ELITE ROBOT EC Series Maintenance Manual
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ELITE ROBOT EC Series Maintenance Manual

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ELITE ROBOT
EC
Series
Maintenance Manual
EC612 Service Manual
ELITE ROBOT Co.,Ltd
2021-02-04
Version: 5.0.28
www.elibot.cn

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Summary of Contents for ELITE ROBOT EC Series

  • Page 1 ELITE ROBOT Series Maintenance Manual EC612 Service Manual ELITE ROBOT Co.,Ltd 2021-02-04 Version: 5.0.28 www.elibot.cn...

  • Page 2: Table Of Contents

    Contents 1 Disassembly joint 1.1 Robot arm configuration ....... . 1.2 Brake release .

  • Page 3: Disassembly Joint

    Chapter 1 Disassembly joint 1.1 Robot arm configuration Section 1.13 Tool flange-Wrist 3 joint Section 1.12 Wrist 3 joint-Wrist 2 joint Section 1.11 Wrist 2 joint-Wrist 1 joint Section 1.10 Wrist 1 joint-Lower arm Section 1.9 Elbow counterpart-Elbow joint Section 1.8 Elbow joint-Upper arm Section 1.7 Upper arm-Shoulder joint Section 1.6 Shoulder Joint-Base joint Section 1.5 Base joint-Base mounting bracket...

  • Page 4: Brake Release

    1.2 Brake release 1.2 Brake release If required, you can release the brake without power. CAUTION Before releasing the brake, you should not dismount any dangerous parts in case of hazardous situations. Proper mechanical support should be provided when releasing the brake on Base, Shoulder or Elbow joint.
  • Page 5 1.3 General guidance to separate joint from counterpart Gently unplug the cable connector. Do not damage the PCB, as shown in Figure 1-2 . Figure 1-2 : Unplug the cable connector Disconnect wires. Remove the alignment screw, as shown in Figure 1-3 . Figure 1-3 : Removing the alignment screw As shown below, gently remove the rubber ring by using tweezers or screwdriver and wrap it...
  • Page 6 1.3 General guidance to separate joint from counterpart Figure 1-4 : Separating the joint Assemble: After replacing the joint, assemble the robot arm as follows. Insert eight screws into the joint cap and twist them for 720 degrees approximately. Make sure the heads of the bolt are flush, as shown in Figure 1-5 .
  • Page 7 1.3 General guidance to separate joint from counterpart Slide the transition ring into place and gently put the rubber ring back on the top of the transition ring, as shown in Figure 1-7 . Figure 1-7 : Sliding the ring Mounting the alignment screws and tighten with 0.4Nm.

  • Page 8: Torque Values

    1.4 Torque values Figure 1-12 : Figure 1-13 : Figure 1-14 : Wrist 1 joint Wrist 2 joint Wrist 3 joint Install the joint cap and tighten with 0.4Nm and then attach the decorative ring. 1.4 Torque values EC612 Torque values: CONNECTION TORQUE HEAD SIZE Base mounting bracket-Base...

  • Page 9: Base Joint-Base Mounting Bracket

    1.5 Base joint-Base mounting bracket Figure 1-15 : Torque values 1.5 Base joint-Base mounting bracket Disassemble For details and photos please see Section 1.3. Shut down the controller. Gently remove the rubber ring by using tweezers or screwdriver and wrap it around the cap. Slide the white transition ring back.

  • Page 10: Shoulder Joint-Base Joint

    1.6 Shoulder Joint-Base joint Figure 1-16 : Replacing the base plate Twist the communication cable 540 to 720 degrees before connecting which can reduce the noise in the electrical system. Insert the screws into the base mounting bracket and twist them for 900 degrees approximately. Make sure the heads of the bolt are flush.

  • Page 11: Upper Arm-Shoulder Joint

    1.7 Upper arm-Shoulder joint Insert the screws into the base joint and twist them for 3.5 turns. Make sure the heads of the bolt are flush. Align the key hole with the screw and gently insert the shoulder joint into the base joint. Gently twist the base joint counter-clockwise until the mechanical stop is met.
  • Page 12 1.7 Upper arm-Shoulder joint As shown below, remove the supporting ring. 12 screws are visible, loosen M5 screws with an 8mm open-ended spanner. Remove the cylinder from the shoulder joint. You can also remove 10 M5 hex screws on the connecting flange by using Hex key4. Assemble: For details and photos please see Section 1.3.

  • Page 13: Elbow Joint-Upper Arm

    1.8 Elbow joint-Upper arm Figure 1-18 : Conectting wires 5.Twist the communication cable 540 to 720 degrees before connecting which can reduce the noise in the electrical system. Mount the white cap on the shoulder joint and tighten with 0.4Nm Install the decorative ring onto the cap.
  • Page 14 1.9 Elbow counterpart-Elbow joint Pull the elbow joint away from the upper arm. Assemble: As shown below, gently insert the cylinder into the elbow joint, take care of the alignment hole and pass wires through the wire hole. Insert the Hex key3 with long rod into the cylinder and remove 10 M4 Hex screws with 4Nm which connect the elbow joint and the upper arm.

  • Page 15: Elbow Counterpart-Elbow Joint

    1.9 Elbow counterpart-Elbow joint 1.9 Elbow counterpart-Elbow joint Disassemble For details and photos please see Section 1.3. Shut down the controller. Remove the decorative ring by using screwdriver or tweezers and then remove the joint cap. Disconnect wires between the elbow joint and the lower arm. 1 brown wire 48VDC 1 black wire...

  • Page 16: Wrist 1 Joint-Lower Arm

    1.10 Wrist 1 joint-Lower arm Figure 1-20 : Connecting wires of elbow joint and the lower arm Twist the communication cable 540 to 720 degrees before connecting which can reduce the noise in the electrical system. Install the elbow joint cap with 0.4Nm and attach the ring. 1.10 Wrist 1 joint-Lower arm Disassemble For details and photos please see Section 1.3.

  • Page 17: Wrist 2 Joint-Wrist 1 Joint

    1.11 Wrist 2 joint-Wrist 1 joint Figure 1-21 : Connect the wires 4.Install the wrist 1 joint cap with 0.4 Nm and attach the decorative ring. Assemble the elbow joint and the lower arm, consult Section 1.7. 1.11 Wrist 2 joint-Wrist 1 joint Disassemble For details and photos please see Section 1.3.

  • Page 18: Wrist 3 Joint-Wrist 2 Joint

    1.12 Wrist 3 joint-Wrist 2 joint Slide the white transition ring to the wrist 2 joint and then put the gray rubber ring to the top of the transition ring. Connect wires as shown in Figure 1-22 , twist the communication cable 540 to 720 degrees before connecting which can reduce the noise in the electrical system.
  • Page 19 1.13 Tool flange-Wrist 3 joint Pull away the tool flange from wrist 3 joint entirely. Assemble For details and photos please see Section 1.3. Insert the screws into the tool flanges and then twist for 4.5 turns. Make sure the heads of the bolt are flush.

  • Page 20: Alarm Description

    Chapter 2 Alarm description 2.1 Robot program alarm Alarm number Description 0-2000-nline Unsupport IO type %s 0-2000-nline Error type 0-2000-nline TIMER instruction decoding error 0-2000-nline PULSE instruction decoding error 0-2000-nline PULSE instruction decoding error 0-2000-nline AOUT analyze variable %s 0-2000-nline Analog input decoding error 0-2000-nline AIN analyze variable %s...
  • Page 21 2.1 Robot program alarm Alarm number Description 0-2000-nline SFTON decoding error 0-2000-nline Coordinates error 0-2000-nline Unsupported parameters type 0-2000-nline Unknown coordinate error 0-2000-nline DIN/MIN analyze variable 0-2000-nline %s DRAGV = 0-2000-nline CCOOD instruction decoding error 0-2000-nline GETUSERFRAME must set user num 0-2000-nline PL error in MOVL instruction decoding 0-2000-nline...
  • Page 22 2.1 Robot program alarm Alarm number Description 0-2000-nline Error in finding the first parameter of distance instruction 0-2000-nline DIST DIST instruction parameter 1 error 0-2000-nline DIST DIST instruction parameter 2 error 0-2000-nline TRACK analyze error 0-2000-nline can’t open get_user_io_value function 0-2000-nline DOUT/MOUT Error in decoding parameters 0-2001-nline...
  • Page 23 2.1 Robot program alarm Alarm number Description 0-2002-nline Coordinates parameters setting error 0-2002-nline TIMER instructions need to set T parameters 0-2002-nline MFRAME more[%s] can’t analyze 0-2002-nline line %s:ELSEIF instruction parsing syntax error 0-2002-nline line %s:ELSEIF instruction parsing syntax error 0-2002-nline line %s:ELSE instruction parsing syntax error 0-2002-nline line %s:BREAK instruction parsing syntax error...
  • Page 24 2.1 Robot program alarm Alarm number Description 0-2008-nline LABEL %s is already define at file %s line %s 0-8000-0 start arc failer 0-8000-0 End arc failed! 2-8001-0 Get laser track data infomation failed! 2-8001-8 Save laser track data to file failed! 2-8001-8 Save laser track data information failed! 2-8001-8...
  • Page 25 2.1 Robot program alarm Alarm number Description 2-8001-51 Copy laser sensor calibration result is successful! 2-8001-34 Please teach %s point for laser sensor calibration! 2-8001-40 Laser seneor calibration error is more than %s mm! 2-8001-33 The laser sensor calibration point number %s is beyond! 2-8001-2 Laser sensor failed to turn on! 2-8001-49...
  • Page 26 2.1 Robot program alarm Alarm number Description 0-8001-22 No move data in the interpolation queue ! 2-8001-48 Laser sensor connection! 2-8001-42 Network connection disconnected! 0-8001-14 Mismatch of Laser Process Number. 0-8001-10 Laser sensor failed to turn on! 0-8001-12 Please connect and turn on the laser tracker first. 0-8001-13 Search failed 0-8002-0...
  • Page 27 2.1 Robot program alarm Alarm number Description 0-6000-1 unresonable data 0-6000-5 unresonable data 0-6000-17 Divisor zero error 0-6000-10 unresonable data error 6 0-6000-20 Singular or unreachable area 0-6000-3 Internal data unreasonable error 2 0-6000-4 Internal data unreasonable error 3 0-6000-11 Internal data unreasonable error 7 0-6000-2 Internal data unreasonable error 3...
  • Page 28 2.1 Robot program alarm Alarm number Description 2-1000-4 Bus communication module between robots is not loaded. Please confirm the function loaded. 0-1000-0 Encoder library failed to open 0-1000-1 No positive and negative solutions were detected. Please try to restart the system. 0-1000-7 Failed to open read/write module! 0-1001-24...
  • Page 29 2.1 Robot program alarm Alarm number Description 2-10010-0 Parameters are different from the last shutdown. Successful import of backup parameters. 2-10010-1 Parameters are different from the last shutdown. Successful import of backup parameters. 0-1002-0 This robot type does not support some functions 0-1002-1 The type of robot does not correspond to the number of axes and can only walk in joint coordinates.
  • Page 30 2.1 Robot program alarm Alarm number Description 0-1005-1 External emergency stop alarm 0-1006-0 %s servo is alarm 0-1006-0 %s servo is alarm 0-1006-0 %s communicate is alarm 0-1008-0 Fold inverse error 0-1008-0 Camera communication error 0-1008-0 Camera communication error 0-1008-11 Soft limit alarm %s 0-1008-10 Soft limit alarm %s...
  • Page 31 2.1 Robot program alarm Alarm number Description 0-100A-7 Error technic set to default common 0-100B-0 Invalid resource! Set to default 0-100B-1 Invalid resource! Set to default 0-100C-3 Failed to load NVRAM backup data 0-100C-4 Backup of NVRAM data failed 0-100C-5 Backup of NVRAM data failed 0-100C-0 Invalid nvram data! Set to default...
  • Page 32 2.1 Robot program alarm Alarm number Description 0-3001-1 P var init failer number out of max 0-3002-3 Excessive data value 0-3002-4 Excessive data value 0-3002-nline The rounding plan failed. Move to the first line of three rounding instructions (POINT1) 0-3002-nline No matching MOVFW was found 0-3002-nline No matching MOVFW was found...
  • Page 33 2.1 Robot program alarm Alarm number Description 0-3009-nline Please teach three arc points 0-3009-1 The points is coincident 0-300A-0 The document has been closed 0-300A-1 Errors in calibrated data 2-2-2 Please teach 4 points as required. 2-1-0 Pallet number input error! 1-7-0 Failed to open file 0-7000-0...
  • Page 34 2.1 Robot program alarm Alarm number Description 0-7006-0 The file contains two ENDs 2-A000-0 Exit booking mode 2-A001-0 Robot in External Suspension 2-A001-1 Robot Safety Door Not Closed 0-F000-0 Set dynamis.xml data error and Use backup data 0-F000-0 Failed to open file 2-F000-1 Dynamics identify succeed 2-F000-1...
  • Page 35 2.1 Robot program alarm Alarm number Description 2-F000-1 recording time is %s minites,time remaining is %s minites 2-F000-1 recording time is over,time out is not recorded! 0-F000-0 no identify file or identify file error 0-F000-1 no identify file or identify file error 0-4000-0 Offline file acquisition failed, please check the offline file 0-4000-0...
  • Page 36 2.1 Robot program alarm Alarm number Description 2-1F0008-1 Start the six-dimensional sensing function,operate the sensor in the six-dimensional sensing coordinate system! 0-2002-nline DIST more[%s] can’t analyze 0-1F001-0 Failed to obtain tracking process data! 0-1F001-0 Get tool data error %s 0-1F001-1 Set tool data error 2-1F001-0 Errors in getting kinetic parameters...
  • Page 37 2.1 Robot program alarm Alarm number Description 0-1F002-0 Errors in saving kinetic parameters 0-1F003-4 Robot is abnormal. Please re-energize 0-1F003-1 GETUSERFRAME analyze unknown %s 0-1F003-5 Not enough memory in the system. Please try to restart the control system 0-1F003-6 Not enough memory in the system. Please try to restart the control system 0-1F003-7 CLEAR must give const number...
  • Page 38 2.1 Robot program alarm Alarm number Description 0-200000-3 can’t create %s 2-200000-6 create %s successful. 0-200000-4 Three points of teaching can’t walk in a circle 0-200001-1 Layer layout input error! 0-200001-2 pallet number input error! 0-200001-1 user frame input error! 0-200001-1 layout number input error! 0-200001-1...
  • Page 39 2.1 Robot program alarm Alarm number Description 0-200001-1 Line count error, should be greater than 1! 0-200001-1 Line column or workpiece number input error! 0-200001-2 Validation of pallet parameters failed! 0-200001-2 The pallet parameters are invalid! 0-200001-2 The current numbner workpiece exceeds the limit! 0-200001-1 Tech%s layout%s layout_mode is error! 0-200001-1...
  • Page 40 2.1 Robot program alarm Alarm number Description 0-9002-2 The robot is not in the teaching mode. Please type the key into the teaching mode. 0-9003-0 Unable to analyse curves 0-9004-0 PL illegal 0-9005-0 The robot is in suspension or external suspension 0-9006-0 Out of pulse range %s, %s,%s 0-9006-0...

  • Page 41: Servo Drive Alarm

    2.2 Servo drive alarm Alarm number Description 0-210000-21 %s analyze JOB 0-210000-22 RUNIOCUTIN command not enabled 0-210000-23 Pallet command not enabled 0-210000-24 RUNIOCUTIN parameter error 2-210000-20 Please teach this point first ! 0-1F0015-1 Vision stack data overflow! 0-1F0015-0 Vision Trigger failed! 0-1F0015-0 Vision Clean failed! 0-1F0015-0...
  • Page 42 2.2 Servo drive alarm Alarm number Description Servo over current,hardware Servo over current,software 1 Servo over current,software 2 Servo over current,software 3 Servo position error over limit 1 Servo position error over limit 2 emergency stop input active Servo communication CRC error Servo communication is not synchronization 1 Servo communication error...
  • Page 43 2.2 Servo drive alarm Alarm number Description Motor brake release error 2 Motor brake release error 3 Motor brake active error Servo over load Servo over speed Servo DC bus over limit Servo DC bus under limit Servo over temperature Servo not ready DN:T202001003...
  • Page 44 ALWAYS EASIER THAN BEFORE Contact Us Sales & Service: market@elibot.cn Technical Support: tech@elibot.cn Headquarters Building C, 28 Heshun Road, Suzhou Industrial Park, Suzhou +86-400-189-9358 +86-0512-83951898 Beijing R & D Center Dongsheng Science and Technology Park, Haidian District, Beijing Shanghai Office Hongqiao World Center, Lane 1588, Zhuguang Road, Shanghai WeChat...

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Ec612

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