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EFORT EC2-M Manual

Industrial robot control cabinet
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Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots
EC2-M Industrial Robot Control Cabinet
Electrical Operation and Maintenance Manual

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Summary of Contents for EFORT EC2-M

  • Page 1 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots EC2-M Industrial Robot Control Cabinet Electrical Operation and Maintenance Manual...
  • Page 2 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 3: Table Of Contents

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Content CHAPTER 1 SAFETY ......................1 1.1 S ......................1 AFETY NSTRUCTIONS 1.2 S ......................1 AFETY RITERIA 1.3 S ................3 AFETY RECAUTIONS DURING 1.3.1 Safety in Robot Installation and Connection .............3 1.3.2 Safety Before Starting Robot ..................4 1.3.3 Safety of Starting Robot ....................
  • Page 4 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 2.4.2 Robot power, signal, ground cable ................20 2.4.3 Emergency Stop .......................21 CHAPTER 3 ROBOT CONTROL CABINET SYSTEM ..........25 3.1 C ..............25 OMPOSITION OF OBOT ONTROL ABINET 3.1.1 Basic Parameters ..................... 25 3.1.2 C ..................
  • Page 5 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.8.1 Teach Pendant Hot Unplug ..................58 3.8.2 Teach Pendant Hot Insertion ................... 58 3.8.3 Frequently Asked Questions ..................59 CHAPTER 4 MAINTENANCE ...................60 4.1 I ........................ 60 NTRODUCTION 4.2 M ...................... 60 AINTENANCE 4.3 C ......................61...
  • Page 6 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 5.3.3 Controller Fault Handling ..................76 5.4 D ....................76 RIVE AULT ANDLING 5.5 P ................77 ROGRAM UNNING AULT ANDLING CHAPTER 6 DEACTIVATION ...................79 6.1 O ........................79 VERVIEW 6.2 E ..................

  • Page 7: Chapter 1 Safety

    For safety concerns, complying with the requirements in other manuals offered by EFORT is also strongly advised. Safety information recorded in this manual is general and does not include all the aspects of the operating system of robots.
  • Page 8 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 5. Do not use inappropriate materials or make improper adjustments and modifications. 6. Personnel who are unauthorized, or have not received training on operation and do not understand the existing risks are not allowed to operate robot.

  • Page 9: Safety Precautions During Work

    Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006). 1. Please read and understand all manuals, specifications, and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.

  • Page 10: Safety Before Starting Robot

    The design of safety functions should comply with Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006). 1. Please read and understand all manuals, specifications, and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.

  • Page 11: Safety Of Starting Robot

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 8. A supervisor who should have completed relevant training offered by EFORT must be assigned for operation monitor. 9. The system must be equipped with monitor instruments to automatically detect abnormalities in water and gas supply in time for application items (water, compressed air, protective gas, etc.).

  • Page 12: Safety In Robot Test Run

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots confirm the protective devices function properly before starting the robot. 4. If several operators work together in the robot operation system, make sure all of them and relevant personnel are aware that robot should be activated before start. 5.

  • Page 13: Safety In Teaching

    1.3.5 Safety in Teaching Danger EFORT advises teaching should be administered outside the safety fence. However, if it is necessary to enter it, strictly follow the precautions below and refer to national/international standards. The design of safety functions should comply with Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006).

  • Page 14: Safety In Automatic Operation

    Meanwhile, please confirm the safe passage for the operator is clear in case of emergency evacuation. 12. Please set the robot's software limit beyond the robot’s motion range after teaching is completed. Refer to the EFORT Industrial Robot Operation Manual for the setting. 1.3.6 Safety in Automatic Operation Danger Because teaching program repeats fast, please strictly follow the precautions below and refer to national/international standards.

  • Page 15: Safety In Repair

    Please confirm all switches function properly before repair. 1.Please read and understand all manuals, specifications, and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.

  • Page 16: Safety In Equipment Check And Maintenance

    Make sure all the emergency stop switches function properly before check and maintenance. 1.Please read and understand all manuals and other relevant documents provided by EFORT before operation. In addition, completely understand procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety measures are effective in place.
  • Page 17 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 2. Please remove unnecessary object and clear passage to the installation position before check and maintenance. 3. Only qualified personnel who have completed special training on this specific robot or robots in the same series can perform check and maintenance. 4.
  • Page 18 • the same when check and maintenance are completed. 11. Only use parts supplied by EFORT for replacement. Be sure to use teaching mode and move the robot as slow as possible in check and maintenance. 12. Turn off the control power supply and wait at least seven minutes for replacement of the drive module and power supply module.
  • Page 19 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 20. Make sure the emergency stop signal of the auxiliary axis and the emergency stop circuit of the control cabinet are concatenated when auxiliary axes are added. Then test the safety functions of the emergency stop circuit to ensure safety control logic when adding the auxiliary axes or after changing the safety-related components.

  • Page 20: Chapter 2 Handling And Installation

    It is vitally important to read all the safety information before any installation. Please be sure to read the following information carefully: EFORT robot safety manual, general safety information in the first chapter of this manual that must be read thoroughly, and introduction of dangers and safety risks during operation.

  • Page 21: Storage Environment For Robot

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots The following steps need to be checked before installation: Table 2-2 Precautions before installation Inspect the robot visually for any damage. Make sure the lifting device for transporting the robot fits its weight. If the robot is not installed immediately, it must be stored according to the storage requirements.

  • Page 22: Placement Of Control Cabinet

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Table 2-5 Work Cycle of Starting Robot in Cold Environment Work Cycle Speed Rate 3 cycles 5 cycles 5 cycles 5 cycles 2.2.6 Placement of Control Cabinet Dimensions of large-load robot control cabinet (unit: mm). Fig.

  • Page 23: Installation On Site

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Please refer to the following for details of robot workspace limit: ER50-1900(including ER35-1900, ER70-1900) Industrial Robot Machine Operation and Maintenance Manual ER50-2100(including ER70-1900) Industrial Robot Machine Operation and Maintenance Manual ER210-2700 Industrial Robot Machine Operation and Maintenance Manual ER150-3200 Industrial Robot Machine Operation and Maintenance Manual ER130-4-2800 Industrial Robot Machine Operation and Maintenance Manual...
  • Page 24 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots two soft slings (bearing capacity 200kg). Do not use steel rope. Fig. 2-2 Schematic Diagram of Control Cabinet Hoisting 2、Forklift handling method In the case that lifting cannot be done without lifting equipment, forklift is used. For the schematic diagram of handling, see Figure 2-3.

  • Page 25: Electrical Connection

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 2.4 Electrical Connection The robot and control cabinet are connected by power cables, signal cables, and ground wires. Be sure to fix them before connection, and then connect them with cables from the left side of the control cabinet to the connector at the back of the base of the body.

  • Page 26: Robot Power, Signal, Ground Cable

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 2. Please use 4C×6mm²+PE and above shielded cables for the power cord; 3. Obvious disconnection devices such as isolation switches must be installed between the power grid and the control cabinet to ensure personal safety during equipment maintenance. Note: Leakage protector: When the customer installs the leakage protector for the control cabinet, it is recommended to use the leakage protector (Type B) that can cope with high frequency, which can prevent the wrong action of the driver's inverter caused by high frequency leakage.

  • Page 27: Emergency Stop

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Reserved sealing plate *3 Reserved joint *3 Power Aviation Plug Encoder Aviation Plug Power Aviation Plug Teacher plug RJ45 network port Pipe joint Fig.2-6 Diagram of Aviation Plug Interface Position Table 2-7 Description of Cable Type Cable Type Description...
  • Page 28 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots required for system recovery. Attention Emergency stop can only be used for its designed function. Attention Emergency stop functions to terminate a robot operation immediately in case of emergency. Attention Emergency stop should not be used to terminate a normal routine otherwise it might lead to extra machine wearing.
  • Page 29 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots External emergency stop signal input Factory default short connection, if you need to connect external safety components need to remove short wiring Fig.2-9 Wiring diagram of external safety element 2、Emergency stop output dry contact When the robot's emergency stop is triggered, the external device needs to know whether the robot's emergency stop is triggered.
  • Page 30 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3、Safety Door Safety door lock switch Factory default short connection, if you need to connect external safety components need to remove short wiring Fig.2-11 Safety Door Contacts When the robot leaves the factory, the security door is short connected by default. When the security door lock function is needed, the short connection can be used to connect the double channel of the security door lock to the PIN of the security door lock signal of P7 (STOP1-AP/STOP-AM and STOP1-BP/STOP1-BM ) respectively.

  • Page 31: Chapter 3 Robot Control Cabinet System

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Chapter 3 Robot Control Cabinet System 3.1 Composition of Robot Control Cabinet 3.1.1 Basic Parameters Table 3-1 Parameters of Control Cabinet model of control cabinet EC2-M6/EC2-M4 IP rating Anterior cavity IP54, posterior cavity IP20 IO interface 16 digital inputs /16 digital outputs (available to customers, expansion supported) communication mode...

  • Page 32: Motion Control Unit

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots The following table introduces the components of each part Table 3-2 Component Description Number Name Number Name QF1: Emergency stop button Z1: Filter QS1: main power switch XS1: Power socket XT2:380V power terminal H1: Indicates the power indicator XT3:220V power terminal...
  • Page 33 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Port Fig. 3-3 Definition of Power Port and Connection Circuit Diagram Table 3-3 Parameters of Power Port 24VDC Power Supply Specification voltage range 20.4V~28V power the voltage threshold at which a ＜17.5V power failure signal occurs connection terminal...
  • Page 34 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Fig. 3-5 Definition of WD Port and Connection Circuit Diagram Table 3-4 Parameters of WD Port Watchdog Specifications type of load resistance DC voltage maximum 30VDC no induction current on the contact maximum 6A initial resistance of contact ＜100 mOhm@6V 100mA minimum switching capacity...
  • Page 35 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Fig.3-6 Ethernet port positions Fig.3-7 Location of Ports...
  • Page 36 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Fig. 3-8 Definition of ETH Ports and Connection Circuit Diagram Table 3-5 Parameters of Ports ETH Specification signal comply with the signal specification of the Ethernet specification specification, IEEE 802.3u 100/10 BASE-T cable length comply with Ethernet specification, IEEE 802.3u 100/10 BASE-T...
  • Page 37 SER1 Specification (RS232) signal specification follow the EIA RS232-E specification cable length cable length does not exceed 20 meters (for longer cables, please contact EFORT) baud rate 115200 bits/sec (maximum) cable type multi-pole cable 0.22mm2/ WITH, shielding coverage is higher than 90%...
  • Page 38 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Fig. 3-11 Location of SER2 Port Fig. 3-12 Definition of SER2 Port and Connection Circuit Diagram Table 3-7 Parameters of SER2 Port SER2 Specification cable length does not exceed 5 meters current maximum 8mA external power supply...
  • Page 39 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Fig. 3-13 Location of CAN Port Fig. 3-14 Definition of CAN Port and Connection Circuit Diagram Table 3-8 Parameters of CAN Port CAN Port Specification maximum frequency maximum frequency 1.0MHz length, type, signal follow the SPEC.ISO11898 specification specification...

  • Page 40: System Expansion Io Description And Definition（Phoenix

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Fig. 3-15 Location of WIFI Port Table 3-9 Parameters of WIFI Port WIFI Port Specification WIFI specification follow IEEE 802.11b/g/n frequency range 2.400GHz - 2.4835GHz IEEE802.11n:14dBm@HT40MCS7 power transmission IEEE802.11b:18dBm Antenna Specifications impedance 50ohm 3.2.2 System Expansion IO Description and Definition（Phoenix）...
  • Page 41 Users can expand local IO or remote IO modules as needed. For details, please consult EFORT. Among them, a1, a2, b1, and b2 are the power supply interfaces of the IO module.
  • Page 42 Except for the ports with the words "user-defined" for IO output signals, other ports are fixed functions used by the system and cannot be changed. Users can expand local IO or remote IO modules as needed. For details, please consult EFORT. Card slot...

  • Page 43: System Extension Io Description And Definition (Weidmüller)

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Card slot Card slot Card slot Address Address Address Description 2 Pin bit 4 Pin bit 4 Pin bit DO16 DO24 DO17 DO25 Output DO10 DO18 DO26 Output module Output IO module 1 DO11 DO19...
  • Page 44 IO output signal except for "user-defined" port, all other ports are fixed functions for system use and cannot be changed, users can expand local IO or remote IO module as needed, please consult EFORT for details. a1, a2, b1, b2 are power supply interfaces of IO module.
  • Page 45 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Module Module Module 1 Pin Address Address 3 Pin Address Description 3 Pin Bit DI_8 DI_0 DI16 DI_8 DI24 DI_9 DI_1 DI17 DI_9 DI25 Input Input DI_A DI10 DI_2 DI18 DI_A DI26 Module...

  • Page 46: Io Expansion (Optional)

    In some applications, the motion control card can also be used to store the machine's data. (2) Be sure to use the motion control card recommended by EFORT. Other motion control cards not recommended by EFORT cannot guarantee proper operation of the controller function.
  • Page 47 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots motion control card slot. (4) The motion control card should be moisture-proof, heat insulation, avoid direct sunlight, be anti-static, and should not be dropped or bent. (5) The controller cannot be disconnected when doing write operations to the memory card, and the card cannot be unplugged.

  • Page 48: Servo Drive Unit

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.3 Servo Drive Unit Figure 3-26 Driver port introduction Plug Interface Function number Power supply and Driver power supply regenerative braking port Control Power 24V control power supply STO port Safe torque shutdown function port RS485 debug interface Drive commissioning interface...
  • Page 49 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Port Name Pin Definition Power supply input and regenerative braking port (X1) Control power port (X2) Figure 3-27 Power supply wiring diagram...

  • Page 50: Motor Wiring

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.3.2 Motor Wiring Port Name Connector Diagram and Pin Definition Motor output port (X11/X21/X31/X41/X51/X61) Encoder and IO ports (X13/X23/X33/X43/X53/X63) Motor brake and temperature detection port (X12/X22/X32/X42/X52/X62) Figure 3-28 Motor wiring diagram...
  • Page 51 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure3-29 Brake and encoder wiring diagram...

  • Page 52: Sto Wiring

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.3.3 STO Wiring Port Name Pin Symbol Signal Name Function Safe torque shutdown function signal STO1+ input 1+ Safe torque shutdown function signal STO1- input 1- STO Port (X3) Safe torque shutdown function signal STO2+ input 2+ Safe torque shutdown function signal...

  • Page 53: Io Wiring

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.3.4 IO Wiring Port Name Pin Symbol Signal Name Function Encoder and IO Port DI-COM DI public port (X13/X23/X33/X43/X53/X63) HDI0 High-speed DI port DI port DI port DO port + DO port - Figure 3-31 IO wiring diagram 3.4 Safety Function Unit...
  • Page 54 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure 3-32 Safety control circuit block diagram 1. Electrical hardware part The safety circuit is designed with double-loop redundancy, and the signal source type is test pulse. Output signals from the safety relay S11 and S21, and first pass through the controller WD signal (commonly known as "watchdog"...
  • Page 55 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots...

  • Page 56: Human-Machine Interaction Unit

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.5 Human-Machine Interaction Unit 3.5.1 Button operation panel The buttons on the front panel of the robot electric control cabinet are shown in the figure below, including the main power switch servo confirmation button, hot plug button, and emergency stop button. Figure 3-33 Electric cabinet front panel buttons...

  • Page 57: Teach Pendant (Enable/Hand Press)

    The teach pendant (Figure 3-33) is a device for the operator to interact with the robot. Using the teach pendant the operator can perform all functions to control the robot. For example, manually controlling the robot motion, programming the robot motion, setting IO interaction signals, etc. Figure 3-33 EFORT teach pendant 1. Functional area and interface...
  • Page 58 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure 3-34 Teach pendant function definition Table 3-14 Functions of each part of the teach pendant Number Name Description Thin Film Panel 3 Company logo painting 2、3 Liquid Crystal Display Used for man-machine interaction and robot operation Thin Film Panel 2 Contains 10 keys...
  • Page 59 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Table 3-15 Right side button Number Name Number Name Tricolor light 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 +...

  • Page 60: Power Distribution Management Unit

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Three-stage hand pressure switch with servo-off in the first position, servo-on in the second position, and servo-off in the third position. Figure 3-37 Holding the teach pendant 3.6 Power Distribution Management Unit 3.6.1 Transformer Name Three-phase dry-type transformer...

  • Page 61: Brake Release Unit

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.7 Brake release unit 3.7.1 Overview The brake release function is designed according to section 5.13 of GB11291.1-2011 for motion without a drive source, so that each axis of the robot can move without a drive source in an emergency or abnormal situation, and one person can move each axis of the robot.

  • Page 62: Release The Brake Manually

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Table 3-17 Functions of connectors in the brake release unit control box X1 PIN bit Wire Marker Function 1BK+ 2BK+ 3BK+ 1-6 axis brake power positive 4BK+ 5BK+ 6BK+ 1BK- 2BK- 3BK- 1-6 axis brake power negative...
  • Page 63 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Steps Operation Danger When releasing the robot motor brake, the robot axes can move very fast and sometimes in unpredictable ways! Therefore, before releasing the motor brake, be sure to consider: ①...

  • Page 64: Hot-Plug Unit Of Teach Pendant

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 3.8 Hot-plug Unit of Teach Pendant The hot-plug function of teach pendant means that the robot continues to operate as before without generating an alarm when the teach pendant is inserted or removed during the robot's operation. Purpose: When the robot is running normally, it can be unplugged to operate another robot.

  • Page 65: Frequently Asked Questions

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Steps Operation Press the hot-plug button continuously Unplug the hot-plug button connector Insert the teach pendant 3.8.3 Frequently Asked Questions 1. When can hot-plug operation be performed? The robot can be hot-plugged in any operating state, and the hot-plug operation will not generate any alarm or change the current operating state of the robot.

  • Page 66: Chapter 4 Maintenance

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Chapter 4 Maintenance 4.1 Introduction This chapter describes all maintenance activities recommended to be performed on the large load electrical section. It is based on the maintenance plan presented at the beginning of this chapter. This plan contains information on the required maintenance activities (including maintenance intervals) and refers to the operating procedures for these activities.

  • Page 67: Check Activity

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Confirmation of abnormal √ √ √ √ Transformer Inspection heat, noise and smell Confirmation of abnormal √ √ √ √ Controller Inspection heat, noise and smell Check the rotation of the fan, whether the air outlet √...

  • Page 68: Check The Wiring Harness

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Visual Inspection Table 4-2 Seal Check Number Description Check whether the seal of the front door of the control cabinet is tightly fitted Check whether the sealing of the reserved interface (cable lock head) on the left side of the control cabinet is normal 4.3.2 Check the Wiring Harness Visual Inspection...

  • Page 69: Change/Replace Activity

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots restored normally Whether the external emergency stop can be pressed and restored normally Warning When manually checking the working condition of the emergency stop button, it is necessary to carry out the inspection work during the robot work.

  • Page 70: Replace Safety Relay

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Number Description Disconnecting power to the control cabinet; Disconnecting all terminals on the front of the controller; Use a screwdriver to pick up the stop spacer as shown in the figure and pry it out of the mounting rail from the controller;...

  • Page 71: Replace The Servo Driver

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 4.4.3 Replace the Servo Driver Figure 4-3 Drive The following table details the steps to replace the servo drive. Table 4-8 Steps to replace the drive Number Steps Disconnect the power supply of the control cabinet and proceed to the next operation after 10 minutes;...

  • Page 72: Replace The Switching Power Supply

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 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 4-9 Steps to Replace the Switching Power Supply Number Steps Disconnect power to the control cabinet;...
  • Page 73 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure 4-5 Fuses and Fuse Gears The following table details the steps to replace fuses, fuse cores, and fuse gears. Table 4-10 Steps to Replace Fuses and Fuse Gears Number Steps Disconnect the power supply of the control cabinet;...

  • Page 74: Replace The Fan

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots 4.4.6 Replace the Fan Cooling unit 1 Figure 4-6 Fan Figure 4-7 Connection method of fan cables...

  • Page 75: Replace The Battery

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots The following table describes the steps to replace the fan. Table 4-12 Steps to Replace the Fan Numb Steps Disconnect the power supply of the control cabinet; Cut the cable at the CE2 terminal of the fan wire connection Remove the M4 Phillips screw of the fan mounting board and remove the fan mounting board and fan Replace the fan with a new one and install the fan on the fan mounting board...

  • Page 76: Cleaning

    3. Never aim the cleaning water column at connectors, contacts, seals or gaskets! 3. Do not use compressed air to clean the robot! 4. Do not use solvents that are not approved by EFORT to clean the robot! 5. The distance of spraying cleaning fluid must not be less than 0.4 m! 6.

  • Page 77: Chapter 5 Troubleshooting

    5.1 Overview This chapter mainly introduces common hardware faults, controller fault handling, drive fault handling and program operation fault handling of EFORT industrial robots. When the robot fails, it will generally display alarms on the controller, teach pendant, and drive. When there is an alarm, both the controller error message and the drive error message will be displayed on the teach pendant interface.

  • Page 78: Controller Fault Handling

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots pendant. Check 4. Please contact the service professionals if the fault still exists. Check 1. Check if there are alarm messages on the teach pendant. The robot Handle the alarms according to the instructions. cannot be Check 2.

  • Page 79: View Event Log

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure 5-1 System Login Interface 5.3.1 View Event Log Figure 5-2 Event Log Interface 1) Event log display area: Display the relevant code, date and content of the event. 2) Event description area: Show the cause of the specified event and the solution that is given. 3) Filter area: By checking different event types, the area displays different events.

  • Page 80: Fault Light Display On The Controller

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots  By clicking on the "Details" button, you can show or hide the event description area. Figure 5-3 Event Log Details Interface  By clicking on the "Export EventLog" button, all current logs can be saved to the U disk. ...
  • Page 81 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure 5-5 Controller Table 5-1 LED Light Information Description The Meaning that LED Stands for Item Color The meaning that it stands for AXIO-D Green light is always on operating status Green light flashes in the process of configuration phase Red light is always on...

  • Page 82: Controller Fault Handling

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Red light and green light flash Transient phase every time the system starts. alternately every 500ms Red light and green light flash During operation, all work stations fail. alternately every 2s Green light flashes every During the operation, some of the work stations 500ms and red light goes out...

  • Page 83: Program Running Fault Handling

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Figure 5-6 Drive Monitoring Interface 5.5 Program Running Fault Handling The program running alarm can be viewed in the log on the program editing interface. Figure 5-7 Program Running Log Interface...

  • Page 85: Chapter 6 Deactivation

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Chapter 6 Deactivation 6.1 Overview This chapter describes the environmental information recommended for decommissioning large-load robots and the considerations for disposing of abandoned robots. Proper disposal can effectively prevent harm to the environment and avoid harm to people. 6.2 Environmental Information The following table introduces some of the materials used by the robot and their corresponding uses in the product.

  • Page 86: Appendix 1 Spare Parts List (Phoenix Version)

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots (such as from a blowtorch). 3. If the robot is not properly supported before removing the motor, it will suddenly fall down. Appendix 1 Spare parts list (Phoenix version) Unit Name Material code Remarks...

  • Page 87: Appendix 2 Spare Parts List (Weidmüller Version)

    Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Control cabinet - robot body power Robot harness 10900027978 cable Control cabinet - robot body encoder Robot harness 10910001348 wire Robot harness 10910001796 Control cabinet-robot body ground wire Robot (ER50-2100V2) body piping 10910000062 package Robot (ER210-3200V2) body pipe wrap...
  • Page 88 Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots Intermediate relay 10900020300 Hot plug short 10900021952 connector Teach pendant 11700010510 10900025476 6 axis Battery (4 axis) （10900025475） Robot harness 10900019866 Teach pendant cabinet internal wire Robot harness 10900028732 Main wire inside the cabinet Robot harness 10900028733 Control wire inside the cabinet...
  • Page 89 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 website:http://www.efort.com.cn...

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