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Summary of Contents for EFORT ER130-4-2800
- Page 1 Mechanical Operation and Maintenance Manual for Industrial Robot ER130-4-2800 ER180-4-3200 Mechanical Operation and Maintenance Manual for Industrial Robot...
- Page 2 The statement and instruction manual is the latest version for ER180-4-3200 series. More updates can be found at www.efort.com.cn. This manual only serves as the operation guide for ER180-4-3200 industrial robots. EFFORT will not be responsible for any physical damage or property loss that is not caused by the defect of the product.
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Page 3: Table Of Contents
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Contents Chapter One Safety ....................... 1 1.1 Safety Instructions ......................1 1.1.1 Safety Precautions during Adjustment, Operation, Maintenance, etc....... 1 1.1.2 Safety Countermeasures of Robot Body ..............3 1.2 Shift, Transfer, and Sale of Robots ................... 6 1.3 Abandonment of Robots ....................7 Chapter Two Basic Description .................. - Page 4 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 3.2 Installing the Robot ......................17 3.2.1 Setting up a Safety Fence ..................17 3.2.2 Installation Procedures .................... 17 3.2.3 Ground Mounting ....................18 3.2.4 Supporter Installation ....................19 3.2.5 Inverted installation ....................20 3.2.6 Force data of robot base ...................20 3.3 Installation Environment ....................21 3.4 Integrated Connection Interface ..................22...
- Page 5 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot B Backup List ........................33...
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Page 6: Chapter One Safety
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Chapter One Safety 1.1 Safety Instructions Before performing installation, operation, maintenance, and overhaul operations, please be sure to read this manual and other attached documents thoroughly and use this product correctly. Please fully grasp the equipment knowledge, safety information and all precautions before using this product. - Page 7 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Danger! Most robot accidents are as follows: Danger 1、The automatic operation was performed without confirming whether there is anyone in the robot's motion range. 2、It enters the robot's motion range in the automatic operation state, and the robot starts suddenly during the operation.
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Page 8: Safety Countermeasures Of Robot Body
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot During the operation of the robot, please configure a monitor (the third party) who can immediately press the emergency stop button to monitor the safety status. Danger During the operation of the robot, the operation should be carried out in a state where the emergency stop button can be pressed immediately. - Page 9 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot The fail-safe protection structure should be adopted, even if the power supply or compressed air supply of the end effector is cut off, the installation object will not Attention be released or fly out, and the corner or protruding part should be treated to prevent damage to people and objects.
- Page 10 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Industrial Robot Gesture Method 1. Connect: Do the work Attention related to the connection 2. No way! Disconnect: Raise your right hand and wave vigorously left and right 3. Is that confirm):Raise your right hand up high forward 4.
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Page 11: Shift, Transfer, And Sale Of Robots
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot For the completed program, use the storage protection function to prevent accidental editing. Attention When teaching, confirm the program number or step number before proceeding. Editing procedures and steps incorrectly can cause accidents. Attention When it is not necessary to make the robot move and operate, please turn off the power before performing the work. -
Page 12: Abandonment Of Robots
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 1.3 Abandonment of Robots Do not decompose, heat or incinerate the batteries used for the control device and robot body. Otherwise, fire, rupture and burning accidents will occur. Attention Do not disassemble the board and components of the control device before discarding it. -
Page 13: Chapter Two Basic Description
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Chapter Two Basic Description 2.1 Robot System Composition The industrial robot is composed of the following components: Robot body Control Cabinet Teach pendant Connection (power supply) cables, etc. ... -
Page 14: Machine Body Nameplate
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Table 2-1 Standard Accessories Name Model Quantity Unit Remarks Robot body ER180-4-3200 Control cabinet Teach pendant Teach pendant cable Standard Length: 8 m Control cabinet power cable Customized Length: 12 m/16 m/20 m Standard Length: 8 m Control cabinet encoder... -
Page 15: Body Composition And Direction Identification Of Each Axis
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 2-2 Robot Machine Body Nameplate 2.4 Body Composition and Direction Identification of Each Axis The robot mechanical body is mainly composed of the base part, the rotating part, the big arm part, the small arm part, the wrist body part and the wrist part. -
Page 16: Robot Axis Range Limit And Home Position
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 2-3 Body Composition and Axis Direction of ER180-4-3200 Industrial Robot 2.5 Robot Axis Range Limit and Home Position Each axis of the robot body has a home position and range limit. When the robot system is running normally, each axis of the robot is controlled to move within the allowable range. -
Page 17: Robot Performance Parameters
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Mechanical end stop of J4 Mechanical end stop of J3 Fig. 2-4 Robot Axis Range Limit and Home Position 2.6 Robot Performance Parameters Table 2-2 Robot Performance Parameters Model ER180-4-3200 Motion Type Joint Control Axes 4 Axis... - Page 18 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot The above repeatable positioning accuracy test is tested in the hot engine state of the robot at room temperature, at maximum load, maximum offset value and 1.6 m/s speed on an inclined ISO test surface, with all 4 axes in motion.
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Page 19: Allowable Value Of Wrist Payload
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 2.7 Allowable Value of Wrist Payload The installation payload at the front end of the robot wrist is affected by the allowable weight of the wrist, the allowable payload torque value, and the allowable moment of Attention inertia. -
Page 20: Chapter Three Handling And Installation
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Chapter Three Handling and Installation 3.1 Handling the Robot Precautions 3.1.1 Please read the following precautions carefully before handling the robot The handling must be performed by a professional with lifting and forklifting work qualifications. - Page 21 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-1 Lifting Sketch Map Fig. 3-2 Forklifting Sketch Map...
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Page 22: Installing The Robot
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 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. Store the fixtures in a safe place for future handling. -
Page 23: Ground Mounting
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-3 Size of Base Interface of ER180-4-3200 3.2.3 Ground Mounting The strength rate and maximum load of the concrete ground should meet the requirements of relevant quality regulations. The thickness of the concrete ground should be no less than the depth of the buried chemical bolts and the concrete ground should cover the entire base area to ensure the safety and reliability of installation. -
Page 24: Supporter Installation
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Chemical Bolt M20 or larger，strength class ≥ Fixing Screw M20×75，strength class =12.9 When installing on the ground, fix the bottom plate on the ground first.We recommend that the thickness of the base plate should be more than 35mm.Select 8 chemical bolts above M20 to fix the bottom plate on the ground.The base of the robot is made of M20 with strength grade 12.9 through the mounting holes M20×75 socket head screw.The screw length shall ensure that the screw length reaches 1.5 times of the nominal diameter of the thread, and it shall be firmly fixed on the base plate, so as to prevent the... -
Page 25: Inverted Installation
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot strength and reliability between the supporter and the ground needs to be strictly verified if the height of the supporter is more than 600 mm. Increase the size, number and buried depth of chemical bolts for greater stability and reliability. -
Page 26: Installation Environment
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-5 Robot stress diagram Table 3-2 Force and moment values of base Force or Explain Numerical value moment Maximum overturning 44712(N.m) moment Maximum torsional 23680(N.m) moment Maximum vertical force 27216(N) Maximum horizontal force 11220(N) 3.3 Installation Environment... -
Page 27: Integrated Connection Interface
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Others Without corrosive gas Note: Please contact the service department for robot protective covers if it is installed in an environment full of dust, cutting oil and strong vibration. 3.4 Integrated Connection Interface Table 3-3 External Connection Interface Dimensions Interface Type Illustration... - Page 28 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 3-7 Dimensions for Rotating Base Interface Fig. 3-8 Dimensions for Big Arm Interface Fig. 3-9 Dimensions for Small Arm Interface...
- Page 29 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Note: 1) There are two interfaces on the robot base, the base interface and the external interface. EFORT only offers the detailed dimensions and connection methods of these two interfaces. The connectors, screws and tools are to be equipped by an user.
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Page 30: Chapter Four Overhaul And Maintenance
Chapter Four Overhaul and Maintenance Overhaul is divided into daily overhaul and regular overhaul. Inspectors must prepare overhaul plans and carry out overhaul. Please refer to the table below for overhaul items and overhaul periods. In addition, the overhaul must be carried out every 40,000 hours of work or every 8 years (the principle of choosing which way to reach the deadline first). -
Page 31: Annual Inspection
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.1.3 Annual Inspection Table 4-3 Annual Inspection Inspection items Inspection position Check whether there is a problem with the cleaning and overhaul of various components component and deal with it Tighten the end effector screws and external tightening of external main screws main screws 4.1.4 Inspection Every Two Years... -
Page 32: Inspection Of The Lubricant
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.3 Inspection of the Lubricant Inspect the iron powder concentration in the lubricant every 10000 hours or every 2 years. Replace the lubricant or decelerator if the concentration exceeds 0.1%Wt. Please contact the service department when in need. -
Page 33: Space Orientation Of Lubrication
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 4.4.2 Space Orientation of Lubrication For lubricating oil replacement or replenishment operations, it is recommended to use the orientation given below. Table 4-7 The Orientation of Each Axis When Filling Lubricant Orientation Feeding position J1 axis decelerator... - Page 34 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot leakage of the supply and drain oil ports. J2 oil drain port J1 oil drain port J5 注油口 J1 oil drain port J2 oil filling port J1 oil filling port J3 oil drain port J3 oil filling port...
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Page 35: Release The Residual Pressure In Lubricating Oil Cavity
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Fig. 4-1 Distribution of Filling and Drain Ports Tools Needed Specification Remarks lubricant gun with the function of checking and counting oil [M10x1] oil supply joint 1 piece [φ8x1m] oil supply hose 1 piece weight meter Measure the weight of lubricant... -
Page 36: Home Position Calibration
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot robot can be adjusted according to the user's working environment. 1、The use area must have the following safety conditions: A safety fence and safety gate must be installed around the robot. If the safety gate is not opened, the operator cannot enter the safety fence. -
Page 37: Home Position Calibration Method
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot 3）If the decelerator is replaced. 4）If the cable is replaced. 4.6.1 Home Position Calibration Method Home position calibration is a relatively complicated process. According to the current actual situation and objective conditions, the following describes the tools and methods of home calibration, as well as some common problems and methods to solve these problems. -
Page 38: Appendix
Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Appendix A Table of Screw Tightening Torque Screw 12.9 grade Tightening torque (cast iron) Tightening torque (cast 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... - Page 39 Mechanical Operation and Maintenance Manual for ER180-4-3200 Industrial Robot Motor gear of axis J3 ER180-C104-01-05 Base component Small arm Motor gear of axis J4 ER180-C104-04-02 component Table 4 Wrist Name Model Unit per robot Position Wrist ER180-C104-04 Wrist Table 5 Sealant and others Name Model Unit per robot...
- Page 40 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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