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Summary of Contents for EFORT ER10-1600
- Page 1 ER10-1600 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT INTELLIGENT EQUIPMENT CO.,LTD Hotline(Tel):400-0528877...
- Page 2 Statement Thank you for purchasing EFORT robot products. In order to ensure that the ER10-1600 products have been set correctly, please read this operation manual carefully before using.The contents mentioned in this announcement and the manual are related to your personal and property safety.
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Page 3: Table Of Contents
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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................. - Page 4 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 2.7.3 Allowable Maximum of Moment of Inertia..........15 2.7.4 Allowable Payload Curve Diagram............... 15 Chapter Three Handling and Installation.................17 3.1 Robot Handling.....................17 3.1.1 Handling Precautions................... 17 3.1.2 Auxiliary Handling Tooling................17 3.1.3 Handling Method...................17 3.2 Robot Installation....................19...
- Page 5 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 4.1.2 Quarterly Inspection..................27 4.1.3 Annual Inspection..................28 4.1.4 Inspect Every Two Years................28 4.2 Overhaul of Main Bolts..................28 4.3 Change the Lubricant....................29 4.3.1 The Oil Supply Quantity of Lubricant............29 4.3.2 Space Orientation of Lubrication..............29 4.3.3 Lubricant Replacement Steps for J1~J4 Axis Reducer and Wrist Parts..29...
- Page 6 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Appendix..........................42 A Screw Tightening Torque Table................42 B Backup List......................42...
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Page 7: Chapter One: Safety
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 8 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 from time to time. 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.
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Page 9: Safety Countermeasures Of Robot Body
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 10 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 11 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 In a large-scale system, multiple operators are involved in the work. When it is necessary to talk at a distance, the intention should be correctly conveyed by means of gestures, etc.
- Page 12 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 When an abnormality is found, the emergency stop button should be pressed immediately. This requirement must be thoroughly implemented. Attention 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.
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Page 13: Robot Body Label Description
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 After the teaching work is over, clean up and check if you have forgotten to take the tool. The work area is contaminated by oil, and tools are forgotten, etc., which can cause accidents such as falls. -
Page 14: Shift, Transfer, And Sale Of Robots
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 1.3 Shift, Transfer, and Sale of Robots When the robot is shifted, transferred, or sold, it is necessary to ensure that the auxiliary documents of the robot, such as the mechanical manual, electrical maintenance manual, and robot programming manual, are transferred to the new user. - Page 15 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 When carrying out abandoned work, please pay full attention not to be pinched or injured. Attention Waste products should be discarded in a safe state. Attention...
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Page 16: Chapter Two Basic Description
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 17: Machine Body Nameplate
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 control cabinet EC-M6 teach pendant + teach 11500010563 pendant wire The standard length is 8m, and it control cabinet- body 10900021800 supports conventional customization of power wire 12m, 16 and 20m... -
Page 18: Body Part Composition And Direction Identification Of Each Axis
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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, the wrist body part and the wrist part. The joints of the machine body are driven by servo motors, and the joints cooperate with each other to realize the adjustment of the position and posture of the robot end in space. - Page 19 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Table 2-2 Performance Parameter Table Model ER10-1600 Action type Articular type Control axis 6 six Axis axis/J1 axis 170°/s axis/J2 axis 160°/s axis/J3 axis 180°/s Maximum speed of motion axis/J4 axis 330°/s...
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Page 20: Allowable Value Of Wrist Payload
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Fig2-5 Robot Workspace Diagram Note: The working space shown in this figure is the theoretical maximum reachable range of point p. It will change due to the influence of the installation method in actual operation. In actual use, please consider the influence of the installation method on the working space. -
Page 21: Allowable Weight
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 2.7.1 Allowable Weight Robot model Allowable weight ER10-1600 10kg 2.7.2 Allowable Maximum of Static Payload Torque Allowable static payload torque Robot model J4 axis rotation J5 axis rotation J6 axis rotation... -
Page 22: Chapter Three Handling And Installation
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 23: Handling Method
If you choose a forklift to carry the robot, you need to observe whether there are fork foot position near the base of the robot.The base of the ER10-1600 robot has no fork feet, and external fork feet need to be installed to assist forklift handling. - Page 24 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Set the robot to the posture shown in Figure 3-4 and use a forklift to carry it. The angles of each axis of the handling posture are set as follows: position...
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Page 25: Robot Installation
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Fig. 3-3 Schematic Diagram of Lifting and Handling Fig. 3-4 Schematic Diagram of Forklift Handling When transporting, be sure to install a fixed fixture for transport! When using other handling methods instead of cranes and forklifts, please note that... -
Page 26: Setting Of Safety Fence
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 3.2.1 Setting of Safety Fence It is necessary to comply with the national standard of the People’s Republic of China GB11291.2-2013-that is" Safety Requirements for Robots and Robot Equipment; Industrial Robots, Part 2: Robot System and Integration"... - Page 27 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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.
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Page 28: Supporter Installation
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 chemical bolt groups(specification requires more than M16) eight groups 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 29: Suspended Installation
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 3.2.5 Suspended Installation In order to ensure safety, the following precautions should be taken when implementing upside down and wall mounted installations; Install the anti-fall safety device, as shown in Figure 3-7;... -
Page 30: Integrated Application Installation Interface
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 31 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Fig. 3-8 End Load Installation Flange Size Fig. 3-9 Fig. 3-10 Dimensions of the External Dimensions of the External Component Installed on the Boom Component Installed on the Motor Base...
- Page 32 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Fig. 3-11 Fig. 3-12 Dimensions of External Component Installed on the Wrist Dimensions of External Component Installed on the Swivel Air pipe interface 8mm IO signal line interface IO signal line interface Air pipe interface 8mm Fig.
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Page 33: Chapter Four Overhaul And Maintenance
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 34: Annual Inspection
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 35: Change The Lubricant
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 36 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 6） After the oil is supplied, follow the steps in item 4.3.4 to release the residual pressure in the lubricant chamber. If the lubrication operation is not performed correctly, the internal pressure of the lubrication cavity may suddenly increase, which may damage the sealing part, resulting in lubricant leakage and abnormal operation.
- Page 37 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 J2 Oil filling port J2 Oil drain port J1 Oil filling port J4 Oil drain port J4 Oil filling port J3 Oil drain port J3 Oil filling port J5 Oil drain port J5 注油口...
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Page 38: Release The Residual Pressure In The Lubricating Oil Cavity
The standard range of the tension force of the J5 axis timing belt of the ER10-1600 robot is 87±5HZ, and the standard range of the tension force of the J6 axis timing belt is 130±5HZ. Refer to the standard for testing and adjustment.The specific operation procedures are as follows:... -
Page 39: Timing Belt Replacement
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 ② ① Note:① fixing screws, four M5×16；② adjusting screws, two M5×30 Fig.4-2 J5Axis Timing Belt Structure Diagram of ER10-1600X Robot ② ① ② ① ② ① Note:① fixing screws, four M5×16；② adjusting screws, one M5×30 Fig. -
Page 40: Robot Maintenance And Use Area
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 potential safety hazards in the disassembly and assembly of the customer. -
Page 41: Home Position Calibration
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 4.6 Home Position Calibration Home position calibration refers to an operation performed to associate the angle of each robot axis 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. -
Page 42: Battery Replacement
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 J4 home J5 home position position J3 home J6 home position 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 43: Chapter Five Common Faults And Treatment Measures
Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 44 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 overload operation; replace the lubricant according to the （ 3 ） Long-term maintenance requirements of this operation manual. absence maintenance. （1）Resonance occurs when the robot and peripheral The robot vibrates (1) Try to adjust the distance between...
- Page 45 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 robot turned off, some operation possible connections following body parts of the robot abnormal operation connection parts are loose, including vibrates body can be shaken conditions cause reducer, motor connection by hand...
- Page 46 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 cannot stay at the specified fails （2） If it is observed that lubricating oil position, and will fall （2）Due to the failure of the enters the motor and causes the brake...
- Page 47 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 resulting positional deviation. Position shift occurs Modifying the parameters Restore the previous parameters, or after parameter causes the robot zero point to re-calibrate the zero point. modification be lost Abnormal wiring of motor...
- Page 48 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 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 49 Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600 Table 3 Sealant and others Name Model specification Unit per Application area robot grease MOLYWHITE RENO.00 2.5kg flat sealant THREEBOND 1110F screw tightening agent THREEBOND 1374 detergent THREEBOND 6602T thread sealant...
- Page 50 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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