EFORT ER6-2000 Operation And Maintenance Manual
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EFORT ER6-2000 Operation And Maintenance Manual

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ER6-2000 Electrical Operation and
Maintenance Manual for Industrial Robot
EFORT INTELLIGENT EQUIPMENT CO., LTD
HOT LINE（Tel）：+86-400-0528877

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Summary of Contents for EFORT ER6-2000

  • Page 1 ER6-2000 Electrical Operation and Maintenance Manual for Industrial Robot EFORT INTELLIGENT EQUIPMENT CO., LTD HOT LINE（Tel）：+86-400-0528877...
  • Page 3 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 4: Table Of Contents

    EFORT INTELLIGENT EQUIPMENT CO., LTD 目 录 CHAPTER 1 SAFETY PRECAUTIONS ..............1 1.1 S .................... 1 AFETY INSTRUCTIONS 1.2 G ................1 ENERAL SAFETY GUIDELINES 1.3 S ............. 4 AFETY PRECAUTIONS IN EACH WORK PROCESS 1.3.1 Safety of robot installation and connection............. 4 1.3.2 Safety before starting the robot...............
  • Page 5 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 2.3 O ..................19 SITE INSTALLATION 2.3.1 Robot transport considerations..............19 2.3.2 Control cabinet Transport................19 2.4 E ................... 20 LECTRICAL CONNECTIONS 2.4.1 Robot power....................21 2.4.2 Robot power, signal, ground cable..............22 2.4.3 Emergency stop.....................
  • Page 6 EFORT INTELLIGENT EQUIPMENT CO., LTD 3.6.2 Switching power supply................52 3.7 B ....................52 RAKE RELEASE UNIT 3.7.1 Overview....................... 52 3.7.2 Brake release unit position................52 3.7.3 Release the brake manually................53 3.8 T ................ 55 EACH ENDANT 3.8.1 Teach pendant hot unplug................55 3.8.2 Teach Pendant Hot Plug.................55...
  • Page 7 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 4.4.5 Replace fuses....................63 4.4.6 Replace the fan....................64 ........................65 CLEAN 4.5.1 Overview....................... 65 4.5.2 Precautions.....................65 CHAPTER 5 TROUBLESHOOTING ..............66 5.1 O ......................66 VERVIEW 5.2 C ................66 OMMON HARDWARE FAILURE 5.3 C...
  • Page 8 EFORT INTELLIGENT EQUIPMENT CO., LTD 1.2 U ................97 SER ALARMS AND WARNINGS 1.2.1 MajorAlarms (1800-1999)................97 1.2.2 MinorAlarms (3900-3999)................99 1.2.3 Warnings（4900-4999）................101 APPENDIX 3 DRIVE ALARM AND WARNING ..........105 1.3 T :1000-1199，W :4050-4099)....... 105 SINO RIVE LARM ARNING 1.3.1 Alarm information..................105...

  • Page 9: Chapter 1 Safety Precautions

    The operator must read the following information carefully, paying special attention to the safety measures listed in this chapter. Users of EFORT industrial robots are responsible for ensuring compliance with the applicable safety laws and regulations in the country where they are located, and that the necessary safety equipment used to protect the robot system operator is reasonably designed and installed correctly.
  • Page 10 EFORT INTELLIGENT EQUIPMENT CO., LTD 3. The operation of industrial robots can only be carried out by professionals who have received sufficient training and guidance (including those who have read this manual). 4. Make sure that the emergency stop equipment is unobstructed, and no debris can be piled up in front of the emergency stop equipment.
  • Page 11 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 3. The person in charge shall continuously monitor and ensure that all programs are running normally, and ensure that the application of safety protection programs is properly in place. 4. Perform maintenance according to the requirements in Chapter 7 Maintenance in this manual to keep the industrial robot clean and tidy.

  • Page 12: Safety Precautions In Each Work Process

    EFORT INTELLIGENT EQUIPMENT CO., LTD 1.3 Safety precautions in each work process 1.3.1 Safety of robot installation and connection Danger For all operations of installation and connection, please strictly observe the following matters, and refer to the following national/international standards.

  • Page 13: Safety Before Starting The Robot

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual progress, and lock the main power supply with a lock or place a chuck switch. 9. When the wiring work is completed, be sure to cover the cover plate of the input power connection end. Otherwise, it will be extremely dangerous. If you touch the terminal by mistake, it may cause electric shock.

  • Page 14: Robot Startup Safety

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

  • Page 15: Trial Run Safety

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual the motor power. 7. Before activating the robot, please confirm that the following conditions have been met. Confirm that the installation state of the robot is correct and stable.  Make sure that the various connections of the robot control cabinet ...

  • Page 16: Safety During Teaching

    1.3.5 Safety during teaching Danger EFORT recommends that the teaching should be completed outside the safety fence. But if you really need to enter the safety fence, please strictly abide by the following matters, and refer to the following national/international safety standards.

  • Page 17: Safety During Automatic Running

    12. After the robot's movement teaching is completed, please set the robot's software limit to a little bit outside the robot's teaching movement range. For how to set the software limit, please refer to the EFORT industrial robot operation manual。...

  • Page 18: Safety During Fixing

    1. Before operation, please read and understand all manuals and other related documents provided by EFORT. In addition, fully understand the operation, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.
  • Page 19 9. When replacing, please use only the spare parts provided by EFORT. 10. Before removing the servo motor of any joint shaft, please support the robot arm with a suitable lifting device. Removing the motor will invalidate the brake mechanism of the shaft, and if there is no reliable support, the arm will fall.

  • Page 20: Safety During Inspection And Maintenance

    1. Before operation, please read and understand all manuals and other related documents provided by EFORT. In addition, fully understand the operation, teaching, maintenance and other processes. At the same time, confirm that all safety measures are in place and effective.
  • Page 21 11. Please use only the parts approved by EFORT to replace. Also, during inspection/maintenance, be sure to use the teaching mode and move the robot at...
  • Page 22 18. Do not change or modify the robot without the permission of the company. In the event of unauthorized modification, EFORT will not be held responsible. 19. A variety of data backup batteries are built into the robot arm and control cabinet.
  • Page 23 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual incinerated, landfilled, or dumped on the ground. When discarding batteries, please wrap them in bags to prevent them from contacting other metals, and please dispose of them in accordance with local regulations.

  • Page 24: Chapter 2 Transport And Installation

    Before starting any installation work, it is extremely important to review all safety information! Be sure to carefully read the EFORT Robot Safety Manual, as well as Chapter 1 of this manual. There are several general safety aspects that must be read throughout, as well as more specific safety information that describes the hazards and safety risks encountered when performing operating procedures.

  • Page 25: Preparation Before Installation

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Note: The above is the standard configuration list, excluding the case of customized models 2.2.2 Preparation before installation This section is intended for use when unpacking and installing the robot for the first time. It also contains useful information needed in the process of re installation the robot in the future.

  • Page 26: Control Cabinet Working Space

    5 working cycles 5 working cycles 2.2.6 Control cabinet working space ER6-2000 robot control cabinet dimensions (unit: mm) Figure 2-1 Robot control cabinet dimensions 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.

  • Page 27: On-Site Installation

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Please refer to the workspace limitation of the robot body for details ER series robot operation manual ER6-2000 Industrial robot mechanical maintenance manual 2.3 On-site installation 2.3.1 Robot transport considerations The following are the precautions for robot handling operations. Please fully understand the following,...

  • Page 28: Electrical Connections

    EFORT INTELLIGENT EQUIPMENT CO., LTD 2 100kg soft slings, please do not use steel cables Control cabinet weight 125kg Figure 2-2 Schematic diagram of lifting the robot control cabinet 2.4 Electrical connections The connecting cables between the robot control cabinet and the robot body include power cables, signal cables, and ground wires.

  • Page 29: Robot Power

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 2-3 Schematic diagram of robot cable connection 2.4.1 Robot power Control cabinet input power and cable requirements: 1. The main power supply is a three-phase four-wire system (3*AC380V+PE), and the voltage fluctuation range is ±10%;...

  • Page 30: Robot Power, Signal, Ground Cable

    EFORT INTELLIGENT EQUIPMENT CO., LTD Table 2-6 Input power X10 interface definition Terminal PIN Function Description PE(Ground) 2.4.2 Robot power, signal, ground cable The standard delivery includes the robot power, signal cable, and grounding cable products, and the robot body can be connected to the control cabinet and used at any time.
  • Page 31 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 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 stop the robot immediately. Turn the emergency stop button clockwise to release the emergency stop button.
  • Page 32 EFORT INTELLIGENT EQUIPMENT CO., LTD 3/4/5/6 terminal (K3-5/K3-9 is a pair of normally open contacts, K4-5/K4-9 is a pair of normally open contacts), the user can connect according to needs (recommended Wire diameter 0.5mm² or more), as shown below. Figure 2-7 Emergency stop dry contact terminals...

  • Page 33: Chapter 3 Composition Of Robot Control Cabinet System

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Chapter 3 Composition of Robot Control Cabinet System 3.1 Robot control cabinet 3.1.1 Basic parameters Table 3-1 Control cabinet parameters Control cabinet model EC-M6 IP rating IP54, cooling unit IP30 IO port...

  • Page 34: Motion Control Unit

    EFORT INTELLIGENT EQUIPMENT CO., LTD The following table introduces the components of each part Table 3-2 Component description Name Name QF1: Main power switch X2: 3*200VAC terminal block S7: Servo confirmation button X3: 1*220VAC terminal block S8: Teach Pendant Hot Swap Button...
  • Page 35 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 3-2 Power port location indicator Figure 3-3 Power port definition and connection circuit diagram Table 3-3 Power port parameters 24VDC power supply specification voltage range 22V~28V power Baud rate 10/100Mbit/s Power failure signal at voltage ＜18V...
  • Page 36 EFORT INTELLIGENT EQUIPMENT CO., LTD Figure 3-4 ETH1 ETH2 port location Figure 3-5 ETH1 ETH2 port definition and connection circuit diagram Table 3-4 ETH1 ETH2 port parameters ETH1 ETH2 specification Signal specifications Signal specification in compliance with Ethernet specification, IEEE 802.3u 100/10 BASE-T cable length Compliant with Ethernet specifications, IEEE 802.3u 100/10...
  • Page 37 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 3、SER1 port (RS232) Figure 3-6 SER1 port location Figure 3-7 SER1 port definition and connection circuit diagram Table 3-5 SER1 port parameters SER1 specification (RS232) Signal specifications Follow the specification EIA RS232-E specification...
  • Page 38 EFORT INTELLIGENT EQUIPMENT CO., LTD Baud rate 115200 bits/sec (maximum) Cable type Multi-pole cable 0.22mm2/ WITH, shielding coverage rate is higher than 90% Connector DSUB female 9-pin connector 3、SER2 port (RS422) Figure 3-8 SER2 port location Figure 3-9 Port (RS422) definition and connection circuit diagram...
  • Page 39 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Table 3-6 SER2 port (RS422) parameters SER2 specification (RS422) Signal Follow the specification EIA EIA RS-422 specification specifications cable length Please contact EFORT Cable type 5X2X0.22 with shielded cable, shielding coverage is higher...
  • Page 40 EFORT INTELLIGENT EQUIPMENT CO., LTD Figure 3-11 Port (RS485) definition and connection circuit diagram Table 3-7 SER2 port (RS485) parameters SER2 specification (RS485) Signal specifications Follow specification EIA EIA RS-485 specification Number of stations Up to 31 Cable type 5X2X0.22 with shielded cable, shielding coverage is higher than...
  • Page 41 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 3-12 ENC port location Figure 3-13 ENC port definition and connection circuit diagram...
  • Page 42 EFORT INTELLIGENT EQUIPMENT CO., LTD Table 3-8 ENC port parameters ENC port (auxiliary encoder port) Encoder power supply 150mA@Vcc = 5V current Encoder signal level Follow specification RS422 Cable type 5X2X0.22 with shielded cable, shielding coverage is higher than 90% and minimum 40mm...
  • Page 43 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 3-15 u0 port definition and connection circuit diagram Figure 3-16 Typical connection mode of u0 port Table 3-9 u0 port parameters u0 port input specification Input voltage range -30V~+30V Maximum voltage in off state...
  • Page 44 EFORT INTELLIGENT EQUIPMENT CO., LTD 7、CAN1、CAN2 port Figure 3-17 CAN1, CAN2 port location Figure 3-18 CAN1, CAN2 port definition and connection circuit diagram Table 3-10 CAN1, CAN2 port parameters CAN1 CAN2 port specification Maximum frequency Maximum frequency 1.0MHz Length, type, signal Follow SPEC.ISO11898 standard...
  • Page 45 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Connection terminal DSUB female 9-pin connector 8、PROFIBUS-DP port Figure 3-19 PROFIBUS-DP port location Figure 3-20 PROFIBUS-DP port definition and connection circuit diagram Table 3-11 PROFIBUS-DP port parameters PROFIBUS-DP port specification Length, type, signal...

  • Page 46: Local Io Description And Definition

    EFORT INTELLIGENT EQUIPMENT CO., LTD Cable example Siemens 6XW1 830 0AH10 Use appropriate terminators at the first and last stops Siemens 6ES7 972 0AB10 0XA0 Terminator example Siemens 6ES7 972 0AB11 0XA0 Connection terminal DSUB female 9-pin connector 3.2.2 Local IO description and definition 1、Motion controller OUTPUT port...
  • Page 47 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 3-22 OUTPUT port definition and connection circuit diagram Figure 3-23 Typical connection method of the OUTPUT port...
  • Page 48 EFORT INTELLIGENT EQUIPMENT CO., LTD Table 3-12 OUTPUT port definition table Explanation System occupation System occupation Servo confirmation status System occupation System occupation Custom Custom Custom IO power supply 24V+ IO power supply 24V- Connection terminal MC1.5/10-GF-3.81 (Phoenix) In addition to the "user-defined" port for IO output signals, all other ports are fixed functions used by the system and cannot be changed.
  • Page 49 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 3-25 INPUT port definition and connection circuit diagram Figure 3-26 Typical connection method of INPUT port...

  • Page 50: Io Expansion

    EFORT INTELLIGENT EQUIPMENT CO., LTD Table 3-13 INPUT input definition table Explanation Emergency stop alarm 1 Servo enable Servo confirmation Teach Pendant Hot Swap High temperature alarm Emergency stop alarm 2 Safety gate/grating Custom WATCH DOG WATCH DOG Connection terminal MC1.5/10-GF-3.81 (Phoenix)
  • Page 51 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Prepare according to IO module expansion requirements, n≤ Table 3-8 Local IO module expansion installation steps Steps Icon 1. Remove the controller from the guide rail; 2. Connect the bus coupler to the bus...

  • Page 52: Motion Control Card

    In some applications, motion control cards can also be used to store machine data. (2) Be sure to use the motion control card recommended by EFORT. Other motion control cards not recommended by EFORT cannot guarantee the normal function of the controller.

  • Page 53: Servo Drive Unit

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual (1) Power off the control cabinet (2) Press the eject button 1, as shown below. (You can use gadgets and plastic parts.) (3) After the motion control card pops up, pull out the memory card 2 Figure 3-28 Pull out the motion control card 3.3 Servo drive unit...
  • Page 54 EFORT INTELLIGENT EQUIPMENT CO., LTD J3 motor holding brake port (X13)   External I/O port (X10)  J1-J3 control power input port (X8)  J4-J6 control power input port (X20) J6 motor holding brake port (X16)   J4-J6 encoder port (X22) ...

  • Page 55: Safety Function Unit

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 3.4 Safety function unit This safety circuit includes emergency stop of electric cabinet, external emergency stop short wiring, emergency stop of teach pendant, safety relay, safety relay expansion module, and servo drive STO function.

  • Page 56: Human-Computer Interaction Unit

    EFORT INTELLIGENT EQUIPMENT CO., LTD 2. Software part: In terms of software control, pressing the emergency stop software will receive the dual-loop signals of emg1 and emg2 from the safety circuit, and any action will trigger the emergency stop signal. At the same time, the watch dog signal of the controller will be connected in series to the emergency stop circuit.
  • Page 57 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Figure 3-33 EFORT Teach Pendant 1、Ribbon and interface Figure 3-34 Teach pendant function definition Table 3-15 Functions of Teach Pendant Name Description Film panel 3 Company LOGO painting Used for human-computer interaction, operating robot...
  • Page 58 EFORT INTELLIGENT EQUIPMENT CO., LTD Figure 3-35 Right button Table 3-16 Right button Name Name Three-color light Axis 4 movement- Start Axis 5 movement+ time out Axis 5 movement- Axis 1 movement+ Axis 6 movement+ Axis 1 movement Axis 6 movement...

  • Page 59: Power Distribution Management Unit

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual (continuous, single-step entry, single-step skip, etc.) Multi-function key F4 Speed+ Turn page Servo power on 2、How to hold the teaching pendant When holding the teach pendant with your left hand and jogging the robot, the left finger needs to press the hand pressure switch, so that the robot is in the servo-on state.

  • Page 60: Switching Power Supply

    EFORT INTELLIGENT EQUIPMENT CO., LTD 3.6.2 Switching power supply name Power supply power 350W Input voltage AC 1~220V Input voltage DC24V frequency 50/60Hz Figure 3-39 Switching power supply Table 3-19 Switching power supply parameters 3.7 Brake release unit 3.7.1 Overview The brake release function is designed based on GB11291.1-2011 section 5.13 without driving source...

  • Page 61: Release The Brake Manually

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 3.7.3 Release the brake manually If the worker is trapped in the robot arm, the person must be rescued to avoid further injury. The robot can be moved after releasing the brake of the robot. It is necessary to use lifting equipment or similar equipment to ensure that the robot will not cause secondary injury due to gravity.
  • Page 62 EFORT INTELLIGENT EQUIPMENT CO., LTD Close the "QF2" switch and press the corresponding button (S1~S6) on the brake release unit to release the corresponding motor brake. After releasing this button, the motor holding brake will resume working.

  • Page 63: Teach Pendant Hot Swap Unit

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 3.8 Teach Pendant Hot Swap Unit The hot-swap function of the teach pendant means that the robot will continue to run in the previous operating state when the robot is inserted or removed during the operation, and no alarm will be generated.
  • Page 64 EFORT INTELLIGENT EQUIPMENT CO., LTD If the status of the Teach Pendant mode switch during hot insertion and hot unplug is inconsistent, the robot will stop immediately, and an alarm will be generated when the Teach Pendant is started. At this time, switch the mode switch to the state before hot pull out, the alarm can be cleared.

  • Page 65: Chapter 4 Maintenance

    This safety information describes general safety guidelines. You should also read "ER Series Robot Safety Manual" carefully. 3. If you want to connect the ER6-2000 to power, be sure to ground the ER6-2000 before starting any maintenance work! 4.2 Maintenance plan...

  • Page 66: Inspection Activity

    For detailed operation of battery pack replacement, please refer to "ER6-2000 Industrial Robot Mechanical Maintenance Manual".

  • Page 67: Check Harness

    Voltage level label, "AC380VOLTS" (upper left corner of control cabinet door), (1 pc.) EFORT logo, (upper right corner of control cabinet door), (1) Warning label "High voltage control cabinet electric shock hazard", (upper part of control cabinet door lock), (1 pc) Warning label "Always keep cabinet door closed", (upper part of control cabinet door lock), (1...

  • Page 68: Check The Emergency Stop Switch

    4.4 Change/replacement activities This chapter describes the recommended replacement work and maintenance activities for the main components of the ER6-2000 robot control cabinet. It consists of separate operating procedures, each of which describes specific maintenance activities...

  • Page 69: Replace The Controller

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 4.4.1 Replace the controller Card buckle Figure 4-1 Controller The following table details the steps to replace the controller Table 4-7 Controller replacement steps Operation steps Disconnect the power supply of the control cabinet;...

  • Page 70: Replace Servo Drive

    EFORT INTELLIGENT EQUIPMENT CO., LTD Figure 4-2 Safety relay The following table details the steps to replace the safety relay Table 4-8 Safety relay replacement steps Description Disconnect the power supply of the control cabinet; Disconnect the terminals on the top and bottom of the safety relay. These terminals need to be marked with relevant numbers to ensure that they will not be misconnected when reconnected.

  • Page 71: Replace The Switching Power Supply

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Import drive parameters. 4.4.4 Replace the switching power supply Figure 4-4 Switching power supply The following table details the steps to replace the switching power supply Table 4-10 Switching power supply replacement steps Operations step Disconnect the power supply of the control cabinet;...

  • Page 72: Replace The Fan

    EFORT INTELLIGENT EQUIPMENT CO., LTD Figure 4-5 Fuses The following table details the steps to replace fuses Table 4-11 Fuse replacement steps Operations step Disconnect the power supply of the control cabinet; Determine the location of fuses FU1, FU2, FU3, FU5 are on the left side of the control cabinet, FU4 is on the right side of the control cabinet;...

  • Page 73: Clean

    4.5.1 Overview In order to ensure a long uptime, please clean the ER6-2000 regularly. The cleaning interval depends on the environment in which the robot works. According to the different protection types of each part of the ER6-2000 robot, different cleaning methods can be used.

  • Page 74: Chapter 5 Troubleshooting

    5.1 Overview This chapter mainly introduces the common hardware faults, controller fault handling, driver fault handling and program running fault handling of EFORT industrial robots. When the robot malfunctions, an alarm is usually displayed on the controller, teach pendant, and driver.
  • Page 75 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual contact our after-sales personnel. Check 4: After the above operation, if it still cannot be solved, please contact our after-sales personnel Check 1: If there are other faults that have not been reset, please When entering reset if there are any;...

  • Page 76: Controller Fault Handling

    EFORT INTELLIGENT EQUIPMENT CO., LTD brake is normal; release Check 2: "QF2" is closed; unit Check 3: After the above operation, if it still cannot be solved, cannot be please contact our after-sales personnel. used 5.3 Controller fault handling Click the "System Status" button in the status bar to view system events, including operation information, alarm information, etc.
  • Page 77 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 1) Event log display area. Show the relevant code of the event, the date and content. 2) Event description area. Display the cause of the specified event and the solution provided. 3) Filter area. By ticking different event types, the display area displays different events. For example, if the value ticks the alarm option, the value of the information display area displays all the recorded alarms.

  • Page 78: Controller Fault Light Display

    EFORT INTELLIGENT EQUIPMENT CO., LTD 5.3.2 Controller fault light display Table 5-1 explains what the different states of the LED lights in Figure 5-5 mean。 Figure 5-5 Controller Table 5-1 LED lamp information description What LED means Name Color What mean...

  • Page 79: Controller Fault Handling

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 5.3.3 Controller fault handling The fault handling method of the controller can be handled according to the solutions given in the event description area, or refer to the appendix Controller Alarm and Warning。...

  • Page 81: Chapter 6 Deactivation

    Chapter 6 Deactivation 6.1 Introduction This chapter describes the environmental information that is recommended for the ER6-2000 robot to be deactivated and the precautions for the disposal of abandoned robots. Proper handling can effectively prevent the harm to the environment and avoid personal injury.
  • Page 82 EFORT INTELLIGENT EQUIPMENT CO., LTD note 1. Be sure to remove all the batteries in the robot. The batteries will explode when they are heated (such as from a torch). 2. The oil/grease in the gear box must be cleaned up. The oil will catch fire when it is heated (eg from a blowtorch).

  • Page 83: Chapter 7 Circuit Diagram

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Chapter 7 Circuit Diagram The ER6-2000 robot electrical schematic diagram shows the working principle of equipment electrical and the role of various electrical components, and a representation of the relationship between each other.
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  • Page 102: Appendix 1 Spare Parts List

    EFORT INTELLIGENT EQUIPMENT CO., LTD Appendix 1 Spare parts list Name Material code Single quantity Remarks Controller 10900012190 Teach pendant 11200011262 Standard 8m Teach Pendant harness Motion control card 10900022461 512M Digital input and output 10900015264 Optional (16DI/16DO) module Bus module...

  • Page 103: Appendix 2 Controller Alarms And Warnings

    Appendix 2 Controller Alarms and Warnings 1.1 Controller alarm 1.1.1 System alarm (1-999) 1.1.1.1Alarm 1 Fault description: Ability to keep user register values ​ ​ abnormal Cause of failure: can keep the reading value of user register inconsistent with the last time before shutdown Treatment suggestions: If an alarm occurs when the controller is powered on, continue to press the red ADV button on the controller and restart.
  • Page 104 EFORT INTELLIGENT EQUIPMENT CO., LTD Cause of failure: The target position exceeds the set minimum limit Treatment suggestions: reset target location 1.1.1.7Alarm 15 Fault description: positive limit reached Cause of failure: The target position exceeds the set maximum limit Treatment suggestions: reset target location 1.1.1.8Alarm 21...

  • Page 105: User Alarms And Warnings

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 1.1.1.14Alarm 985 Fault description: RTE.CFG file error Cause of failure: General error in RTE.CFG file Treatment suggestions: Check the error through the REPORT instruction or related operations 1.1.1.15Alarm 988 Fault description: Bad RHW.CFG code = %d. Please use the status report for...
  • Page 106 EFORT INTELLIGENT EQUIPMENT CO., LTD parameters. Code=4: The target point exceeds the joint motion range. Please reset the target point position. Code=5: The sports queue is full. Retry or check the controller. Code=6: The motion axis group is not executed (3). Retry or check the controller.

  • Page 107: Minoralarms (3900-3999)

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Cause of failure: The servo button on the cabinet is not turned on Treatment suggestions: Open the electrical cabinet to view the servo confirmation button, and turn on the servo confirmation button on the electrical cabinet.
  • Page 108 EFORT INTELLIGENT EQUIPMENT CO., LTD Treatment suggestions: 1. Loss of signal input at the top dead center of the press. 2. Check whether the signal is correct. 1.2.2.3Alarm 3902 Fault description: Non-single sheet Cause of failure: The sheet is not in a single sheet state Treatment suggestions: 1.

  • Page 109: Warnings（4900-4999

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 1.2.3 Warnings（4900-4999） 1.2.3.1Warning 4900 Fault description: axis group %s: illegal axis group mode Cause of failure: The axis group mode is wrong. Treatment suggestions: Reconfigure axis group parameters. 1.2.3.2Warning 4901 Fault description: axis group %s: zero position lost...
  • Page 110 EFORT INTELLIGENT EQUIPMENT CO., LTD 1.2.3.9Warning 4908 Fault description: The additional axis %d is running, and the motion command is invalid. Cause of failure: Motion command received during operation of the additional axis Treatment suggestions: Please issue motion instructions after the additional axis is completed.
  • Page 111 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Cause of failure: when writing a file, an alarm for failure to open the parameter file Treatment suggestions: Check if the directory /application/AuxAxis/auxParData.txt file in the card exists, if not, then regenerate the parameter file.
  • Page 112 EFORT INTELLIGENT EQUIPMENT CO., LTD application/externalio/externaliopardata.xml file in the card directory exists, and if it does not exist, reconfigure the generated file. 1.2.3.24Warning 4923 Fault description: wrong configuration of external IO module Cause of failure: wrong prompt for external IO module configuration error...

  • Page 113: Appendix 3 Drive Alarm And Warning

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Appendix 3 Drive Alarm and Warning 1.3 Tsino Drive (Alarm:1000-1199，Warning:4050-4099) 1.3.1 Alarm information 1.3.1.1Alarm 1002 Fault description: The internal communication of the encoder is abnormal Cause of failure: 1. The encoder fails;...
  • Page 114 EFORT INTELLIGENT EQUIPMENT CO., LTD 3. Standard wiring, especially the ground wire; 4. Adjust the current loop parameters; 5. Replace the drive. 1.3.1.3Alarm 1004 Fault description: leakage Cause of failure: 1. The U, V, W output of the driver has a short circuit to ground;...
  • Page 115 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 2. The encoder cable is damaged; 3. The encoder AD parameters are correct; 4. The encoder is damaged; 5. The encoder parameter setting is wrong. Treatment suggestions: 1. Check the encoder wiring 2.
  • Page 116 EFORT INTELLIGENT EQUIPMENT CO., LTD Treatment suggestions: 1. Check the wiring of the braking resistor; 2. Replace or repair the drive. 1.3.1.17Alarm 1018 Fault description: Abnormal AD correction coefficient Cause of failure: AD correction coefficient is set incorrectly Treatment suggestions: Reset AD correction coefficient 1.3.1.18Alarm 1019...
  • Page 117 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Fault description: Encoder type change Cause of failure: the encoder type has changed Treatment suggestions: Restart the drive or soft reset 1.3.1.24Alarm 1025 Fault description: Drive overcurrent U Cause of failure: 1. The U-phase output of the driver is short-circuited;...
  • Page 118 EFORT INTELLIGENT EQUIPMENT CO., LTD 2. The power of the braking resistor is too small and the resistance is too high; 3. The basic power module is overloaded; 4. Drive failure. Treatment suggestions: 1. Check the power supply voltage; 2. Increase the power of the braking resistor and appropriately reduce the resistance;...
  • Page 119 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Cause of failure: 1. The control instruction exceeds the CPU load capacity; 2. The drive is damaged. Treatment suggestions: 1. Reduce the operating frequency of control instructions; 2. Replace or repair the drive.
  • Page 120 EFORT INTELLIGENT EQUIPMENT CO., LTD 1. Encoder wiring error; 2. The encoder cable is damaged; 3. The encoder is damaged; 4. The encoder parameter setting is wrong. Treatment suggestions: 1. Check the encoder wiring; 2. Check the encoder cable; 3. Replace the encoder;...
  • Page 121 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Treatment suggestions: 1. Check the power supply circuit. When the main circuit is in the ON state, the voltage of one phase is too low or a single-phase power supply is used;...
  • Page 122 EFORT INTELLIGENT EQUIPMENT CO., LTD 1. Reduce the start-stop frequency; extend the acceleration/deceleration time constant; reduce the load inertia; increase the drive and motor capacity; 2. Repair or replace the drive. 1.3.1.44Alarm 1045 Fault description: Motor is continuously overloaded Cause of failure: 1.
  • Page 123 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 1. Properly reduce the acceleration and deceleration of the motor; 2. Optimize motor control parameters; 3. Repair or replace the motor; 4. Repair or replace the drive. 1.3.1.48Alarm 1049 Fault description: Motor V-phase instantaneous overload Cause of failure: 5.
  • Page 124 EFORT INTELLIGENT EQUIPMENT CO., LTD Treatment suggestions: Check other axes to determine and eliminate the fault. 1.3.1.54Alarm 1055 Fault description: Parameter data is abnormal Cause of failure: 1. The parameter range exceeds the limit; 2. The position unit is set incorrectly.
  • Page 125 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 1. The difference between the target position value and the actual position value exceeds the threshold set by parameter 0x6065; 2. The target trajectory acceleration exceeds the threshold set by parameter 0x60C5;...
  • Page 126 EFORT INTELLIGENT EQUIPMENT CO., LTD Treatment suggestions: Check location instruction planning example 1.3.1.66Alarm 1067 Fault description: positive software limit Cause of failure: The position feedback value exceeds (positive software limit value + positioning completion threshold) Treatment suggestions: 1. If the forward software limit function is not needed, it can be disabled by parameter 0x2000;...
  • Page 127 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Fault description: Motor overspeed Cause of failure: 1. The feedback speed exceeds the preset speed, and the error exceeds the set threshold; 2. The encoder is abnormal. Treatment suggestions: 1. Optimize motor parameters and control parameters;...
  • Page 128 EFORT INTELLIGENT EQUIPMENT CO., LTD undervoltage; 2. The control mode before the drive is powered off is infinite position control mode, or speed mode, or torque mode, and the position has exceeded the allowable range. Treatment suggestions: 1. The drive re-powers on after executing the encoder multi-turn clear command;...

  • Page 129: Warning Message

    ER6-2000 Industrial robot Electrical Operation and Maintenance Manual Cause of failure: no alarm record found Treatment suggestions: none 1.3.2 Warning message 1.3.2.1Warning 4050 Fault description: EEPROM version change Cause of failure: Changed EEPROM version Treatment suggestions: restart the drive or soft reset 1.3.2.2Warning 4051...
  • Page 130 EFORT INTELLIGENT EQUIPMENT CO., LTD Cause of failure: An error occurred in the external IO ECT counter Treatment suggestions: Restart the drive or soft reset 1.3.2.9Warning 4058 Fault description: CPU overload alarm Cause of failure: internal drive failure Treatment suggestions: replace or repair the drive 1.3.2.10Warning 4059...
  • Page 131 ER6-2000 Industrial robot Electrical Operation and Maintenance Manual 5. The power input of the driver is added with a line filter. 1.3.2.15Warning 4064 Fault description: send an alarm through the external communication of the encoder Cause of failure: 1. The wiring of the motor encoder is abnormal (for example, the wire is broken, the shielded twisted pair is not used, and it is coupled with the motor power line);...
  • Page 132 EFORT INTELLIGENT EQUIPMENT CO., LTD parameter 0x2005; 3. Decrease the setting value of the position target to ensure that it is within the range specified by servo parameter 0x2004 and servo parameter 0x2005; 4. If you don't want to use this function, you can disable the software limit detection function through the servo parameter "position control switch".
  • Page 133 Technical data and illustrations are for reference only, and the right to change is reserved 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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