Related Manuals for EFORT ER6-1400
Summary of Contents for EFORT ER6-1400
- Page 1 ER6-1400 Quick Operation Manual for Industrial Robot EFORT Intelligent Equipment Co., Ltd Service Hotline（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, 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,...
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Page 3: Table Of Contents
ER6-1400V1.01 Industrial Robot Quick Operation Manual contents CHAPTER 1 SAFETY ....................... 4 1.1 S .......................4 AFETY INSTRUCTIONS 1.2 S ......................4 AFETY GUIDELINES CHAPTER 2 HANDLING AND INSTALLATION ............... 7 2.2 B ......................7 ASIC ESCRIPTION 2.2.1 unpacking list...................... 7 2.2.2 Preparation work before installation..............8 2.2.3 Robot storage environment................. - Page 4 ER6-1400V1.01 Industrial Robot Quick Operation Manual 3.6.3 Safety door X12....................42 CHAPTER 4 QUICK OPERATION ................. 43 4.1 T ......................43 EACHING PENDANT 4.1.1 About teaching pendant..................43 4.1.2 Function area and interface................44 4.1.3 How to hold the teaching pendant............46 4.2 P .....................
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Page 5: Chapter 1 Safety
Operators must carefully read the following information, especially the safety measures listed in this chapter. Users of the EFORT industrial robots shall be responsible for ensuring compliance with applicable safety laws and regulations in the country/district and that the necessary safety equipment used to protect the operator of the robot system is designed reasonably and installed correctly. - Page 6 ER6-1400V1.01 Industrial Robot Quick Operation Manual up sundries before the emergency stop equipment, which will hinder the use of the equipment in emergency. 5. It is not allowed to use unsuitable materials, adjust and modify the robot improperly. 6. Unauthorized personnel or personnel who have not received training in the use of the robot and are aware of the existing risks shall not operate the robot.
- Page 7 ER6-1400V1.01 Industrial Robot Quick Operation Manual warning 1. The release of gravity and brakes may cause a fall hazard. 2. When the safety protection device is inspected, it may cause danger to the maintenance personnel because the safety protection device cannot work. Therefore, the maintenance personnel must be very careful and take all kinds of protective measures.
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Page 8: 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 9: Preparation Work Before Installation
ER6-1400V1.01 Industrial Robot Quick Operation Manual power aerial plug control cabinet and the body 10900001122 accessories (bracket, pin) has been installed on the robot body Instruction QR code Safety door bridge 10900020261 Customers prefer connector Note: the above is the standard configuration list, excluding customized models. 2.2.2 Preparation work before installation This section is intended for the first time to open the box and install the robot. -
Page 10: Robot Operation Environment
ER6-1400V1.01 Industrial Robot Quick Operation Manual Maximum ambient temperature +55℃ Maximum ambient humidity 93% RH, no condensation（40℃） 2.2.4 Robot operation environment The following table shows the allowed robot operation conditions: Table 2-4 Robot operation environment Parameter Value Minimum ambient temperature 0℃... - Page 11 ER6-1400V1.01 Industrial Robot Quick Operation Manual J1 axi ±165° J2 axi +75°/-135° J3 axi Maximum range +170°/-83° of motion J4 axi ±180° J5 axi ±130° J6 axi ±360° The maximum active 1433mm radius The maximum load of 6 kg wrist Installation conditions ground installation and suspension installation...
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Page 12: Robot Workplace
ER6-1400V1.01 Industrial Robot Quick Operation Manual 2.2.7 Robot workplace 图 2-1 ER6-1400V1.01 robot motion range diagram Note: the workspace shown in this figure is the maximum that can be reached in theory, and the actual operation will be affected by the installation mode. In the actual use, please consider the impact of the... -
Page 13: Handling
ER6-1400V1.01 Industrial Robot Quick Operation Manual installation mode on the workspace. 2.2.8 Working space of control cabinet Outline dimension of control cabinet for medium and small payload type（unit：mm）。 Figure 2-2 dimensions of robot control cabinet When placing the control cabinet, please do not block the air vent of the electric cabinet, which will affect the heat dissipation of the electric cabinet. -
Page 14: Robot Body Handling
ER6-1400V1.01 Industrial Robot Quick Operation Manual following contents before safe operation: The handling of robots and control devices must be carried out by qualified personnel for hook, lifting operation, forklift, etc. If the operators do not master the correct skills to carry out the operation, it may lead to overturning, falling and other accidents. - Page 15 ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-3 schematic diagram of lifting hanling Figure 2-4 schematic diagram of forklift handling...
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Page 16: Robot Control Cabinet Handling
ER6-1400V1.01 Industrial Robot Quick Operation Manual When handling, please be sure to install and use the fixed fixture! When using other handling methods instead of crane and forklift, please note that the arm and motor of the robot cannot be affected by external force! After unpacking, be sure to remove the handling fixture and rubber pad! Due to the need of robot handling in the future, please keep the fixture properly! 2.3.3 Robot control cabinet handling... -
Page 17: Installation
ER6-1400V1.01 Industrial Robot Quick Operation Manual 2.4Installation 1. Set security bar Otherwise, personal injury, equipment damage and other accidents may occur. The robot should be placed in a position where the tool and workpiece tip of the robot arm will not touch the safety bar even if the robot arm reaches the longest. Otherwise, personal injury and equipment damage may occur. -
Page 18: Ground Installation
ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-6 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 19: Bracket Installation
ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-7 "example of robot installation" 2.4.4 Bracket installation When the height of the bracket is less than 600mm, its fixing mode is similar to the ground installation mode, which is divided into two parts: robot base installation, bracket and ground installation. When the height of the bracket is more than 600mm, the connection strength between the bracket and the ground should be strictly checked to ensure that the connection between the bracket and the ground is safe and reliable. -
Page 20: Installation Site And Environment
ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-8 Upside down installation 2.4.6 Installation site and environment The robot shall be able to keep normal when used, transported and stored under specified environmental conditions, and its performance shall meet the requirements. Table 2-10 table of robot environment parameters Robot environmental conditions storage and transportation... - Page 21 ER6-1400V1.01 Industrial Robot Quick Operation Manual 2.4.7 Integrated application installation interface The following table shows the robot body external interface size Table 2-10 table of ER6-1400V1.01 robot external interface size Robot external interface size shown in the figure remark Dimension of end load mounting Figure 2-9 dimension of end load mounting flange...
- Page 22 ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-10 Dimension drawing of external part installed on big arm Figure 2-11 Dimension drawing of external parts installed on motor base...
- Page 23 ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-12 Dimension drawing of external parts installed on wrist Figure 2-13 Dimension drawing of external parts installed on swivel seat...
- Page 24 ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 2-14 external air pipe and signal line...
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Page 25: Chapter 3 Electrical Connection
Chapter 3 Electrical connection The connecting cables between the robot control cabinet and the robot body include power cable, signal 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 26: Robot Power, Signal And Grounding Cables
ER6-1400V1.01 Industrial Robot Quick Operation Manual 2 Please use above 4C×4mm shielded cable for power line; 3. Between the power grid and control cabinet, the obvious breaking devices such as isolation switch must be installed to ensure the personal safety during equipment maintenance. Power aerial plug Figure 3-2 interface and position view of input power supply X10 Table 3-1 definition of input power X10 interface... -
Page 27: Controller Local Io Definition
With the IO output signal，except "user-defined" port, other ports are fixed functions used by the system, which can not be changed. Users can expand body IO or remote IO module according to their needs. Please consult EFORT for details. Table 3-4 input definition table... - Page 28 ER6-1400V1.01 Industrial Robot Quick Operation Manual In addition to the "user defined" port, other ports of IO input signal are fixed functions used by the system and cannot be changed. Pin 7 of IO input signal can be used as the input signal of the controller after the function of safety door and safety grating is triggered.
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Page 29: Io Module Expansion
ER6-1400V1.01 Industrial Robot Quick Operation Manual 3.4 IO module expansion 3.4.1 Controller local IO extension This section mainly introduces the expansion of the local IO module of the controller in the control cabinet. Due to the limited space, the local IO can expand up to four 16dDI/ 16DO modules with 24 VDC input and 24 V DC 500mA output. -
Page 30: Controller Remote Io Extension
ER6-1400V1.01 Industrial Robot Quick Operation Manual 2 、 Connect the bus coupler to the bus base module install it on DIN rail. 、The controller and module installed on the bus coupler and bus base module respectively. Connecting power 4 、 supply: A1 / A2 on Io module is connected to the positive pole of... -
Page 31: Io Settings
ER6-1400V1.01 Industrial Robot Quick Operation Manual 3.5 IO Settings This section mainly introduces the operation steps of updating IO module, IO free configuration, remote IO module adaptation and analog IO configuration. 3.5.1 Update IO module Table 3-8 operation steps of updating IO module Steps Diagram Description... -
Page 32: Remote Io Configuration
ER6-1400V1.01 Industrial Robot Quick Operation Manual 3. After the IO During the module is restart of robot, the updated, click interface of the the "YES" teaching pendant is button to not operable. After restart the the controller is robot. fully started, the teaching pendant can operate normally. - Page 33 ER6-1400V1.01 Industrial Robot Quick Operation Manual 2. Remote IO First click the module password input box, configuration enter "1975", and then click the "enter" button. Set the number of configuration modules, and each set module needs to be configured. Select the module type, including input and output of digital and...
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Page 34: Io Free Configuration
ER6-1400V1.01 Industrial Robot Quick Operation Manual Address: address range is 300-500; different modules occupy different address length, and cannot be configured occupied address. Am600-0016XXX : 16 bit digital signal output, occupying 1 address Am600-0032XXX : 32-bit digital signal output, occupying 2-bit address Am600-0016END : 16 bit digital signal input, occupying 1 address Am600-0032END: 32-bit digital signal input, occupying 2-bit address Am600-4AD: analog signal input, occupying 4-digit address... - Page 35 ER6-1400V1.01 Industrial Robot Quick Operation Manual 2．Enter the IO Select "IO free free configuration configuration" function. interface. Click the "configuration" button to enter the configuration interface. 3．Enter the IO IO configuration free configuration information previously interface. configured can be viewed here...
- Page 36 ER6-1400V1.01 Industrial Robot Quick Operation Manual 4．IO Click the "Edit" configuration button to enable the edit function. In edit mode, the IO status cannot be refreshed. After editing, click the "save" button to save the IO configuration information. Click the "exit" button to return to the configuration main page.
- Page 37 ER6-1400V1.01 Industrial Robot Quick Operation Manual Load the setting program. The automatic signal names of program 1 to mode valid pulse Load program program 4 form the program signal with the number set as the name in sequence. The states of the signals from automatic program 4 to 1 form a four bit mode valid...
- Page 38 ER6-1400V1.01 Industrial Robot Quick Operation Manual input areas 1 to 4.When the robot low level /manual A2 occupation outside the shared area receives effective input the occupancy input signal, the A3 occupation robot immediately stops waiting input until the occupancy input signal A4 occupation disappears and the robot input...
- Page 39 ER6-1400V1.01 Industrial Robot Quick Operation Manual means the detection of low level and 1 means the detection of high level. 5. Filtering time: in order to eliminate the interference signal, set a small non negative time, in seconds. Output interface: 1.
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Page 40: Analog Io Configuration
ER6-1400V1.01 Industrial Robot Quick Operation Manual A4 occupied output Safe location high automatic/ / low level Safe location Four position status signals defined in safety monitoring function. When the robot reaches the position, it outputs Safe location the corresponding signal. Safe location 2. - Page 41 ER6-1400V1.01 Industrial Robot Quick Operation Manual 2. Enter the analog Select "analog IO configuration IO configuration" interface. function. Click the "analog IO" button to enter the configuration interface. 3. Enter the analog The previously IO configuration configured interface to information configure channel analog quantity can parameters.
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Page 42: Introduction Of External Emergency Stop
ER6-1400V1.01 Industrial Robot Quick Operation Manual 3.6 Introduction of external emergency stop The emergency stop button includes the emergency stop button of the teaching pendant, the emergency stop button of the control cabinet and the external emergency stop button. The function of the emergency stop button is to quickly cut off the output of the driver and make the robot stop immediately. -
Page 43: Emergency Stop Output Dry Contact
ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 3-4 wiring of external emergency stop 3.6.2 Emergency stop output dry contact When the robot's emergency stop is triggered, the external equipment needs to know whether the robot's emergency stop is triggered. In EC-M6 control cabinet, K3 and K4 are emergency stop output relays, and the normally open contacts of K3 and K4 are connected to terminal 3 / 4 / 5 / 6 of X11 terminal block (K3-5 / K3-9 is a pair of normally open contacts, K4-5 / K4-9 is a pair of normally open contacts). -
Page 44: Chapter 4 Quick Operation
With the teaching pendant, the operator can control all the functions of the robot. For example, manual control of robot motion, programming control of robot motion, setting IO interactive signal and so Figure 4-1 EFORT teaching pendant Table 4-1 basic parameters of teaching pendant... -
Page 45: Function Area And Interface
ER6-1400V1.01 Industrial Robot Quick Operation Manual 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 ℃ 4.1.2 Function area and interface Figure 4-2 teaching pendant Table 4-2 functions of each part of the teaching pendant Serial... - Page 46 ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 4-3 right side button Table 4-3 right side buttons Serial Name Serial Name number number Tricolor lamp Axis 4 motion- start Axis 5 motion+ pause Axis 5 motion- Axis 1 motion+ Axis 6 motion+ Axis 1 motion- Axis 6 motion- Axis 2 motion-...
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Page 47: How To Hold The Teaching Pendant
ER6-1400V1.01 Industrial Robot Quick Operation Manual Table 4-4 bottom keys Serial Name Serial Name number number Multifunction key F1, Coordinate system Call out / hide current alarm switching content Multifunction key F2, Back to home Double click on the screenshot Multi function key F3, Program operation mode Speed-... -
Page 48: Power On And Start
ER6-1400V1.01 Industrial Robot Quick Operation Manual 4.2 Power on and start After mastering the key function of 4.1 teaching pendant, press the power switch in the lower left corner of the control cabinet (OFF → ON), Start the system (as shown in the figure below). If everything is normal, you can see that the system automatically enters the login interface from the teaching pendant, and the user can operate the robot according to different permissions. -
Page 49: Joint Coordinate System - Jogging Operation
ER6-1400V1.01 Industrial Robot Quick Operation Manual Figure 4-7 axis position display interface Click the button on the panel of the teaching pendant (as shown in the figure below) to switch the coordinate system type. The order of switching is joint coordinate system-> robot coordinate systemt->Tool coordinate system ->... -
Page 50: Shut Down And Power Off
ER6-1400V1.01 Industrial Robot Quick Operation Manual at the bottom of the teaching pendant panel until the status is displayed in the status bar of the teaching pendant。 Press and hold the hand pressing switch (left in the figure below) and click the corresponding "-" and "+"... -
Page 51: Chapter 5 Common Faults And Investigation Methods During Installation
ER6-1400V1.01 Industrial Robot Quick Operation Manual Chapter 5 Common faults and investigation methods during installation 1、Electrical software, etc Fault Investigation methods Remark description Check 1: whether the input power supply is normal; Check 2: whether the sequence of control cabinet power aerial plug-in wiring is correct;... - Page 52 ER6-1400V1.01 Industrial Robot Quick Operation Manual cannot be manual pressure switch of the teaching pendant operates mode (Auto), it is servo correctly, and whether the controller normally receives the necessary to press enabled "Enable" signal; servo confirmation Check 3: whether the servo confirmation button (servo) of button of control control cabinet works normally in manual high speed (T2) and cabinet first.
- Page 53 ER6-1400V1.01 Industrial Robot Quick Operation Manual 2、 Mechanical body Fault possible causes measures Fault classification, (1) Check and trim the flatness of the (1) The flatness of the base base and mounting base to make the and the mounting base is not tolerance meet installation...
- Page 54 ER6-1400V1.01 Industrial Robot Quick Operation Manual overload operation, and change the (2) Long term lubricating oil regularly according to overload the maintenance requirements of this operation; manual. absence maintenance state, long-term operation. (1) Resonance occurs when robot robot and peripheral (1) Try to adjust the distance between vibrates under...
- Page 55 ER6-1400V1.01 Industrial Robot Quick Operation Manual ensure the normal operation of the Abnormal external control cabinet. voltage or electromagnetic environment interferes with the normal operation of the control cabinet, resulting in robot shaking. The long-time operation of Check whether screw the robot and the possible connections following...
- Page 56 ER6-1400V1.01 Industrial Robot Quick Operation Manual conditions: increases, resulting overheating. Parameter mismatch; Improper program instruction; load exceeds allowable value. (1) Check the status of the robot joint corresponding to the heating motor, including external interference, and (1) The abnormal joints of the damage of internal parts.
- Page 57 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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