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EFORT ER15-4-1600 Quick Operation Manual

Industrial robot
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ER15-4-1600 Quick Operation Manual
for Industrial Robot
EFORT INTELLIGENT EQUIPMENT CO., LTD
HOT LINE （Tel）：+86-400-0528877

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Summary of Contents for EFORT ER15-4-1600

  • Page 1 ER15-4-1600 Quick Operation Manual for Industrial Robot EFORT INTELLIGENT EQUIPMENT CO., LTD HOT LINE （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, EFORT will not be liable for personal injury and property damage caused by reasons other than product defects. EFORT solemnly recommends that: personnel involved...

  • Page 3: Table Of Contents

    ER15-4-1600 Quick Operation Manual for Industrial Robot Content Chapter 1 Safety........................2 1.1 Safety instructions......................2 1.2 Safety guidelines......................2 1.3 Safety Precautions in Each Work Process..............4 1.3.1 Safety of robot installation and connection............4 1.3.2 Safety before starting the robot................5 1.3.3 Safety when the robot starts................
  • Page 4 ER15-4-1600 Quick Operation Manual for Industrial Robot 2.3.2 Robot body transport..................19 2.3.3 Robot control cabinet transport................21 2.4 Installation........................22 2.4.1 Security bar settings..................22 2.4.2 Robot installation method................23 2.4.3 Ground installation...................23 2.4.4 Bracket installation...................25 2.4.5 Installation site and environment..............25 2.5 Integrated application installation interface.............
  • Page 5 ER15-4-1600 Quick Operation Manual for Industrial Robot 4.3.4 Industrial robot-user coordinate system............39 4.4 Jog operation....................... 39 4.3.1 What is jog operation..................39 4.4.2 Notes on jog operation..................39 4.4.3 Start jog operation....................39 4.4.4 Joint coordinate system-jog operation............. 40 4.4.5 Cartesian coordinate system-jog operation............41 4.4.6 Tool coordinate system-jog operation..............

  • Page 6: 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 7 ER15-4-1600 Quick Operation Manual for Industrial Robot robots and understand the risks, may not operate the robot. 7. Do not use robots in the following situations: Robot components exposed Safety device is disabled When all or part of the fuses and/or mechanical equipment are disabled...

  • Page 8: Safety Precautions In Each Work Process

    (GB11291.1-2011/ISO10218-1:2006) for the design of safety functions. 1. Before operation, please read and understand all manuals, specifications and other related documents provided by EFORT. In addition, a complete understanding of operations, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 9: Safety Before Starting The Robot

    (GB11291.1-2011/ISO10218-1:2006) for the design of safety functions. 1. Before operation, please read and understand all manuals, specifications and other related documents provided by EFORT. In addition, a complete understanding of operations, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 10: Safety When The Robot Starts

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

  • Page 11: Trial Run Safety

    1.3.5 Safety in teaching Danger EFORT recommends that the teaching work should be completed outside the safety fence. But if you really need to enter the safety fence, please strictly observe the following items and refer to the following domestic/international safety standards.
  • Page 12 12. After the robot's motion teaching is completed, please set the robot's software limit to a little bit outside the robot's teaching motion range. How to set the software limit, please refer to the EFORT Industrial Robot Operation Manual 第 8 页...

  • Page 13: Safety During Automatic Running

    Before automatic operation, please confirm that all switches function normally. 1. Before operation, please read and understand all manuals and other related documents provided by EFORT. In addition, a complete understanding of operations, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.
  • Page 14 Before servicing, please confirm that all switches function normally. 1. Before operation, please read and understand all manuals and other related documents provided by EFORT. In addition, a complete understanding of operations, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.

  • Page 15: Safety During Inspection And Maintenance

    1. Before operation, please read and understand all manuals and other related documents provided by EFORT. In addition, a complete understanding of operations, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.
  • Page 16 11. Please use only the parts approved by EFORT. In addition, during inspection/maintenance, be sure to use the teaching mode and move the robot at the lowest possible speed.
  • Page 17 18. Do not change or modify the robot without the permission of the company. In the event of unauthorized modification, EFORT will not take any responsibility. 19. In the robot arm and control cabinet, there are a variety of built-in data backup batteries.

  • Page 18: Chapter 2 Transport And Installation

    Before starting any installation work, it is extremely important to check all the safety information! Please be sure to read the EFORT Robot Safety Manual 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 that introduces the dangers and safety risks encountered when performing operating procedures 2.2 Basic description...

  • Page 19: Robot Storage Environment

    ER15-4-1600 Quick Operation Manual for Industrial Robot Table 2-2 Precautions before installation Visually inspect the robot to ensure that it is not damaged. Make sure that the lifting device used is suitable for carrying the specified robot weight. If the robot is not installed directly, it must be stored according to the robot storage environment requirements.
  • Page 20 ER15-4-1600 Quick Operation Manual for Industrial Robot ER15-4-1600 model Articulated Action type 4Axis Control axis 175°/sec axis/J1 轴 Maximum operating 165°/sec axis/J2 轴 speed 155°/sec axis/J3 轴 330°/sec axis/J4 轴 ±165° axis/J1 轴 -85°/+40 axis/J2 轴 Maximum motion -90º≤J2+J3≤+15° range -70°/+15°（*）...

  • Page 21: Robot Workspace

    ER15-4-1600 Quick Operation Manual for Industrial Robot environment humidity 80%RH, no condensation (40℃) 2.2.7 Robot workspace 第 17 页...

  • Page 22: Control Cabinet Working Space

    ER15-4-1600 Quick Operation Manual for Industrial Robot Figure 2-1 Robot motion range diagram 2.2.8 Control cabinet working space Overall dimensions of ER15-4-1600 robot control cabinet (unit: mm) Figure 2-2 Robot control cabinet dimensions 第 18 页...

  • Page 23: Transport

    ER15-4-1600 Quick Operation Manual for Industrial Robot When the control cabinet is placed, please do not block the vents of the electric cabinet, which will affect the heat dissipation of the electric cabinet. Please reserve more than 150mm around the electric cabinet.
  • Page 24 ER15-4-1600 Quick Operation Manual for Industrial Robot Figure 2-3 Schematic diagram of lifting and transportation Note: In Figure 2-3, no other devices are installed on the end effector and the robotic arm, so once you install other devices, please pay more attention.

  • Page 25: Robot Control Cabinet Transport

    ER15-4-1600 Quick Operation Manual for Industrial Robot Figure 2-4 Schematic diagram of forklift transport 2.3.3 Robot control cabinet transport 1. Transport method 1: It is recommended to use 4 casters on the bottom of the control cabinet to move the control cabinet (2 universal wheels and two fixed wheels.

  • Page 26: Installation

    ER15-4-1600 Quick Operation Manual for Industrial Robot Figure 2-5 Schematic diagram of lifting the robot control cabinet 2.4 Installation 1、Set up the security bar Otherwise, accidents such as personal injury and equipment damage may occur. The robot should be placed in a position where the tip of the tool and the workpiece of the robot arm will not touch the safety bar even if the robot arm extends the longest.

  • Page 27: Robot Installation Method

    ER15-4-1600 Quick Operation Manual for Industrial Robot operator and surrounding people, please be sure to set up a safety bar (and with interlocking doors and other safety settings)! Note: The GB11291.2-2013 standard is equivalent to the ISO 10218-2:2011 standard. 2.4.2 Robot installation method The installation of the robot, especially the fixing of the base and the foundation, can bear the dynamic load of the robot during acceleration and deceleration and the static weight of the robot and the fixture.
  • Page 28 ER15-4-1600 Quick Operation Manual for Industrial Robot name Specification Quantity Thickness ≥30mm Bottom plate Reference area (600mm×600mm) Chemical bolt group Above M16, strength grade ≥ 4.8 Fixing screws M16×45, strength grade 12.9 First, fix the bottom plate on the ground. We recommend that the thickness of the bottom plate should be more than 30mm.

  • Page 29: Bracket Installation

    ER15-4-1600 Quick Operation Manual for Industrial Robot Too long or too short screws to fix the robot base will cause bad fixing accidents! The connection strength of chemical bolts depends on the strength of concrete. When the strength of concrete is insufficient, it can be strengthened by the following methods: Increase the number of chemical bolt groups;...
  • Page 30 ER15-4-1600 Quick Operation Manual for Industrial Robot 1) End flange mounting interface Figure 2-8 Dimension drawing of end load mounting flange 2) Other auxiliary interfaces Figure 2-9 Dimension drawing of external parts installed on the boom Figure 2-10 Dimension drawing of external parts installed on the...

  • Page 31: Chapter 3 Electrical Connection

    ER15-4-1600 Industrial robot quick user manual Chapter 3 Electrical Connection 3.1 Power supply specifications 1) The main power supply is single-phase 220V, 50Hz, and the voltage fluctuation range is ±10%; 2) Please use a leakage protector above 30mA; 3) Please use a shielded cable above 3C×2.5mm2 for the power cord;...
  • Page 32 ER15-4-1600 Industrial robot quick user manual Figure 3-1 Schematic diagram of robot cable connection The standard delivery includes the robot power brake and encoder cable products, and the robot body can be connected to the control cabinet and used at any time.

  • Page 33: Introduction To External Emergency Stop

    ER15-4-1600 Industrial robot quick user manual Reserved signal line Main power line Encoder cable Power brake line Figure 3-3 Schematic diagram of robot control cabinet connection Introduction to External Emergency Stop The emergency stop buttons include the emergency stop button of the teach pendant, the emergency stop button of the control cabinet, and the external emergency stop button.

  • Page 34: I/O Connection

    ER15-4-1600 Industrial robot quick user manual Emergency stop should not be used for normal program stop, as this may cause additional unnecessary wear and tear on the robot. Figure 3-4 External emergency stop position indication and wiring schematic diagram When it is necessary to connect an external emergency stop, you need to pull out the "short-circuit bar"...
  • Page 35 ER15-4-1600 Industrial robot quick user manual Custom IO power supply 24V+ IO power supply 24V- Connection terminal MC1.5/10-GF-3.81 (Phoenix) Except for ports with the words "user-defined" for IO output signals, other ports are fixed functions used by the system and cannot be changed. Users can expand the body IO or remote IO module as needed.

  • Page 36: Controller Local Io Expansion

    ER15-4-1600 Industrial robot quick user manual Expansion IO input From the left 09 10 11 12 To right 13 14 15 16 17 18 19 20 For: 21 22 23 24 Extended IO output From the left 09 10 11 12...

  • Page 37: Controller Remote Io Expansion

    ER15-4-1600 Industrial robot quick user manual Table 3-6 Local IO module expansion installation steps Steps Icon 1. Remove the controller from the guide rail; 2. Connect the bus coupler to the bus base module and install it on the DIN rail 3.
  • Page 38 ER15-4-1600 Industrial robot quick user manual Table 3-7 Connection mode of remote IO module EtherCAT EtherCAT Controller Ethernet switch Remote IO module EtherCAT coupler 第 34 页...

  • Page 39: Chapter 4 Quick Operation

    ER15-4-1600 Industrial robot quick user manual Chapter 4 Quick Operation Teach pendant 4.1.1 About Teach Pendant The Teach Pendant (as shown in Figure 2.1) is the equipment that the operator interacts with the robot. Using the Teach Pendant, the operator can complete all the functions of controlling the robot. For example, manual control of robot motion, programming control of robot motion, setting of IO interactive signals, etc.
  • Page 40 ER15-4-1600 Industrial robot quick user manual USB2.0, used to import and export files and update the teaching pendant Three-stage hand Hand press the servo in manual mode press switch Figure 4-3 Right button Table 4-3 Right button Name Name Three-color light...

  • Page 41: How To Hold The Teaching Pendant

    ER15-4-1600 Industrial robot quick user manual Figure 4-4 Lower keys Table 4-4 Lower keys Name Name Multi-function key F1, tentative: Coordinate system switching call up the current alarm content Multi-function key F2 Tentative: Back to homepage Double-click screenshot Multi-function key F3 Tentative:...

  • Page 42: Power On

    ER15-4-1600 Industrial robot quick user manual 4.2 Power on After mastering the button functions of the teach pendant in section 4.1, turn the power switch on the upper left corner of the electric control cabinet to the right (OFF→ON) to start the system (as shown in Figure 4-6).

  • Page 43: Industrial Robot-Tool Coordinate System

    4.4.2 Notes on jog operation Be sure to read the EFORT Robot Safety Manual before jogging The operator must stand outside the maximum range of robot operation; The operator keeps looking at the robot from the front to ensure a safe escape route in an emergency;...

  • Page 44: Joint Coordinate System-Jog Operation

    ER15-4-1600 Industrial robot quick user manual Figure 4-7 Axis position display interface Click the button (as shown below) on the teach pendant panel to switch the coordinate system type. The switching sequence is as follows: joint coordinate system -> Cartesian coordinate system ->...

  • Page 45: Cartesian Coordinate System-Jog Operation

    ER15-4-1600 Industrial robot quick user manual at the bottom of the teach pendant panel until status is displayed in the teach pendant status bar. While holding down the hand pressure switch (left in the figure below), click the corresponding "-"...

  • Page 46: User Coordinate System-Jog Operation

    ER15-4-1600 Industrial robot quick user manual Figure 4-11 Jog of robot tool coordinate system As shown in Figure 4-11, switch the coordinate system to xxx, click the corresponding "-" and "+" buttons on the right side of the teach pendant panel to adjust the corresponding X, Y, Z, A, B, C coordinate value 4.4.7 User coordinate system-jog operation...

  • Page 47: Jog-Slow Motion

    ER15-4-1600 Industrial robot quick user manual In manual full speed mode, adjust the global speed through the speed control button The speed range can be set to 1%-100%, as shown in Figure 4-13; correspondingly, in manual low speed mode, the speed range can be set to 1% —20% Figure 4-13 Robot acceleration and deceleration 4.4.9 Jog-slow motion...

  • Page 48: Jog-Step Movement

    ER15-4-1600 Industrial robot quick user manual 4.4.10 Jog-step movement Figure 4-15 Step length setting Click the step length to set the step distance, as shown in Figure 4-15, set the step length to 15 and the coordinate system as the joint coordinate system. Each time you click the "-" and "+" buttons of the corresponding joint, the robot will be in the joint coordinate The corresponding axis under the tie moves in units of 15 degrees.
  • Page 49 ER15-4-1600 Industrial robot quick user manual Service Hotline: +86-400-0528877 This product's rated product power, specifications, external dimensions, etc. are subject to change without modification without notice. Technical data and illustrations are for reference only, and the right to change is reserved.

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