EFORT ER3-600 Quick Operation Manual
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EFORT ER3-600 Quick Operation Manual

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ER3-600 Quick Operation Manual
for Industrial Robot (EC2-S Electric Cabinet)
EFORT Intelligent Equipment Co., Ltd.
Service Line（Tel）：+86-400-0528877

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Summary of Contents for EFORT ER3-600

  • Page 1 ER3-600 Quick Operation Manual for Industrial Robot (EC2-S Electric Cabinet) EFORT Intelligent Equipment Co., Ltd. Service Line（Tel）：+86-400-0528877...
  • Page 3 The statement and instruction manual is the latest version for ER3-600 series. More updates can be found at www.efort.com.cn. This manual only serves as the operation guide for ER3-600 industrial robots.

  • Page 5: Table Of Contents

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Contents Chapter One Safety....................... 1 1.1 Safety Instructions......................1 1.2 Safety Regulations......................1 Chapter Two Handling and Installing the Robot............4 2.1 General Introduction......................4 2.2 Basic Description......................4 2.2.1 Unpacking......................4 2.2.2 Preparatory Work before Installation..............
  • Page 6 EFORT Intelligent Equipment Co., Ltd. 3.1 Robot Power Supply......................20 3.2 Robot Power Cable, Signal Cable and Ground Wire............21 3.3 Definition of Controller Local IO................... 21 3.4 IO Module Expansion..................... 24 3.4.1 Local IO Module Expansion................24 3.4.2 Remote IO Module Expansion................25 3.5 IO Configuration......................

  • Page 7: Chapter One Safety

    An operator must read the following information carefully and pay special attention to the safety measures described. An EFORT industrial robot user should promise to abide by its national or regional safety laws and regulations and to make sure that the necessary safety protection equipment is reasonably designed and correctly installed.
  • Page 8 EFORT Intelligent Equipment Co., Ltd. 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 9 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Warning 1. The release of the gravity braking system might lead to falling. 2. Danger might occur when a repairer performs a regular maintenance for the safety protection equipment. Therefore, caution and preventative measures are advised.

  • Page 10: Chapter Two Handling And Installing The Robot

    This chapter explains how to handle and install the ER3-600 industrial robot (EC2-S electric cabinet) in a workplace. It is strongly recommended that users should read the Safety Manual of EFORT Industrial Robots carefully and refer to the first chapter of this manual for the detailed descriptions on safety issues before installation.

  • Page 11: Preparatory Work Before Installation

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Quality inspection report Manufacturer standard sheet Warrant Manufacturer standard copy Robot accessories Accessory box Packed in the accessory Robot main power cables Industry standard 1 glass fuse of 6.3 A type; 2 glass fuses of 10A type;...

  • Page 12: Starting The Robot In A Low Temperature

    EFORT Intelligent Equipment Co., Ltd. 2.2.5 Starting the Robot in a Low Temperature This section explains how to start the robot in low temperature. An operator needs to adjust the heating rate based on the environment temperature and the running programs. The following table describes the mapping relations between the working cycles and the speed ratio.

  • Page 13: Robot Performance Parameters

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 2.2.6 Robot Performance Parameters The following table describes the performance parameters for the robot. Table 2-2 Robot Performance Parameters Robot Performance Parameters Model ER3-600 Motion Type Joint Control Axes 6 Axis Axis J1 400°/s...

  • Page 14: Robot Motion Type

    Environment 80%RH，Dewing Free（40℃） Humidity 2.2.7 Robot Motion Type Fig. 2-1 Motion Space of ER3-600 Robot Note: Fig. 2-1 shows the theoretical maximum motion space of ER10-1600 robot which might be affected by the way the robot is installed. 2.2.8 Control Cabinet Position...
  • Page 15 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Wind direction Air outlet Air inlet Horizontal Installation...
  • Page 16 Please refer to Mechanical Operation and Maintenance Manual for ER3-600 Industrial Robot and System Operation Manual for EFORT Industrial Robots for more details.

  • Page 17: Handling The Robot

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 2.3 Handling the Robot 2.3.1 Precautions Please read the following precautions carefully before handling the robot. The handling must be performed by a professional with lifting and forklifting work qualifications. Unprofessional performance might lead to flipping or falling Caution accidents.

  • Page 18: Handling The Control Cabinet

    EFORT Intelligent Equipment Co., Ltd. Fig. 2-3 Lifting Sketch Map Corresponding Fixtures must be used in handling the robot. Ensure that no pressure is put on the robot arm or electric motor if neither lifting nor forklifting is applied. Attention Remove the fixtures and rubber protection after installation.

  • Page 19: Installing The Robot

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Fig. 2-4 Handling the Control Cabinet 2.4 Installing the Robot 1. Set up a safety fence to prevent from accidents leading to physical injury or property damage. The robot should be placed in a position from which the end tool or the sharp end...

  • Page 20: Installation Procedures

    Ensure that the ground flatness rate is within 0.2 mm. Fig. 2-5 illustrates the size of base interface. Fig. 2-5 Size of Base Interface of ER3-600 Robot 2.4.3 Ground Mounting Fix the base on the floor with four M10 type socket cap screws whose length is 1.5-2 times of the nominal diameter.

  • Page 21: Supporter Installation

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Robot base M20 type of chemical bolts Concrete floor Fig.2-6 Robot Installation Demonstration Increase the size, number and buried depth of chemical bolts for greater stability and reliability. Caution Increase the concrete strength to ensure it is greater than that required by the chemical bolts.

  • Page 22: Installation Environment

    EFORT Intelligent Equipment Co., Ltd. Anti-fall safety device Recommended screw type: M10*40 Fig. 2-7 Suspended Installation 2.4.6 Installation Environment The robot should be transported, stored and operated in a suitable environment and its performance should meet the general requirements. Table 2-4 Robot Environment Requirement Description...

  • Page 23: Integrated Connection Interface

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 2.4.7 Integrated Connection Interface The following table shows the size of integrated connection interfaces. Interface Type Illustration Remarks End flange Interface Fig. 2-8 End effector connection interface dimension Air line and IO signal cable Fig.
  • Page 24 EFORT Intelligent Equipment Co., Ltd. 2、Other Auxiliary Connection Interfaces Air outlet 1: 12 core IO signal cable Connected by a M5 type of thread Air outlet 1: Connected by a M5 type of thread Inner air line Air inlet 1: connected by a 1/4 pipe thread Air inlet 2: connected by a 1/4 pipe thread Fig.
  • Page 25 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Fig. 2-10 Signal Cable Interface Definition Forearm end Wire ID IO function plug EC2A DI168 EC2A DI169 EC2A DI170 EC2A DI171 EC2A DI172 EC2A DI173 EC2A DO174 EC2A DO175 24VP...

  • Page 26: Chapter Three Electrical Connection

    EFORT Intelligent Equipment Co., Ltd. Chapter Three Electrical Connection The connection cables between the control cabinet and the robot body include power cables, signal cables and the ground wire. Fix the control cabinet and the robot body before connecting the cables to the interfaces placed at the left side of the control cabinet and the back part of the robot base.

  • Page 27: Robot Power Cable, Signal Cable And Ground Wire

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 3.2 Robot Power Cable, Signal Cable and Ground Wire A standard delivery should include the robot power cable, signal cable and ground wire cables and the connection between the robot body and the control cabinet can be completed upon request.
  • Page 28 All the output ports are defined and occupied by the system except for those labeled by “user-defined”. Users can expand the local or remote IO ports when in need by consulting the EFORT service team. Table 3-2 Input Ports Description...
  • Page 29 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) DI20 user-defined DI21 user-defined DI22 user-defined DI23 user-defined DI24 user-defined DI25 user-defined DI26 user-defined DI27 user-defined DI28 user-defined DI29 user-defined DI30 user-defined DI31 user-defined All the input ports are defined and occupied by the system except for those labeled by “user-defined”.

  • Page 30: Io Module Expansion

    EFORT Intelligent Equipment Co., Ltd. 3.4 IO Module Expansion 3.4.1 Local IO Module Expansion This section explains how to expand the local IO modules of the controller. There are 4 expandable 16DI/ 16DO type of modules in local IO of which both the input DC voltage and output voltage is 24 V and the output current is 500 mA.

  • Page 31: Remote Io Module Expansion

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 2. Connect the bus coupler bus basic module. Mount combination on the DIN trail. Mount controller on the bus coupler and mount module on the bus basic module. 3.4.2 Remote IO Module Expansion The remote IO module expansion complies with the EtherCAT bus communication protocols.

  • Page 32: Io Configuration

    EFORT Intelligent Equipment Co., Ltd. 3.5 IO Configuration This section explains the procedures for IO updates, IO free configuration, remote IO module and analog IO configuration. 3.5.1 IO Module Update Table 3-6 IO Module Update Procedures Procedures Demonstration Remarks 1. The teach 988 Bad RHW.CFG...

  • Page 33: Remote Io Configuration

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 3. Click on The teach pendent cannot Yes to be used before the confirm the controller is fully rebooted. update and restart the controller. 3.5.2 Remote IO Configuration Table 3-7 Remote IO Configuration Procedures...

  • Page 34: Function Io Configuration

    EFORT Intelligent Equipment Co., Ltd. The channel types as demonstrated need to be further defined if the selected module type is AM600-4AD or AM600-4DA. Click to save the configuration to file. Instructions for Remote IO Configuration : Module Number: Each module within the set number needs to be configured otherwise the configuration information cannot be successfully saved to file.
  • Page 35 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 1. Enter IO Click on “IO Setting” on setting. the teach pendant. 2.Select Click on “Configure” to “Function IO enter the setting page. Configuratio n” as shown in demo. 3．Enter the...
  • Page 36 EFORT Intelligent Equipment Co., Ltd. 5. Configure Click on Edit to enable the the common edition. The IO status functions. cannot be refreshed while IO is being edited. Click to save the configuration to file. Click on Exit to return to the setting page.
  • Page 37 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Effective in Auto Run from the present line Pulse mode Effective in Auto Stop Stop the current program Pulse mode Effective in Clear the present alarm Alarm reset Pulse Manual/ Auto...
  • Page 38 EFORT Intelligent Equipment Co., Ltd. equivalent to pressing the servo on button manually. Safety Monitor Signal Operation Description Remarks Type Mode Effective in Area monitor High and Area monitor enabling switch Manual/ Auto enabling low level mode A1 monitor enabling...
  • Page 39 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) movement for robot specifying the negative low level Manual mode additional axes movement of a single additional axis. For example, the 1 additional axis executes a negative movement if that signal is sent to the robot.
  • Page 40 EFORT Intelligent Equipment Co., Ltd. Work piece on Detect if there is a work piece High and Effective in Auto pallet 3 detected on the designated pallet. low level mode A new work Detect the signal of robot High and...
  • Page 41 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 2. IO module address: The actual IO port number of the signal needs to be configured. If it is not configured, it will display - 1. The IO occupied by the system cannot be re configured. The remote module address value follows the local actual maximum address value.
  • Page 42 EFORT Intelligent Equipment Co., Ltd. Safety position 1 Safety Detect the output signals defined in Effective position 2 safety monitoring. Send the output high and Manual Safety signal to the robot once it enters the low level Auto mode position 3 defined position.

  • Page 43: Analog Io Configuration

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Advanced Palletizing Operation Description Remarks Signal Type Mode Effective in Signal indicating that stack high and low Stack 1/2/3/4 is Manual and 1/2/3/4 is full. level full Auto mode Effective in...
  • Page 44 EFORT Intelligent Equipment Co., Ltd. 2.Select Select Analog “Analog IO configuration click Configurati ConFig.. on”. A window message pops up stating that there is no IO module if the analog IO configuration hardware does not exit. Otherwise, users enter configuration page which...

  • Page 45: Introduction To Emergency Stop

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 3.6 Introduction to Emergency Stop Emergency stop switches are installed on the teach pendant, the control cabinet or a user-designated place. The function of an E-stop switch is to terminate the robot operation immediately by cutting off the driver output.

  • Page 46: Emergency Stop

    EFORT Intelligent Equipment Co., Ltd. 3.6.1 Emergency Stop Pull out the short-circuit strip from the terminal block and connect the emergency stop switch into the series circuit as shown in Fig. 3-2. The recommended wire cross-section should be larger than 0.5 mm².

  • Page 47: Chapter Four Quick Start

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Chapter Four Quick Start 4.1 Teach Pendant 4.1.1 About the teach pendant The teach pendant is an interactive equipment between the operator and the robot. An operator can complete all the designed functions of a robot through the teach pendant, such as manual jogging, programed jogging and IO configuration etc.

  • Page 48: Function Keys And Interfaces

    EFORT Intelligent Equipment Co., Ltd. 4.1.2 Function Keys and Interfaces Fig. 4-2 Teach Pendant Table 4-2 Teach Pendant Function Description Item Remarks Membrane panel 3 EFFORT LOGO 2、3 LCD Display Used for interactive operations Membrane panel 2 Equipped with 10 keys...
  • Page 49 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Fig. 4-3 Right Side Keys Table 4-3 Right Side Keys Description Item Item Three-colored LED J4 Movement - Start J5 Movement + Pause J5 Movement - J1 Movement + J6 Movement +...

  • Page 50: How To Hold A Teach Pendant

    EFORT Intelligent Equipment Co., Ltd. Table 4-4 Bottom Keys Description Item Item F1:Multifunctional Key Coordinate System Switch Check the alarm message F2:Multifunctional Key HOME Screenshot by a double click F3:Multifunctional Key Program mode（Continuous, Step IN or Speed- Step Over） F4 :Multifunctional key...

  • Page 51: Power On

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) 4.2 Power On Turn the power switch clockwise to start the robot system. Users can operate the robot with the authorized user type from the logging page. Please check and handle the alarm messages according the Alarm Instruction Manual.

  • Page 52: Start Jogging

    EFORT Intelligent Equipment Co., Ltd. An operator should stand in the area beyond the robot’s maximum movement reach.  An operator should monitor the robot from the front to ensure there is a safety exit in case of  emergency.

  • Page 53: Joint Coordinate System-Jogging

    Fig. 4-9. Fig. 4-9 The Enabling Key and the Right Side Function Keys Please refer to ER Series Robot Operation Manual for detailed programing instructions of ER3-600 industrial robot.
  • Page 54 EFORT Intelligent Equipment Co., Ltd. Fig. 4-10 Main Power Switch...

  • Page 55: Chapter Five Common Faults And Recommended Solutions

    Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Chapter Five Common Faults and Recommended Solutions Fault description Verification procedures Remarks 1. Check if the power supply is working or not. 2. Check if the power circular connector is correctly wired.
  • Page 56 EFORT Intelligent Equipment Co., Ltd. 1. Check if there are alarm messages on the teach pendant. Handle the alarms according to the The robot cannot instructions. be booted. 2. Please contact the service professionals if the fault still exists. strongly recommended that 1.
  • Page 57 Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet) Service hotline: +86-400-0528877 The rated power, specifications and external dimensions of this product are subject to change without prior notice. The technical data and illustrations are for reference only, and we reserve the right to change them.

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