EFORT ER20-1700 Operation And Maintenance Manual
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EFORT ER20-1700 Operation And Maintenance Manual

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ER20-1700 Mechanical Operation and
Maintenance Manual for Industrial Robot
EFORT Intelligent Equipment Co., Ltd
Service Hotline（Tel）：+86-400-0528877

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Summary of Contents for EFORT ER20-1700

  • Page 1 ER20-1700 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT Intelligent Equipment Co., Ltd Service Hotline（Tel）：+86-400-0528877...
  • Page 3 Not following the instructions and warnings of the manual may cause injury to you and EFORT robots, as well as loss of surrounding properties. This statement and manual are the latest version until this batch of products leave the factory.

  • Page 4: Table Of Contents

    EFORT INTELLIGENT EQUIPMENT CO., LTD Contents CHAPTER ONE SAFETY................... 1 1.1 Instructions for Safe Operation................1 1.1.1 Safety Precautions during Adjustment, Operation, Maintenance, and Other Work..........................1 1.1.2 Safety Countermeasures for Robot Safety............3 1.2 Instructions of Labels on Robot Body..............6 1.3 Transfer and Sale of Robot..................
  • Page 5 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot CHAPTER THREE TRANSPORTATION AND INSTALLATION......17 3.1 Robot Transportation.................... 17 3.1.1 Transportation Precautions ................17 3.1.2 Assisted Tooling.................... 17 3.1.3 Transporting Methods..................18 3.2 Robot Transportation.................... 20 3.2.1 Set Up Safety Fence..................20 3.2.2 Robot Installation Methods................
  • Page 6 EFORT INTELLIGENT EQUIPMENT CO., LTD 4.3.3 Procedures for Lubricant Change in J1~J4 Axis Reducer and Wrist Parts... 31 4.3.4 Release Residue Pressure in Cavity.............. 33 4.4 Timing Belt Maintenance..................33 4.4.1 Timing Belt Tension..................34 4.4.2 Replacement of Timing Belt................35 4.5 Robot Maintenance and Operation Area...............35 4.6 Zero Position Calibration..................36...

  • Page 7: Chapter One Safety

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Chapter One Safety 1.1 Instructions for Safe Operation Before performing installation, operation, repair and maintenance, and overhaul, please be sure to read this manual and other attached documents thoroughly to use this product correctly. Please fully understand the equipment and safety information, and all precautions before using this product.

  • Page 8: Work

    EFORT Intelligent Equipment Co., Ltd The robot is equipped with self-diagnostic and other abnormality detection function, so it can stop safely in case of abnormality. However, accidents may still occur sometimes. Reasons, such as ignorance of safety operation procedures, no awareness of robot’s sudden Common accidents are listed below: 1、Automatic operation is being performed without confirming whether anyone is...

  • Page 9: Safety Countermeasures For Robot Safety

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Robot in operation should be stopped by emergency stop button at any time. In order to comply with these principles, it is necessary to fully understand the following precautions and follow them.
  • Page 10 EFORT Intelligent Equipment Co., Ltd Protective structure against faults should be used to. Even if the power or compressed air supply of the end effector is cut off, accidents, such as installed objects being released or thrown, will not occur. The corners or protruding parts should be treated to prevent damage to humans or objects.
  • Page 11 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Industrial Robot Control by Means of Gestures (Sample) 1. Connect: Connect to power. 2. No, disconnect: Raise right hand and wave vigorously. 3. Confirm whether it is OK: Raise right hand up high forward.

  • Page 12: Instructions Of Labels On Robot Body

    EFORT Intelligent Equipment Co., Ltd Save completed programs to prevent accidental editing. Confirm the program number and procedure number in teaching before operation. Editing programs and procedures incorrectly could cause accidents. When it is not necessary to make robot’s movement and operate it, please cut off the power before proceeding.
  • Page 13 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot It is generally pasted on the motor and the panel of Be cautious The risk of electric shock the circular connector base of electric exists at the electrical to remind the user be shock connection parts.

  • Page 14: Transfer And Sale Of Robot

    EFORT Intelligent Equipment Co., Ltd 1.3 Transfer and Sale of Robot If the ownership of the robot is transferred or sold to a new user, attached documents, including mechanical operation manual, electrical maintenance manual, and programming manual, must be transferred.

  • Page 15: Chapter Two Basic Instructions

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Chapter Two Basic Instructions 2.1 Composition of Robot An industrial robot is composed of the following parts, as shown in figure 2-1：  body  control cabinet  teach pendant  cables (for power supply, etc) Fig.

  • Page 16: Nameplate On Robot Body

    EFORT Intelligent Equipment Co., Ltd Table 2-1 List of Parts and Accessories Item Model Number Unit Remarks Body ER20-1700 control cabinet EC-M6 teach pendant + cable 11500010563 control cabinet-power standard length 8m，offer custom 10900021800 cable cable 12m、16、20m control cabinet standard length 8m，offer custom...

  • Page 17: Body Parts And Direction Director Of Each Axis

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot 2.4 Body parts and Direction Director of Each Axis The mechanical body mainly includes base, rotating part, upper part, forearm, wrist. The joints are driven by the servo motor, each of which cooperate to achieve position and posture adjustment of the robot end in space.

  • Page 18: Limit Range And Zero Position Of Each Axis

    EFORT Intelligent Equipment Co., Ltd 2.5 Limit Range and Zero Position of Each Axis Each axis of the body sets a zero position and limit range. When the system is in normal operation, each axis is controlled to move within the limit range. To further ensure safety, some axes are equipped with mechanical end stops (as shown at 2-4) to prevent malfunction of the control device and operation beyond motion range.

  • Page 19: Robot Performance Parameters

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot 2.6 Robot Performance Parameters Table 2-2 Performance Parameters Model ER20-1700 Movement Type multi joint Control axis six axes 170°/s Axis J1 Axis J2 150°/s Axis J3 146°/s Maximum speed Axis J4 360°/s...
  • Page 20 EFORT Intelligent Equipment Co., Ltd Fig.2-5 Robot Work Space Note: The work space shown in the figure is the theoretically maximum work range, which may be affected by the type of installation in real operation. Therefore, please take the impact of...

  • Page 21: Maximum Wrist Payload

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot 2.7 Maximum Wrist Payload The installation payload at the front of the wrist is affected by the maximum carrying weight of the wrist, the Maximum payload torque value, and the maximum moment of inertia. The maximum payload torque changes depending on the actual moment of inertia.

  • Page 22: Allowable Payload Curve Diagram

    EFORT Intelligent Equipment Co., Ltd 2.7.4 Allowable Payload Curve Diagram Fig. 2-7 Wrist Axis Torque Curve...

  • Page 23: Chapter Three Transportation And Installation

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Chapter Three Transportation and Installation 3.1 Robot Transportation 3.1.1 Transportation Precautions See below for transportation precautions. Please fully understand the following content before safe operation. Transporting robot and control devices must be performed by qualified personnel for hooking, lifting and forklift, etc.

  • Page 24: Transporting Methods

    Attention should be paid to observing whether space for fork feet is reserved near the base of the robot if a forklift is chosen for transporting. Because ER20-1700 does not reserve space for fork feet, external fork feet should be installed to assist the forklift for transporting. The fork feet should be removed in time to avoid interference with robot movement.
  • Page 25 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot （1） Users should prepare eyebolts and steel ropes for the lifting and transportation. Eyebolts should meet the requirements of GB/T 825-1988, and steel ropes should bear the weight of the robot. It is suggested a single steel rope should bear more than 500kg.

  • Page 26: Robot Transportation

    EFORT Intelligent Equipment Co., Ltd Fig. 3-4 Forklift ER20-1700 3.2 Robot Transportation 1、Set up safety fence. Otherwise, injuries or equipment damage may occur. The robot should be placed to a position where the tooling of arms and any tip of the workpiece cannot touch the safety fence even if the arms extend to their limits.

  • Page 27: Robot Installation Methods

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot 3.2.2 Robot Installation Methods The installation of the robot, especially fixing the base and the foundation, can withstand the dynamic load of the robot during acceleration and deceleration and the static weight of the fixtures.
  • Page 28 EFORT Intelligent Equipment Co., Ltd socket screws of strength grade 12.9 through the four mounting holes (the length of the screw must ensure that the screw thread length reaches 1.5 times the nominal diameter of the thread). If there is no loosening during operation, please fully fix and prevent loosening as shown in Figure 3-6 "Robot Installation...

  • Page 29: Support Installation

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Fig. 3-6 Robot Installation Too long or too short screws to fix the base of the robot will cause frequent accidents! The connection strength of the chemical bolts depends on the strength of the concrete.

  • Page 30: Upside Down Mounting

    EFORT Intelligent Equipment Co., Ltd 3.2.5 Upside Down Mounting To ensure safety, the following preventive measures should be taken in upside down mounting and wall mounting 1. Install anti-fall safety device, as shown in figure 3-7; 2. Use 12.9-strength screws for connection. The tightening torque of the screw must meet the pre-tightening force requirement of the screw.

  • Page 31: Integrated Application Installation Interface

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Environmental Work Conditions Storing and Transporting Conditions Conditions ambient temperature 0-45℃ -40~55 ℃ relative humidity 40%~90%（40℃） atmospheric pressure 86~106 kPa vibration less than 0.5G，4.9m/s others no corrosive gas Note： If strong vibration, dust, cutting oil splashing, or other objects exist in the robot’s working environment, please contact our service staff and use a cover or equivalents to protect the robot parts.
  • Page 32 EFORT Intelligent Equipment Co., Ltd Fig. 3-8 Size of End Load Installation and Flange Fig. 3-9 Size of External Components Installed on Upper Arm...
  • Page 33 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Fig. 3-10 Size of External Components Installed on Motor Base...
  • Page 34 EFORT Intelligent Equipment Co., Ltd Fig. 3.11 External Air Pipe and Signal Line...

  • Page 35: Chapter Four Repair And Maintenance

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Chapter Four Repair and Maintenance Repair includes routine and scheduled repair. Technicians must make repair plans and perform them accordingly. Please refer to the following table for the items and intervals of repair and maintenance.

  • Page 36: Annual Check

    EFORT Intelligent Equipment Co., Ltd tightening of external Tighten the screws of the end executor and external main main screws screws. 4.1.3 Annual Check Table 4-3 Annual Check Number Item Descriptions cleaning, repair, and maintenance Check whether problems exist in components of each component and handle them.

  • Page 37: Change Lubricant

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot For screws tightening and replacement, a torque wrench must be used to properly tighten and paint them. Besides, unloosened bolts cannot be tightened with a torque higher than required. 4.3 Change Lubricant 4.3.1 Lubricant Supply Quantity...
  • Page 38 EFORT Intelligent Equipment Co., Ltd 1） Open the outlet and remove the plug or screw before lubrication. 2） Use an injector which can specify the amount of lubricant to slowly and gently inject lubricant under the speed of 40cc/10 seconds. Otherwise, measure the weight of lubricant before and after the injection to confirm the injected amount.

  • Page 39: Release Residue Pressure In Cavity

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot J5 inlet port J5 outlet port J5 注油口 Fig. 4-1 Inlet Port and Outlet Port Distribution Table 4-3 Tools Required for Changing Lubricant Number 格 Specification Remarks lubricant injector with the function of measuring the...

  • Page 40: Timing Belt Tension

    Customers can use a tensioner to adjust the timing belt or contact our service staff. The standard range of J5/J6 axis timing belt tension frequency for ER20-1700 is 88±5HZ/110±5HZ. Refer to standard specifications for check and adjustment. See the operation steps as follows: （1）Remove the cover plate of the wrist parts.

  • Page 41: Replacement Of Timing Belt

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot 4.4.2 Replacement of Timing Belt Timing belts need to be replaced every three years or every 11520 operation hours. During timing belt maintenance, the outside conditions of needs to be checked. If damage occurs, replace it in time.

  • Page 42: Zero Position Calibration

    EFORT Intelligent Equipment Co., Ltd Fi.4-4 Maintenance and Operation Area 4.6 Zero Position Calibration Zero position calibration is executed to relate the angel of each robot’s angel to the values of encoder. The purpose if to acquire the values of encoder corresponding to the zero position.

  • Page 43: Mechanical Zero Position Calibration Of Each Axis

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot 4.6.2 Mechanical Zero Position Calibration of Each Axis When re-calibrating the mechanical zero position for each axis of the robot, operate the robot in jog mode to enable each axis run to the zero position mark, and then enter the zero position information interface of the teach box to record the coordinates of each axis.
  • Page 44 EFORT Intelligent Equipment Co., Ltd Adjust the robot to calibration state (each axis in zero position). To prevent dangers, cut off the power supply, hydraulic pressure source and air pressure source connected to the robot. Remove the side cover plate of the base and remove the battery pack, as show in figure 4-6.

  • Page 45: Chapter Five Common Faults And Troubleshooting

    Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot Chapter Five Common Faults and Troubleshooting When robot body malfunctions, read this chapter to diagnose initial faults. The table below covers common faults that may happen to robot body, possible reason analysis, and corresponding troubleshooting techniques, which can help users to troubleshoot them.
  • Page 46 EFORT Intelligent Equipment Co., Ltd operation without manual. maintenance （1）Resonance occurs when the robot and peripheral The robot vibrates devices operate （1）Adjust the distance between the because of other simultaneously; robot and peripheral devices; surrounding （2）The operation of （2）Check the connection of the...
  • Page 47 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot backlash. The motor is overheated because （1）Decrease the ambient of the environment: temperature. If the operation High ambient temperature （1） The environment has heat source, and covering the motor will temperature of the...
  • Page 48 EFORT Intelligent Equipment Co., Ltd abnormality of the joint in time. components, such as casting （2）Ensure the O-ring is properly damage, worn O-ring, oil assembled; seal damage, etc; （3）In case of harsh working （2）If the robot has been environment, take necessary...
  • Page 49 Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot When some parts of the body are removed, other parts may lose support, which generate unpredictable movements causing damage to personnel and equipment. Therefore, the replacement and maintenance of components and parts should be performed by qualified personnel with professional tools.

  • Page 50: Appendices

    Appendices A Screw Tightening Torque Table Tightening torque Tightening torque（cast Screw12.9grade （cast iron） aluminum） 2±0.18 2±0.18 4.5±0.33 4±0.33 9.01±0.49 7.35±0.49 15.6±0.78 12.4±0.78 37.2±1.86 30.4±1.86 73.5±3.43 59.8±3.43 128.4±6.37 104±6.37 204.8±10.2 180±10.2 318.5±15.9 259±15.9 Note：Because the motor flange has special properties, the tightening torque cannot be too high.
  • Page 51 EFORT INTELLIGENT EQUIPMENT CO., LTD thread locker THREEBOND 1374 detergent THREEBOND 6602T thread sealant LOCTITE577...
  • Page 52 The technical data and illustrations are for reference only, and we reserve the right to change them. 埃夫特智能装备股份有限公司 EFORT INTELLIGENT EQUIPMENT CO.,LTD 中国安徽省芜湖市鸠江经济开发区万春东路 96 号 No 96,Wanchun Road,Jiujiang Economic Development Zone, Wuhu, Anhui,China http://www.efort.com.cn 网址:...

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