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EFORT ER15-1400 Quick Operation Manual

Industrial robot
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ER15-1400 Quick Operation Manual
for Industrial Robot
EFORT Intelligent Equipment Co., Ltd
Service Hotline（Tel）：400-0528877
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Summary of Contents for EFORT ER15-1400

  • Page 1 ER15-1400 Quick Operation Manual for Industrial Robot EFORT Intelligent Equipment Co., Ltd Service Hotline（Tel）：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

    Quick Operation Manual for ER15-1400 Industrial Robot Content Chapter 1 Safety..............................5 1.1 Safety instruction............................5 1.2 Safety Regulations............................5 1.3 Safety precautions in the process of work....................7 1.3.1 Safety of robot installation and connection....................7 1.3.2 Safety before robot starting........................8 1.3.3 Safety of robot starting..........................
  • Page 4 Quick Operation Manual for ER15-1400 Industrial Robot 3.3 Local IO definition of controller........................42 3.4 User external IO functional module......................45 3.4.1 The function of converting PNP to NPN....................45 3.4.2 User external IO terminal block......................49 3.5 IO module extension..........................51 3.6 External safety interface..........................

  • Page 5: Chapter 1 Safety

    For safety, compliance with the requirements of this manual and other EFORT manuals is only a minimum requirement. As a general rule, the safety-related information recorded in this manual does not fully cover all aspects of the robot application system.
  • Page 6 Quick Operation Manual for ER15-1400 Industrial Robot 5. Improper materials must not be processed with the robot and improper adjustment or alteration is forbidden. 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.

  • Page 7: Safety Precautions In The Process Of Work

    (GB11291.1-2011/ISO10218- 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 is necessary. At the same time, confirm that all safety measures are in place and effective.

  • Page 8: Safety Before Robot Starting

    (GB11291.1-2011/ISO10218- 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 is necessary. At the same time, confirm that all safety measures are in place and effective.

  • Page 9: 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 is necessary. At the same time, confirm that all safety measures are in place and effective.

  • Page 10: 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 or international safety standards.
  • Page 11 Quick Operation Manual for ER15-1400 Industrial Robot 1. Please read and understand all manuals, specifications and other relevant documents provided by EFORT before operation. In addition, a complete understanding of operation, teaching, maintenance and other processes is necessary. At the same time, confirm that all safety measures are in place and effective.

  • Page 12: Security In Auto-Run

    Before automatic operation, please make sure that all switches function normally. 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 is necessary. At the same time, confirm that all safety measures are in place and effective.

  • Page 13: Safety During Maintenance

    Please make sure that all switches are working properly before 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 is necessary. At the same time, confirm that all safety measures are in place and effective.

  • Page 14: 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 15 11. Please use only the parts approved by EFORT company for replacement. In addition, in the spot inspection or maintenance, please use the teaching mode and move the robot as low as possible.
  • Page 16 Quick Operation Manual for ER15-1400 Industrial Robot of the power supply is 0V. After confirming that the output power of DC power supply is 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.

  • Page 17: Chapter 2 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 18: Preparation Work Before Installation

    Quick Operation Manual for ER15-1400 Industrial Robot IO cable configuration IO cable at the end of Standard small arm configuration Direct-attached adapter Standard for 25 PIN configuration External IO cable for 25 Standard configuration Direct-attached adapter Standard for 50 PIN...

  • Page 19: Robot Storage Environment

    Quick Operation Manual for ER15-1400 Industrial Robot After these prerequisites are met, the robot can be transported to its installation site as described in the following sections. 2.2.3 Robot storage environment The following table shows the allowed robot storage conditions:...
  • Page 20 Quick Operation Manual for ER15-1400 Industrial Robot Table 2-6 Parameters of the robot Robot Modal ER15-1400 Type of Movement Joint Control axis 6 Axis 260°/s J1 axis J2 axis 255°/s Maximum J3 axis 210°/s operating speed J4 axis 450°/s J5 axis 450°/s...

  • Page 21: Robot Workplace

    In the actual use, please consider the impact of the installation mode on the workspace. 2.2.8 Working space of control cabinet Outline dimension of control cabinet for ER15-1400 robot (unit: mm).
  • Page 22 Quick Operation Manual for ER15-1400 Industrial Robot could be connected via 4-M6x10 tapping screws and 19-inch bracket Figure 2-2 Dimensions of robot control cabinet When placing the control cabinet, please do not block the air vent of the control cabinet, which will affect the heat dissipation of the control cabinet.

  • Page 23: Handling

    Quick Operation Manual for ER15-1400 Industrial Robot Wind direction Air outlet Air inlet Figure 2-3 Thermal cycling diagram of control cabinet When installing the robot, make sure it can move freely in the whole workspace. If there is a risk of collision with other objects, the working space can be limited by the adjustable limit block of hardware and the safe working space of software.

  • Page 24: Auxiliary Handling Tool

    Quick Operation Manual for ER15-1400 Industrial Robot When handling the robot and control device, please confirm the weight and steps according to the method recorded in the manual. If the operation cannot be carried out according to the specified method, the robot and control device may overturn or fall Attention during the handling process, resulting in accidents.
  • Page 25 Quick Operation Manual for ER15-1400 Industrial Robot 2-Hexagon screws M5*12 2-Hexagon full-thread 2-Flat washer grade C 5 bolt M12*60 Packing fixing bracket 2-Hexagon nut M12 grade C Figure 2-4 Packing and fixing bracket installation diagram...

  • Page 26: Robot Body Handling

    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 ER15-1400 robot has no fork feet, and external fork feet need to be installed to assist forklift handling.
  • Page 27 Quick Operation Manual for ER15-1400 Industrial Robot (1) When lifting and transporting, the customer shall prepare the eye bolts and slings by themselves. The eyebolt shall meet the requirements of GB/T 825-1988. The sling shall be able to bear the weight of the robot. It is recommended that a Attention single sling should bear more than 500kg.
  • Page 28 Quick Operation Manual for ER15-1400 Industrial Robot Lift with 4 two-meter-long soft cables bearing load of 500kg. Steel cables are forbidden. Protective cushion shall be added to the part in contact with the body. 3-M12 lifting ring screws Position of the...

  • Page 29: Handling The Control Cabinet

    Quick Operation Manual for ER15-1400 Industrial Robot 2-Hexagon screws M5*12 2-Hexagon full-thread 2-Flat washer grade C 5 bolt M12*60 Packing fixing bracket 2-Hexagon nuts M12 grade Forklift pins 4-Hexagon socket cap screws M12*25 Pins X2 Figure 2-7 Posture of forklift handling robot 2.3.4 Handling the Control Cabinet...

  • Page 30: Installing The Robot

    Quick Operation Manual for ER15-1400 Industrial Robot 2.4 Installing the Robot 1. Set up a safety fence Otherwise, accidents leading to physical injury or property damage may occur. Danger The robot should be placed in a position from which the end tool or the sharp end of a workpiece can never reach the safety fence even if the robot arm is extended to its reach limit.

  • Page 31: Ground Installation

    Quick Operation Manual for ER15-1400 Industrial Robot 4-Φ 18 through-hole 2-Φ 12 H7 through-hole Figure 2-8 Dimensions of robot base 2.4.3 Ground installation The ground installation requires that the concrete foundation is firm. The strength grade and bearing capacity meet the relevant quality specifications. The concrete thickness shall not be less than the landfill depth of chemical bolts, and the effective range shall completely cover the fixed bottom plate, so as to ensure the safety and reliability of the bottom plate installation.

  • Page 32: Bracket Installation

    Quick Operation Manual for ER15-1400 Industrial Robot Chemical bolt group （Specification requires more than M16） 8 chemical bolt groups （Specification: above M16） Figure 2-9 “Example of robot installation” Too long or too short screw for fixing robot base will cause bad fixing accident! The connection strength of chemical bolts depends on the strength of concrete.

  • Page 33: Upside Down Mounting

    Quick Operation Manual for ER15-1400 Industrial Robot The specification, quantity and embedded depth of chemical bolt group can be increased appropriately; Improve the strength of concrete foundation. The strength of concrete foundation is higher Attention than that of corresponding chemical bolt groups;...

  • Page 34: Integrated Application Installation Interface

    Quick Operation Manual for ER15-1400 Industrial Robot Storage and transportation Environmental Working conditions conditions conditions Ambient 0-45℃ -40-55℃ temperature: Relative humidity ≤80%（40℃） ≤93%（40℃） Atmospheric 86-106 KPa pressure Vibration Less than 0.5G，4.9m/s Noncorrosive gas (note) Other 2.4.7 Integrated application installation interface The following table shows the robot body external interface size.
  • Page 35 Quick Operation Manual for ER15-1400 Industrial Robot 4-M6 T8 (uniform distribution) Figure 2-12 Dimension of end load mounting flange Figure 2-12 Dimension drawing of external part installed...
  • Page 36 Quick Operation Manual for ER15-1400 Industrial Robot Signal cable interface Encoder cable interface Air inlet Power cable interface Air outlet Figure 2-13 Express interface and air pipe interface on body base Air outlet Signal cable interface Air inlet Figure 2-14 Express interface and air pipe interface on small arm...

  • Page 37: Chapter 3 Electrical Connection

    Quick Operation Manual for ER15-1400 Industrial Robot Chapter 3 Electrical connection The connecting cables between the robot control cabinet and the robot body include power cable, signal cable, brake 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 38: Connecting Cables Between The Robot Control Cabinet And The Robot Body

    Quick Operation Manual for ER15-1400 Industrial Robot must be installed to ensure the personal safety during equipment maintenance. power interface Figure 3-2 Interface and position view of input power supply Table 3-1 Definition of input power interface Terminal PIN bit...

  • Page 39: The Io Cable Of The Robot Body Base

    Quick Operation Manual for ER15-1400 Industrial Robot IO cable Air pipe Power cable Encoder cable Body side Control cabinet side Ground wire screw Figure 3-3 Interface location Table 3-2 Cable category description Cable category Description Power cable Provide control cabinet with AC 220V power supply.
  • Page 40 Quick Operation Manual for ER15-1400 Industrial Robot IO cable interface of robot body side IO signal extension terminal block of robot body Figure 3-4 Connecting diagram of the IO cable of the robot body base The robot body has a built-in IO harness with 25 cores, and the following diagram shows the pin definition of the IO harness.

  • Page 41: The Io Cable Of The Robot Body Arm

    Quick Operation Manual for ER15-1400 Industrial Robot IO signal 12 of arm Valve 1(user reserved） Valve 2(user reserved） Valve 3(user reserved） Valve 4(user reserved） Valve 5(user reserved） Valve 6(user reserved） Valve 7(user reserved） Valve 8(user reserved） 3.2.2 The IO cable of the robot body arm The IO cable at the end of the robot body arm, which is mounted on the upper end of the small arm of the robot body.

  • Page 42: Local Io Definition Of Controller

    Quick Operation Manual for ER15-1400 Industrial Robot Material number of 12-core cable for prefabricated IO user: 10900025769 Figure 3-5 Connecting diagram of the IO cable of the robot body arm The arm side of the robot body has IO harness with 12 cores, and the following diagram shows the pin definition of the IO harness.
  • Page 43 Quick Operation Manual for ER15-1400 Industrial Robot PIN bit Definition Description System occupancy System occupancy Servo confirmation status System occupancy System occupancy System occupancy Alarm User defined With the IO output signal, except “user-defined” port, other ports are fixed functions used by the system, which cannot be changed.
  • Page 44 Quick Operation Manual for ER15-1400 Industrial Robot DI10 DI18 DI26 module DI11 DI19 DI27 DI12 DI20 DI28 DI13 DI21 DI29 DI14 DI22 DI30 DI15 DI23 DI31 Pin bit Pin bit Pin bit Addres Addres Addre of slot of slot of slot...

  • Page 45: User External Io Functional Module

    Quick Operation Manual for ER15-1400 Industrial Robot 3.4 User external IO functional module 3.4.1 The function of converting PNP to NPN The following module can be used to convert between PNP and NPN signals. The module material number of converting 16-point PNP to NPN or 16-point NPN to PNP: 10900025794, users can choose to use according to actual needs.
  • Page 46 Quick Operation Manual for ER15-1400 Industrial Robot control cabinet User PLC 24V COM0 Power supply of COM1 control cabinet 0V Power supply of COM2 control cabinet 24V Power supply of COM3 control cabinet 24V User PLC 0V COM4 User PLC 0V...
  • Page 47 Quick Operation Manual for ER15-1400 Industrial Robot signal 14 signal 14 defined PNP input high level NPN output low level User DI22 signal 15 signal 15 defined PNP input high level NPN output low level User DI23 signal 16 signal 16...
  • Page 48 Quick Operation Manual for ER15-1400 Industrial Robot Table 3-7 Definition of direct-attached signal of 16 channels Control cabinet port (PNP signal) User PLC port (NPN signal) Cable Pin bit of Termin identi controller User ficatio inside the Function Function identifi...

  • Page 49: User External Io Terminal Block

    Quick Operation Manual for ER15-1400 Industrial Robot Control cabinet short power cable connection method is as follows. The short cable between 0V and COM1 The short cable between 24V and COM2 or COM3 PNP to NPN module needs to be connected with short cables as follows: 1.
  • Page 50 Quick Operation Manual for ER15-1400 Industrial Robot Table 3-8 Wiring table of user external terminal block Pin bit of Terminal IO address of Pin bit of terminal identification of controller terminal bit block cable harness 1-24V 2-0V DI10 DO10 DI11...

  • Page 51: Io Module Extension

    In some applications, the motion control card can also be used to store the machine’s data. (2) Be sure to use the motion control card recommended by EFORT. Other motion control cards not recommended by EFORT cannot guarantee the controller can function normally.

  • Page 52: External Safety Interface

    Quick Operation Manual for ER15-1400 Industrial Robot (2) Insert the motion control card into the card slot, paying attention to the direction, as shown below. Figure 3-8 Insert the motion control card 3. Steps to remove the motion control card Please remove the motion control card as follows: (1) Turn off the power supply of the control cabinet.
  • Page 53 Quick Operation Manual for ER15-1400 Industrial Robot Table 3-10 Definition of external safety port PIN bit function EMG-AP Emergency stop input channel 1 EMG-AM EMG-BP Emergency stop input channel 2 EMG-BM STOP1-AP Safety door lock channel 1 STOP1-AM STOP1-BP Safety door lock channel 2...
  • Page 54 Quick Operation Manual for ER15-1400 Industrial Robot The emergency stop function can only be used for its specific purpose and defined conditions. The emergency stop function is used to stop the equipment immediately in case of emergency. Emergency stop should not be used for normal program stop as this may cause additional unnecessary wear to the robot.
  • Page 55 Quick Operation Manual for ER15-1400 Industrial Robot Output contacts for emergency stop status Safety door lock signal Emergency stop input signal Figure 3-11 Wiring diagram of e xternal safety function 3.6.2 Safety door lock The robot safety fence needs to be connected to the safety door lock, and it can be connected to the controller through the two safety signals STOP1-AP, STOP1-BM and STOP1-BP, STOP1-BM on the X13 external safety signal terminal row (the recommended sectional area of cable core is more than 0.3mm...

  • Page 56: Chapter 4 Quick Operation

    Quick Operation Manual for ER15-1400 Industrial Robot Figure 3-12 Wiring diagram of safety door lock Chapter 4 Quick operation 4.1 Teaching pendant 4.1.1 About teaching pendant The teaching pendant (as shown in Figure 4-1) is an interactive device between the operator and the robot.

  • Page 57: Function Area And Interface

    Quick Operation Manual for ER15-1400 Industrial Robot 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 ℃ ~ 70 ℃...
  • Page 58 Quick Operation Manual for ER15-1400 Industrial Robot Figure 4-3 Right side button Table 4-3 Right side buttons Serial Name Serial Name number number Tricolor light Axis 4 motion+ Start Axis 5 motion- Pause Axis 5 motion+ Axis 1 motion- Axis 6 motion-...

  • Page 59: How To Hold The Teaching Pendant

    Quick Operation Manual for ER15-1400 Industrial Robot Figure 4-4 Bottom button Table 4-4 Bottom buttons Serial Name Serial Name number number F1: Multifunctional Key Coordinate System Check and hide the alarm Switch message F2: Multifunctional Key Screenshot by a double click...

  • Page 60: Power On And Start

    Quick Operation Manual for ER15-1400 Industrial Robot Three-section manual press switch, the first gear is servo off, the second gear is servo on, and the third gear is servo off. Figure 4-5 Holding method of teaching pendant 4.2 Power on and start After mastering the key function of 4.1 teaching pendant, press the power switch in the lower left...

  • Page 61: Jog Operation

    Quick Operation Manual for ER15-1400 Industrial Robot Figure 4-6 Position of main power switch 4.3 Jog operation 4.3.1 What is jog operation This operation is only allowed in manual mode. After the servo is enabled, the coordinate system type and motion rate of the robot need to be set, and then the jog operation is carried out.

  • Page 62: Joint Coordinate System - Jog Operation

    Quick Operation Manual for ER15-1400 Industrial Robot Click the button on the panel of the teaching pendant to switch the coordinate system type as shown in the figure below. The order of switching is joint coordinate system -> robot coordinate system ->Tool coordinate system ->...

  • Page 63: Running A Program

    Quick Operation Manual for ER15-1400 Industrial Robot Figure 4-9 Hand press and function buttons at the right side of teaching pendant For detailed procedures on the use of ER15-1400 robots in jog operation, please refer to the Operation Manual for ER Series Robot.
  • Page 64 Quick Operation Manual for ER15-1400 Industrial Robot 1. Enter the program Enter the program manager manager. interface. Click on “Open” from the bottom to call a saved program or click on “New” to create a new program, and the teaching pendant will jump to the corresponding interface.

  • Page 65: Shut Down And Power Off

    Quick Operation Manual for ER15-1400 Industrial Robot 3.Run the program. Enable the servo on before running a program. The specific operation procedures are as follows: Turn to Auto mode and press on the “auto mode confirmation” button on the electric cabinet and hold the “PWR”...
  • Page 66 Quick Operation Manual for ER15-1400 Industrial Robot original point by jogging or single step motion; 5. Release the “hand pressure switch”; 6. Press the power switch in the right side of the control cabinet (OFF → ON) to turn off the power, as shown in the figure below.

  • Page 67: Chapter 5 Common Faults And Investigation Methods During Installation

    Quick Operation Manual for ER15-1400 Industrial Robot Chapter 5 Common faults and investigation methods during installation Fault Investigation methods Remark description Check 1: whether the input power supply is normal; The control Check 2: whether the sequence of control cabinet power aerial...
  • Page 68 Quick Operation Manual for ER15-1400 Industrial Robot Check 2: after the above operation, it still cannot be solved. Please contact our after-sales personnel. When using hot Hot plug Check 1: whether hot swap button (“Hot swap”) works plug function, function of normally;...
  • Page 69 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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