 Industrial Robot Quick Operation Manual for ER180-4-3200 mounting holes with M16 socket head screws of strength grade 12.9 (the screw length must ensure that the screw length reaches 1.5 times of the nominal diameter of the thread). In order to prevent the socket head screws from loosening during the operation of the equipment, please fully fix and prevent loosening according to the method of "robot installation example"...

  • Page 31: Bracket Installation

    Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 2-9 "example of robot installation" 2.4.4 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 32 Industrial Robot Quick Operation Manual for ER180-4-3200...
  • Page 33 Industrial Robot Quick Operation Manual for ER180-4-3200 2.4.6 Integrated application installation interface The following table shows the robot body external interface size Robot external interface size shown in the figure remark Dimension of end load mounting Figure 2-10 dimension of end load mounting...
  • Page 34 Industrial Robot Quick Operation Manual for ER180-4-3200 2. Other auxiliary interfaces Figure 2-10 Dimension drawing of external part installed on big arm Figure 2-12 Dimension drawing of external part installed on swivel seat...
  • Page 35 Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 2-13 Dimension drawing of external part installed on small arm Figure 2-14 Dimension drawing of external part installed on wrist body...

  • Page 36: Chapter 3 Electrical Connection

    Industrial Robot Quick Operation Manual for ER180-4-3200 Chapter 3 Electrical connection The connecting cables between the robot control cabinet and the robot body include power cable, signal cable and grounding wire. Before connecting, the robot control cabinet and the robot body must be fixed, and then the cables are connected to the left side of the control cabinet and the connector part on the back of the base of the robot body.
  • Page 37 Industrial Robot Quick Operation Manual for ER180-4-3200 3. Between the power grid and control cabinet, the obvious breaking devices such as isolation switch must be installed to ensure the personal safety during equipment maintenance. Figure 3-2 interface of input power supply X10...

  • Page 38: Connection Between Robot Control Cabinet And Robot Body

    Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 3-4 wiring diagram of leakage protector L1, L2, L3 - phase line; N – working “zero” line - protection zero line; 1 - working grounding; 2 - repeated grounding; M - electric motor; FQ - leakage protector.
  • Page 39 Industrial Robot Quick Operation Manual for ER180-4-3200 7 IO 线 2 动力线 3 抱闸线 5 编码器线 8 气管 7 IO cable 2. Power cable 3 brake cable 5.encoder cable 8 air pipe Figure 3-5 schematic diagram of connection between control cabinet and body Table 3-2 cable category description 序号...
  • Page 40 Industrial Robot Quick Operation Manual for ER180-4-3200 The robot body has built-in IO harness with 16 cores. The figure below shows the definition of IO harness pins Length of wire printing left end right end direction of printing positive Figure 3-6 position indication of external emergency stop and wiring diagram 3.3 Controller local IO definition...
  • Page 41 Users can expand local IO or remote IO module according to their needs. Please consult Efort for details. Among them, a1, a2, b1 and b2 are the power supply interfaces of IO module. Table 3-4 input definition table...

  • Page 42: Io Module Expansion

    Industrial Robot Quick Operation Manual for ER180-4-3200 70 71 72 73 60 61 62 63 Input IO module 50 51 52 53 User defined 40 41 42 43 00 01 02 03 10 11 12 13 Input IO module 20 21 22 23...

  • Page 43: Controller Remote Io Extension

    Industrial Robot Quick Operation Manual for ER180-4-3200 Step Diagram 1、Remove the controller from the guide rail; 2 、 Connect the bus coupler to the bus base module install it on DIN rail. 、The controller and module installed on the bus coupler and bus base module respectively.

  • Page 44: Motion Control Card

    In some applications, motion control card can also be used to store machine data. (2) Be sure to use the motion control card recommended by Efort. Other motion control cards not recommended by Efort cannot guarantee the normal operation of the controller.
  • Page 45 Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 3-7 inserting motion control card 3. Steps to pull out the motion control card Please pull out the motion control card as follows: (1) Turn off the power supply of the control cabinet.

  • Page 46: Io Settings

    Industrial Robot Quick Operation Manual for ER180-4-3200 3.5 IO settings This section mainly introduces the operation steps of updating IO module, remote IO configuration adaptation, analog IO configuration, group IO configuration and function IO configuration. The monitoring of related IO needs to be viewed in the section monitoring- IO.

  • Page 47: Remote Io Configuration

    Industrial Robot Quick Operation Manual for ER180-4-3200 3. After the IO During the restart of module is updated, robot, the interface of the click the "YES" teaching pendant is not button to restart the operable. After the robot. controller is fully started, the teaching pendant can operate normally.
  • Page 48 Industrial Robot Quick Operation Manual for ER180-4-3200 2. Remote IO First click the module password input box, configuration enter "1975", and then click the "enter" button. Set the number of configuration modules, and each set module needs to be configured.
  • Page 49 Industrial Robot Quick Operation Manual for ER180-4-3200 Type: there are six types, the input and output of digital signal, including 16 bits and 32-bit respectively. Input and output of analog signal. Address: address range is 300-500; different modules occupy different address length, and cannot be configured occupied address.
  • Page 50 Industrial Robot Quick Operation Manual for ER180-4-3200 Safety monitoring Serial Signal Operation Description Illustration number detection mode A1 occupied high / low automatic/ output level Occupancy output signal of areas 1 A2 occupied to 4.When the robot enters the output...

  • Page 51: Analog Io Configuration

    Industrial Robot Quick Operation Manual for ER180-4-3200 3.5 Analog IO configuration Table 3-12 operation steps of analog IO configuration step diagram Description 1. Enter the Open teaching IO setting pendant desktop and click interface. the "IO settings" icon. 2. Enter the Select the “analog IO...

  • Page 52: Group Io Configuration

    Industrial Robot Quick Operation Manual for ER180-4-3200 3. Enter the previously analog IO configured IO information configuratio of analog quantity can be n interface viewed here. to configure Click “Edit” channel button to enable the editing parameters. function. After editing, click “Save”...
  • Page 53 Industrial Robot Quick Operation Manual for ER180-4-3200 Select the group IO 2. Enter the group configuration function. IO configuration interface of Click the "group IO" continuous button enter address. configuration interface. The red box 1 shows 3. Enter the group...

  • Page 54: Introduction Of External Emergency Stop

    Industrial Robot Quick Operation Manual for ER180-4-3200 After clicking the "Edit" button, the button will change to save, and the table will change to editable status. Users can edit the start and end addresses of each group. After editing, click the "save"...
  • Page 55 Industrial Robot Quick Operation Manual for ER180-4-3200 steps, that is, reset the emergency stop button and clear the alarm to resume normal operation. The robot system can be configured to stop the strike to produce any of the following effects: •...
  • Page 56 Industrial Robot Quick Operation Manual for ER180-4-3200 emergency stop dry contact Figure 3-9 emergency stop dry contact terminal 3、Safety door and grating X4 safety door Figure 3-10 schematic diagram of safety door and grating wiring terminal block When the robot leaves the factory, the safety door is disconnected by default, and the robot can be inched under the manual low speed mode.

  • Page 57: Chapter 4 Quick Operation

    Industrial Robot Quick Operation Manual for ER180-4-3200 Chapter 4 Quick operation 4.1 Teach pendant 4.1.1 About teach pendant The teaching pendant (as shown in Figure 4-1) is an interactive device between the operator and the robot. With the teaching pendant, the operator can control all the functions of the robot. For example,...

  • Page 58: Function Area And Interface

    Industrial Robot Quick Operation Manual for ER180-4-3200 respectively: automatic (Auto), manual slow (T1), manual full speed (T2), 28 membrane buttons mode knob Three section mode knob External USB A USB 2.0 interface Power Supply DV24V Dustproof and IP65 waterproof grade Work environment Ambient temperature - 20 ℃...
  • Page 59 Industrial Robot Quick Operation Manual for ER180-4-3200 Figure 4-3 right side button Table 4-3 right side buttons Serial Name Serial Name number number Tricolor lamp Axis 4 motion+ start Axis 5 motion- pause Axis 5 motion+ Axis 1 motion- Axis 6 motion-...

  • Page 60: How To Hold The Teach Pendant

    Industrial Robot Quick Operation Manual for ER180-4-3200 Table 4-4 bottom keys Serial Name Serial Name number number Multifunction key F1, Coordinate system Call out / hide current alarm switching content Multifunction key F2, Back to home Double click on the screenshot...

  • Page 61: Power On And Start

    Industrial Robot Quick Operation Manual for ER180-4-3200 4.2 Power on and start After mastering the key function of 4.1 teaching pendant, press the power switch in the lower left corner of the control cabinet (OFF → ON), Start the system (as shown in the figure below). If everything is normal, you can see that the system automatically enters the login interface from the teaching pendant, and the user can operate the robot according to different permissions.

  • Page 62: Start Jogging Operation

    Industrial Robot Quick Operation Manual for ER180-4-3200 4.3.3 Start jogging operation After logging in as an administrator, click "monitor" in the menu bar, and then click "position". The following jogging operation can be performed in the interface that jumps out, as shown in Figure 4-7.

  • Page 63: Joint Coordinate System - Jogging Operation

    Figure 4-9 hand pressing and function key of teaching pendant at right side For detailed steps of jogging operation of ER180-4-3200 , please read ER series robot operation manual. 4.4 Program operation 4.4.1What is program operation...

  • Page 64: Start Program Operation

    Industrial Robot Quick Operation Manual for ER180-4-3200 4.4.3 Start program operation Figure4-5 steps of program operation step diagram description 1. Enter the file Open the file management management interface, interface. click the "open" button at the bottom to open an existing program file, or click the "new"...
  • Page 65 Industrial Robot Quick Operation Manual for ER180-4-3200 3.Run the program. Before running the program, you need to enable the robot servo. The specific operation is as follows: Switch the motion mode knob switch to the automatic mode, press the "automatic operation confirmation"...

  • Page 66: Shut Down And Power Off

    Industrial Robot Quick Operation Manual for ER180-4-3200 4.5 Shut down and power off If it is necessary to shut down the robot on holidays or rest days, the operation steps are as follows: 1、After the robot runs the current program, press the "pause" button to stop the robot, or directly pause the robot;...
  • Page 67 Industrial Robot Quick Operation Manual for ER180-4-3200 Chapter 5 Common faults and investigation methods during installation Fault Investigation methods Remark description Check 1: whether the input power supply is normal; Check 2: whether the sequence of control cabinet power aerial plug-in wiring is correct;...
  • Page 68 Industrial Robot Quick Operation Manual for ER180-4-3200 "Enable" signal; servo confirmation Check 3: whether the servo confirmation button (servo) of button of control control cabinet works normally in manual high speed (T2) and cabinet first. automatic mode (Auto). Check 4: after the above operation, the problem still cannot be solved.
  • Page 69 Industrial Robot Quick Operation Manual for ER180-4-3200 Service hotline: +86-400-0528877 The rated power, specifications and external dimensions of this product are subject to change without prior notice. The technical data and illustrations are for reference only, and we reserve the right to change them.

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