EFORT ER210-2700 Quick Operation Manual
  1. Manuals
  2. Brands
  3. EFORT Manuals
  4. Robotics
  5. ER210-2700
  6. Quick operation manual

EFORT ER210-2700 Quick Operation Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Quick Operation Manual for ER210-2700 Industrial Robot
ER210-2700 Quick Operation Manual
for Industrial Robot
EFORT Intelligent Equipment Co., Ltd.
Service Line（Tel）：+86-400-0528877

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ER210-2700 and is the answer not in the manual?

Questions and answers

Related Manuals for EFORT ER210-2700

Summary of Contents for EFORT ER210-2700

  • Page 1 Quick Operation Manual for ER210-2700 Industrial Robot ER210-2700 Quick Operation 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 ER210-2700 series. More updates can be found at www.efort.com.cn.

  • Page 3: Table Of Contents

    Quick Operation Manual for ER210-2700 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 EFFORT Intelligent Equipment Co., Ltd. 2.4.2 Installation Procedures..................11 2.4.3 Installation Dimensions..................11 2.4.4 Installation Surface Precision Requirement............12 2.4.5 Installation Environment...................14 2.4.6 Integrated Connection Interface................14 Chapter Three Electrical Connection..................18 3.1 Robot Power Supply......................19 3.2 Connection between the Robot and the Control Cabinet..........20 3.3 Definition of Controller Local IO...................
  • Page 5 Quick Operation Manual for ER210-2700 Industrial Robot Chapter Four Teach Pendant Operations................40 4.1 Teach Pendant........................40 4.1.1 About the Teach Pendant...................40 4.1.2 Function Keys and Interfaces................41 4.1.3 How to Hold a Teach Pendant?.................43 4.2 Power On.........................43 4.3 Jogging..........................43 4.3.1 What is Jogging?....................43 4.3.2 Precautions for Jogging..................44...

  • Page 7: 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 8 EFFORT Intelligent Equipment Co., Ltd. 6. Those who have not been authorized or who have not received any professional training regarding the operational risks are not allowed to operate the robot. 7. The robot cannot be operated under the following circumstances: ...

  • Page 9: Chapter Two Handling And Installing The Robot

    This chapter explains how to handle and install the ER201-2700 industrial 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 10: Preparatory Work Before Installation

    EFFORT Intelligent Equipment Co., Ltd. Already installed on Accessories(bracket and pins ) the robot body. DVD documents 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. Check the following items before installation: Table 2-2 Checklist before Installation Check whether the robot is intact.

  • Page 11: Robot Performance Parameters

    Quick Operation Manual for ER210-2700 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 ER210-2700 Motion Type Joints Control Axes 6Axes Axis J1 100°/sec Axis J2 90°/sec...

  • Page 12: Robot Motion Space

    EFFORT Intelligent Equipment Co., Ltd. Power 3×380V±10%，50/60Hz Size W850mm×D480mm×H890mm 2.2.7 Robot Motion Space Fig. 2-1 Motion Space of ER210-2700 Robot Note: Fig. 2-1 shows the theoretical maximum motion space of ER210-2700 robot which might be affected by the way the robot is installed.

  • Page 13: Control Cabinet Position

    Quick Operation Manual for ER210-2700 Industrial Robot 2.2.8 Control Cabinet Position The size of ER210-2700 control cabinet（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

    EFFORT Intelligent Equipment Co., Ltd. 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. Operations that do not follow these procedures might lead to Caution flipping or falling accidents.

  • Page 15: Handling The Control Cabinet

    Quick Operation Manual for ER210-2700 Industrial Robot Fixing positon of eye bolts (4-M20) Eye bolts cannot be replaced by self-tapping bolts (4-M20) Fig.2-4 Fixing Position of Eye Bolts on the Robot Rotating Base Corresponding Fixtures must be used in handling the robot.

  • Page 16: Installing The Robot

    EFFORT Intelligent Equipment Co., Ltd. Handle the control cabinet with a forklift if the lifting equipment is available. Please refer to the recommended fork positions under the control cabinet as shown in fig. 2-7. Fig. 2-6 Forklifting Sketch Map for Robot Control Cabinet 2.4 Installing the Robot 1.

  • Page 17: Installation Procedures

    Quick Operation Manual for ER210-2700 Industrial Robot 2.4.2 Installation Procedures The fixing of the robot base and the ground should be able to bear the dynamic load in robot acceleration and deceleration and the fixture static weight. In addition, the robot might be deformed or its performance is affected if the ground is uneven.

  • Page 18: Installation Surface Precision Requirement

    EFFORT Intelligent Equipment Co., Ltd. Fig. 2-7 Robot Body Installation Dimensions 2.4.4 Installation Surface Precision Requirement Please strictly follow the precautions described below when installing the robot boy to prevent from the deformation of the rotating base.
  • Page 19 Quick Operation Manual for ER210-2700 Industrial Robot ・ Precautions: 1）The surface flatness of the base plates should be less than 1.0 mm. 2）The relative height difference of the base plates should be within the range between 0.5-1.5 mm. Fig.2-8 Installation Surface Precision Requirement 3）Ensure to adjust the fixing screws to the positions where all the four screws can evenly touch the base...

  • Page 20: Installation Environment

    EFFORT Intelligent Equipment Co., Ltd. (3) Reposition the robot on the base plates. 2.4.5 Installation Environment The robot should be transported, stored and operated in a suitable environment and its performance should meet the general requirements. Table 2-10 Robot Environment Requirement Description Robot Environment Requirement Description Conditions Working...
  • Page 21 Quick Operation Manual for ER210-2700 Industrial Robot Please use the bolt holes whose pitch center diameter is 160, if the Attention installation weight is greater than 166kg. Fig. 2-10 End Effector Installation Surface 2. Interface Dimensions for Robot’s First Arm: Additional equipment can be installed on the interface of the robot’s first arm.
  • Page 22 EFFORT Intelligent Equipment Co., Ltd. Fig. 2-11 Interface Dimensions for Robot’s First Arm 3. Dimensions of Application Cables and Pipes for the Robot’s First Arm...
  • Page 23 Quick Operation Manual for ER210-2700 Industrial Robot Fig. 2-12 Dimension Description of Application Cables and Pipes (1) Fig. 2-13 Dimension Description of Application Cables and Pipes (2)

  • Page 24: Chapter Three Electrical Connection

    EFFORT Intelligent Equipment Co., Ltd. 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 Supply

    Quick Operation Manual for ER210-2700 Industrial Robot 3.1 Robot Power Supply The input power and cable requirements are as follows: 1. The main power is three-phase four-wire system（3*AC380V+PE）and the scope range of voltage fluctuation is ±10%. The allowable leakage current of the electric leakage protector should be more than 100 mA .

  • Page 26: Connection Between The Robot And The Control Cabinet

    EFFORT Intelligent Equipment Co., Ltd. The current robot uses the three-phase four-wire system and a three-phase electric leakage protector is required. R, S and T are connected to the phase cables and Q is connected to the electric leakage protector. Note: Do not connect the ground wire of the control cabinet to the null line of the electric leakage protector if the leakage protector is equipped with a null line.
  • Page 27 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. Pins a1/a2/b1/b2 are the power supply interfaces for the IO module.

  • Page 28: Io Module Expansion

    EFFORT Intelligent Equipment Co., Ltd. DI10 DI11 DO10 DO11 DO12 DO13 DO14 DO15 User-defined Output DO16 DO17 DO18 DO19 Ports DO20 DO21 DO22 DO23 a1、a2 24VDC b1、b2 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 29: Remote Io Module Expansion

    Quick Operation Manual for ER210-2700 Industrial Robot Table 3-7 Procedures for Local IO Expansion Procedures Demonstration 1.Remove controller from the DIN rail. 2. Connect the bus coupler bus basic module. Mount combination on the DIN trail. 3.Mount controller on the...
  • Page 30 EFFORT Intelligent Equipment Co., Ltd. Ethe EtherCA rCAT Controller EtherCAT Remote IO Module Coupler...

  • Page 31: Io Configuration

    Quick Operation Manual for ER210-2700 Industrial Robot 3.5 IO Configuration This section explains the procedures for IO updates, IO free configuration, remote IO module, analog IO configuration and group IO configuration. 3.5.1 IO Module Update Table 3-9 IO Module Update Procedures...

  • Page 32: Remote Io Configuration

    EFFORT Intelligent Equipment Co., Ltd. 3.Click on Yes The teach pendent to confirm the cannot be used update and before the restart the controller is fully controller. rebooted. 3.5.2 Remote IO Configuration Table 3-10 Remote IO Configuration Procedures Procedures Demonstration Remarks 1.Enter the Click on “IO...
  • Page 33 Quick Operation Manual for ER210-2700 Industrial Robot 2.Configure the Type in “1975” in remote IO the password input module. box and click on Enter. Set the module number and configure each module. Select a type from DI, DO, AI and AO for each module.

  • Page 34: Function Io Configuration

    EFFORT Intelligent Equipment Co., Ltd. AM600-0032END：32-bit digital signal input occupying 2 I16 register spaces. AM600-4AD: analog signal input occupying 4 I16 register spaces. AM600-4DA: analog signal output occupying 4 I16 register spaces. Channel: If the selected module is of AD or DA type, the channel type needs to be further defined.
  • Page 35 Quick Operation Manual for ER210-2700 Industrial Robot 3．Enter the The configuration page configuratio includes 7 options, n page. namely Common function, Area monitor, Auxiliary axis, Advanced pallet, Punch, Arc welding and Program reserve respectively. Users can choose on one of the seven options and enter the corresponding configuration page.
  • Page 36 EFFORT Intelligent Equipment Co., Ltd. Common Function Signal Operation Description Remarks Type Mode Effective in Auto Servo-on Control the servo switch Pulse mode Effective in Auto Run from the present line Pulse mode Effective in Auto Stop Stop the current program Pulse mode Effective in...
  • Page 37 Quick Operation Manual for ER210-2700 Industrial Robot The remote servo Remote servo confirmation signal is Effective in Auto pulse confirmation equivalent to pressing the mode servo on button manually. Safety Monitor Signal Operation Description Remarks Type Mode Effective in Area monitor...
  • Page 38 EFFORT Intelligent Equipment Co., Ltd. Punching Signal Operation Description Remarks Type Mode Work piece in Detect if there is a work piece High and Effective in Auto tool 1 detected in tool 1. low level mode Work piece in Detect if there is a work piece High and Effective in Auto tool 2 detected...
  • Page 39 Quick Operation Manual for ER210-2700 Industrial Robot work piece Signal 2 for confirming to Confirm the signal for starting High and Effective in Auto locate a new to locate a work piece. low level mode work piece Signal 3 for...
  • Page 40 EFFORT Intelligent Equipment Co., Ltd. are 16 local input ports, the first port address of the remote module is 17. 3. Valid value: 0 stands for the trailing edge of a pulse signal or a low level signal. 1 stands for the rising edge of a pulse signal or a high level signal.
  • Page 41 Quick Operation Manual for ER210-2700 Industrial Robot Punching Signal Operation Description Remarks Type Mode Tool 1 high and Effective in Enable or disable tool 1. enabled/disabled low level Auto mode Tool 2 high and Effective in Enable or disable tool 2.

  • Page 42: Analog Io Configuration

    EFFORT Intelligent Equipment Co., Ltd. Auto mode Effective in Signal to close the gripper and high and low Gripper closure Manual and pick up a work piece. level in stack 1/2/3/4 Auto mode 2. IO module address: The actual IO port number of the signal needs to be configured. If it is not configured, it will display - 1.

  • Page 43: Introduction To Emergency Stop

    Quick Operation Manual for ER210-2700 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 44: 1External Emergency Stop

    EFFORT Intelligent Equipment Co., Ltd. Emergency stop can only be used for its designed function. Attention Emergency stop functions to terminate a robot operation immediately in case of emergency. Attention Emergency stop should not be used to terminate a normal routine otherwise it might lead to extra machine wearing.

  • Page 45: Safety Door

    Quick Operation Manual for ER210-2700 Industrial Robot Fig. 3-6 Dry Contacts of Emergency Stop 3.7 Safety Door Fig. 3-7 Safety Door Contacts The safety door contacts are disconnected in default setting and the robot can jog in manual slow speed mode.

  • Page 46: Chapter Four Teach Pendant Operations

    EFFORT Intelligent Equipment Co., Ltd. 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 47: Function Keys And Interfaces

    Quick Operation Manual for ER210-2700 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 Touch Screen Used for robot control LCD Display Used for interactive operations...
  • Page 48 EFFORT Intelligent Equipment Co., Ltd. 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 - J2 Movement + Step BWD J2 Movement - Step FWD...

  • Page 49: How To Hold A Teach Pendant

    Quick Operation Manual for ER210-2700 Industrial Robot 4.1.3 How to Hold a Teach Pendant? Hold the teach pendant with the left hand and press the enabling key to turn on the servo when the robot is jogging as shown in Fig. 4-5.

  • Page 50: Precautions For Jogging

    EFFORT Intelligent Equipment Co., Ltd. （2）Incremental jogging refers to moving the robot with a predefined incremental step length by pressing the function keys “-” or “+”. 4.3.2 Precautions for Jogging Please read the ER Series Robot Safety Manual carefully before jogging the robot. 1.

  • Page 51: Joint Coordinate System-Jogging

    Fig. 4-8. Fig. 4-8 The Enabling Key and the Right Side Function Keys Please refer to ER Series Robot Operation Manual for detailed programing instructions of ER210-2700 industrial robots.

  • Page 52: Power Off

    EFFORT Intelligent Equipment Co., Ltd. 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. 2. Turn the switch mode to T0. 3.

  • Page 53: Chapter Five Common Faults And Recommended Solutions

    Quick Operation Manual for ER210-2700 Industrial Robot Chapter Five Common Faults and Recommended Solutions 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. 3. Check if the dis-connector switch is closed.
  • Page 54 EFFORT Intelligent Equipment Co., Ltd. exists. Replace the core or glass fuse with those of the same parameters. The Maximum input The XS type 1. Check if the core of FU2 is working or not. Replace it with voltage and current power a new one if it is damaged.
  • Page 55 Quick Operation Manual for ER210-2700 Industrial Robot Service hotline: +86-400-0528877 The rated power, specifications and external dimensions of this product are subject to change without prior notice. technical data illustrations are for reference only, and we reserve the right to change them.

Table of Contents