EFORT ER180-4-3200 Manual
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EFORT ER180-4-3200 Manual

Industrial robot
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ER180-4-3200 Mechanical Operation and
Maintenance Manual for Industrial Robot
EFORT Intelligent Equipment Co., Ltd.
Service Line（Tel）：+86-400-0528877
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Summary of Contents for EFORT ER180-4-3200

  • Page 1 ER180-4-3200 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT Intelligent Equipment Co., Ltd. Service Line（Tel）：+86-400-0528877...
  • Page 2 The statement and instruction manual is the latest version for ER180-4-3200 series. More updates can be found at www.efort.com.cn.

  • Page 3: Table Of Contents

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Contents Chapter One Safety........................1 1.1 Safety Instructions......................1 1.1.1 Safety Precautions during Adjustment, Operation, Maintenance....... 1 1.1.2 Safety Countermeasures of Robot Body..............3 1.2 Shift, Transfer, and Sale of Robots..................6 1.3 Abandonment of Robots....................
  • Page 4 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 3.1 Handling the Robot......................15 3.1.1 Precautions........................ 15 3.1.2 Handling Method.......................15 3.2 Installing the Robot......................17 3.2.1 Setting up a Safety Fence..................17 3.2.2 Installation Procedures....................17 3.2.3 Ground Mounting......................18 3.2.4 Supporter Installation....................20 3.2.5 Suspended Installation....................20...
  • Page 5 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.4.2 Space Orientation of Lubrication................28 4.4.3 Lubricant Replacement Steps for J1~J4 Axis Decelerator and Wrist Parts....28 4.4.4 Release the Residual Pressure in Lubricating Oil Cavity......... 30 4.5 Robot Maintenance and Use Area................... 30 4.6 Home Position Calibration....................

  • Page 6: Chapter One Safety

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Chapter One Safety 1.1 Safety Instructions 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 7 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Danger! Most robot accidents are as follows: Danger 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 starts suddenly during the operation.

  • Page 8: Safety Countermeasures Of Robot Body

    Mechanical Operation and Maintenance Manual for ER180-4-3200 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 9 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 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 Attention be released or fly out, and the corner or protruding part should be treated to prevent damage to people and objects.
  • Page 10 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Industrial Robot Gesture Method 1. Connect: Do the work Attention related to the connection 2. No way! Disconnect: Raise your right hand and wave vigorously left and right 3. Is that...

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

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot For the completed program, use the storage protection function to prevent accidental editing. Attention When teaching, confirm the program number or step number before proceeding. Editing procedures and steps incorrectly can cause accidents.

  • Page 12: Abandonment Of Robots

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 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 Operation and Maintenance Manual for ER180-4-3200 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 14 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Table 2-1 Standard Accessories Name Model Quantity Unit Remarks Robot body ER180-4-3200 Control cabinet 10900024008 Teach pendant 11700010510 Teach pendant cable 10900019866 Standard Length: 8 m Control cabinet power 10900016326 cable...

  • Page 15: Machine Body Nameplate

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 2.3 Machine Body Nameplate The robot machine nameplate can be seen on the robot body, which contains the corresponding model type, weight, voltage, production number,manufacturing date and other information as shown in Figure 2-2.

  • Page 16: Robot Axis Range Limit And Home Position

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 2-3 Body Composition and Axis Direction of ER180-4-3200 Industrial Robot 2.5 Robot Axis Range Limit and Home Position Each axis of the robot body has a home position and range limit. When the robot system is running normally, each axis of the robot is controlled to move within the allowable range.

  • Page 17: Robot Performance Parameters

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Mechanical end stop of J4 Mechanical end stop of J3 Fig. 2-4 Robot Axis Range Limit and Home Position 2.6 Robot Performance Parameters Table 2-2 Robot Performance Parameters Model ER180-4-3200 Motion Type...
  • Page 18 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Figure 2-5 Motion Space of ER180-4-3200...

  • Page 19: Allowable Value Of Wrist Payload

    Mechanical Operation and Maintenance Manual for ER180-4-3200 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 Attention inertia.

  • Page 20: Chapter Three Handling And Installation

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Chapter Three Handling and Installation 3.1 Handling the Robot Precautions 3.1.1 Please read the following precautions carefully before handling the robot The handling must be performed by a professional with lifting and forklifting work qualifications.
  • Page 21 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-1 Lifting Sketch Map Fig. 3-2 Forklifting Sketch Map...

  • Page 22: Installing The Robot

    Mechanical Operation and Maintenance Manual for ER180-4-3200 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 23: Ground Mounting

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-3 Size of Base Interface of ER180-4-3200 3.2.3 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 24 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Table 3-1 Fixing Accessories for the Robot Name Dimension Quantity thickness 30mm ≥ Reference Coverage Floor （1200mm×1200mm） Chemical Bolt M20 or larger，strength class ≥ Fixing Screw M20×75，strength class =12.9 When installing on the ground, fix the bottom plate on the ground first.We recommend that the thickness of the base plate should be more than 35mm.Select 8 chemical bolts above M20 to fix the bottom...

  • Page 25: Supporter Installation

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-4 Robot Installation (Ground Mounting) Accidents might occur if the fixing bolts for the robot base are either too long or too short. The connection strength of chemical bolts is decided by the strength of the concrete ground.

  • Page 26: Integrated Connection Interface

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot should meet the general requirements. Robot Environment Requirement Description Conditions Working Transportation and Storage Environment 0-45℃ -40~55 ℃ Temperature ≤80%（40℃） ≤93%（40℃） Humidity Rate Atmospheric Pressure 86~106 kPa Less than 0.5G，4.9m/s Vibration...
  • Page 27 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Installation surface for an end effector Fig. 3-6 Dimensions for End Effector Interface Fig. 3-7 Dimensions for Rotating Base Interface Fig. 3-8 Dimensions for Big Arm Interface...
  • Page 28 Fig. 3-9 Dimensions for Small Arm Interface Note: 1) There are two interfaces on the robot base, the base interface and the external interface. EFORT only offers the detailed dimensions and connection methods of these two interfaces. The connectors, screws and tools are to be equipped by an user.
  • Page 29 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot only offers the detailed dimensions for the end flange. Please contact the relevant manufacturers for an end tool when in need. 3）The standard dress package only include the motor cables and the encoder cables. The dress...

  • Page 30: Chapter Four Overhaul And Maintenance

    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 31: Annual Inspection

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.1.3 Annual Inspection Table 4-3 Annual Inspection Inspection items Inspection position Check whether there is a problem with the cleaning and overhaul of various components component and deal with it Tighten the end effector screws and external...

  • Page 32: Inspection Of The Lubricant

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.3 Inspection of the Lubricant Inspect the iron powder concentration in the lubricant every 10000 hours or every 2 years. Replace the lubricant or decelerator if the concentration exceeds 0.1%Wt. Please contact the service department when in need.

  • Page 33: Space Orientation Of Lubrication

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.4.2 Space Orientation of Lubrication For lubricating oil replacement or replenishment operations, it is recommended to use the orientation given below. Table 4-7 The Orientation of Each Axis When Filling Lubricant...
  • Page 34 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot leakage of the supply and drain oil ports. J2 oil drain port J1 oil drain port J5 注油口 J1 oil drain port J2 oil filling port J1 oil filling port J3 oil drain port...

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

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 4-1 Distribution of Filling and Drain Ports Tools Needed Specification Remarks lubricant gun with the function of checking and counting oil [M10x1] oil supply joint 1 piece [φ8x1m] oil supply hose...

  • Page 36: Home Position Calibration

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot robot can be adjusted according to the user's working environment. 1、The use area must have the following safety conditions: A safety fence and safety gate must be installed around the robot. If the safety gate is not opened, the operator cannot enter the safety fence.

  • Page 37: Home Position Calibration Method

    For the specific home position calibration method, please refer to the "ER180-4-3200 Series Robot Operation Manual" provided by our company.

  • Page 38: Appendix

    Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Appendix A Table of Screw Tightening Torque Screw 12.9 grade Tightening torque (cast iron) Tightening torque (cast 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...
  • Page 39 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Motor gear of axis J3 ER180-C104-01-05 Base component Small arm Motor gear of axis J4 ER180-C104-04-02 component Table 4 Wrist Name Model Unit per robot Position Wrist ER180-C104-04 Wrist Table 5 Sealant and others...
  • Page 40 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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