Estun EWAS Series Operation Instructions Manual
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Estun EWAS Series Operation Instructions Manual

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  • Page 2 ESTUN Arc Welding Robot- EWAS series Robot Body Operation Instructions M-1201EN-04...
  • Page 3 In this manual, all specifications and information are checked on a regular basis. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. ESTUN assumes no responsibility for any direct or indirect losses arising from use of this manual and products described herein.

  • Page 4: Safety

    This chapter describes the precautions which must be followed to ensure the safe use of the robot. Before using the robot, be sure to read this chapter thoroughly. ESTUN robots must be transported, mounted and operated in accordance with national laws, regulations and standards. Appropriate safeguards must be correctly performed to protect the users. Before using (mounting, operating, maintaining, repairing) the robot, be sure to read and understand this manual and its relevant manuals.
  • Page 5 SAFETY SAFETY OF THE USER (1) The robot should be transported and installed as procedures recommended by ESTUN. Wrong procedures may cause severe injuries or damage due to the robot fall. (2) Draw an area clearly indicates the safety area. Install a fence or hang a warning board to ensure the safety operation of the robot, and keep unauthorized personnel outside the safety area.
  • Page 6 SAFETY The system will not run unless the pressed emergency button being released and the system being turned There are several emergency stop buttons in a robot system to stop the robot in case of emergencies. The red button, as shown in the left figure, can be mounted on the teach pendant and the controller.
  • Page 7 For abnormal or emergency situations, e.g. persons trapped in or pinched by the robot, the robot axes should be moved. (Contact ESTUN for more details about dismantling). Small arms can be moved by hand. Lager arms should be moved by crane or other handling equipment.
  • Page 8 SAFETY The robot system sends alarm (not include power-off alarm), and the robot is decelerated until it stops by control instructions. The following processing is performed at Alarm stop: An alarm (not include power-off alarm) is generated due to overload, system faulty, etc. ...
  • Page 9 Never enter the operation area while the Manipulator is moving. This is extremely hazardous and may result in serious safety problems. (5) No Disassembly Warning Fig 0.5 No Disassembly Warning Never perform disassembly arbitrarily where the warning is affixed. Contact ESTUN for disassembly. (6) Handling Identification...
  • Page 10 SAFETY Identification Fig 0.6 ER8-1450-HW Transport Identification Fig 0.7 ER8-1500-CW Transport...
  • Page 11 SAFETY Identification Fig 0.8 ER8-2000-CW Transport Identification Fig 0.9 ER8-2000-HW、ER8-2000-HW-T Transport...

  • Page 12: Preface

    This manual describes the following manipulators. Model Load capacity ER8-1450-HW ER8-1500-CW ER8-2000-CW ER8-2000-HW ER8-2000-HW-T Related manual ESTUN Robot Ewas Series - Mechanical Unit Operator’s Manual ESTUN RCS2 System Operator’s Manual ESTUN Robot S1F Control Cabinet Operation Instructions ESTUN Robot S1E Control Cabinet Operation Instructions...

  • Page 13: Table Of Contents

    CONTENTS CONTENTS SAFETY ................1 PREFACE ................1 1. TRANSPORTATION AND INSTALLATION ..........1 TRANSPORTATION ............1 1.1.1. Transport by a forklift ..........3 INSTALLATION ............5 INSTALLATION CONDITIONS ..........9 2. CONNECTION WITH THE CONTROLLER ..........7 3. SPECIFICATIONS ..............8 ROBOT CONFIGURATION ..........
  • Page 14 CONTENTS REVISION RECORD ..............34...

  • Page 15: Transportation And Installation

    11.8 11.6 of J6-axis) Some parts with less weight are not listed. Contact ESTUN IN FO For ER8-1450-H robot ,fixed bracket should be mounted before transport the robot and be removed before install the robot. Refer to the following figures when remove the bolts on fixed bracket.
  • Page 16 TRANSPORTATION AND INSTALLATION Fig 1.1 Robot fixed bracket(ER8-1450-HW) M6 screw mounting hole*2 M8 screw mounting hole*2 Fig 1.2 Robot fixed bracket(ER8-1500-CW) M8 screw mounting hole*2 M8 screw mounting hole*2 M8 screw mounting hole*2 M8 screw mounting hole*2 Fig 1.1 Robot fixed bracket （ER8-2000-CW）...

  • Page 17: Transport By A Forklift

    TRANSPORTATION AND INSTALLATION M8 screw mounting hole*2 M8 screw mounting hole*2 M6 screw mounting hole*2 M8 screw mounting hole*2 Fig 1.2 Robot fixed bracket （ER8-2000-HW、ER8-2000-HW-T） 1.1.1. Transport by a forklift The robot described in this manual can be transported by a forklift. Use eight bolts to fix the 4 fixed plates on the forklift to the robot base, use a forklift to heave the robot.
  • Page 18 TRANSPORTATION AND INSTALLATION Robot center of gravity Notes：Transportation conditions：① need crane with minimum capacity 1t;② the rod shall has capacity of 500kg;③ according to Standard GB/T825-1988. ④M16 bolt Fig 1.6 The robot lifting and transportation instructions(ER8-1500-CW) Robot center of gravity Notes：Transportation conditions：①...

  • Page 19: Installation

    TRANSPORTATION AND INSTALLATION Robot center of gravity Notes：Transportation conditions：① need crane with minimum capacity 1t;② the rod shall has capacity of 500kg;③ according to Standard GB/T825-1988. ④M16 bolt Fig 1.8 The robot lifting and transportation instructions(ER8-2000-HW、ER8-2000-HW-T) The sling shall be suppled by the customer. Please remove the sling bolts before running ！...
  • Page 20 TRANSPORTATION AND INSTALLATION Rotate horizontally Rotate vertically Horizontal force Fh Torque Mr Vertical force Fv Torque Mk Emergency stop 4800 N 3750 N·m 5750N 4165N·m Accelerating 1600N 1250N·m 2300N 1666N·m Fig 1.9 Robot base specification(ER8-1450-HW) Rotate horizontally Rotate vertically Horizontal force Fh Torque Mr Vertical force Fv Torque Mk...
  • Page 21 TRANSPORTATION AND INSTALLATION Rotate horizontally Rotate vertically Horizontal force Fh Torque Mr Vertical force Fv Torque Mk Emergency stop 10800 N 9900 N·m 11500N 8575N·m Accelerating 3600N 3300N·m 4600N 3430N·m Fig 1.11 Robot base specification(ER8-2000-CW) Rotate horizontally Rotate vertically Horizontal force Fh Torque Mr Vertical force Fv Torque Mk...
  • Page 22 TRANSPORTATION AND INSTALLATION Through Through Fig 1.13 Robot base mounting dimension(ER8-1450-HW、ER8-1500-CW) Through Through Fig 1.14 Robot base mounting dimension(ER8-2000-CW、ER8-2000-HW、ER8-2000-HW-T) ！ Use 8-M12 threaded hole on the base to fix the robot if necessary. CAUTION...
  • Page 23 TRANSPORTATION AND INSTALLATION Tab 1.1 Robot fixing components Item and model Number Fixed screw: M16X40 (GB/T 70.1 12.9 level) Spring washer: Spring washer 16 (GB/T 93) Positioning pin: Cylindrical pin 12X45 (GB/T120.2) Tab 1.2 Robot fixing components Item and model Number Fixed screw: M16X40 (GB/T 70.1 12.9 level) Spring washer: Spring washer 16 (GB/T 93)
  • Page 24 TRANSPORTATION AND INSTALLATION Through Through J1-axis rotation center Base mounting screws Level: 12.9 Tightening torque: 339N.m Base mounting screws Tightening torque: 150N.m Note: use four M16x190 chemical bolts to fix the mounting plate on the concrete floor. The thickness of the concrete should be no less than 160mm, effective area no less than 1000mmx1000mm.
  • Page 25 TRANSPORTATION AND INSTALLATION Through Through J1-axis rotation center Base mounting screws Level: 12.9 Tightening torque: 339N.m Base mounting screws Tightening torque: 150N.m Note: use four M16x190 chemical bolts to fix the mounting plate on the concrete floor. The thickness of the concrete should be no less than 160mm, effective area no less than 1000mmx1000mm.

  • Page 26: Installation Conditions

    (1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids. Potentially these liquids will cause irreversible damage to the rubber parts (such as gaskets, oil seals, O- rings etc.). (As exception to this only liquids tested and approved by ESTUN can be used with the robot). (a)Organic solvents...

  • Page 27: Connection With The Controller

    CONNECTION WITH THE CONTROLLER 2.CONNECTION WITH THE CONTROLLER The figure below shows the cables connect the robot with the controller. Connect these cables on the back of the base. Robot Control cabinet Detail A Flat washers 8 Screw M8*16 (nickel-plated) (nickel-plated) Robot connection cable (Power cable, signal cable,...

  • Page 28: Specifications

    SPECIFICATIONS 3.SPECIFICATIONS 3.1 ROBOT CONFIGURATION Fig 3.1 The composition of robots（ER8-1450-HW） Wrist joint (J6-axis motor included) Small arm Motor base J5-axis J4-axis motor J4-axis J6-axis J3-axis Wrist joint (J5-axis motor included) J3-axis motor Big arm J2-axis motor J2-axis J1-axis motor Swivel base J1-axis Base...
  • Page 29 SPECIFICATIONS Wrist joint J5-axis J6-axis J4-axis Motor base J3-axis J4-axis motor Big arm J3-axis motor J2-axis J1-axis motor J2-axis motor Swivel base Battery box J1-axis Base Fig 3.3 The composition of robots（ER8-2000-HW、ER8-2000-HW-T） Wrist joint J5-axis J6-axis J4-axis Motor base J3-axis J4-axis motor Big arm J3-axis motor...
  • Page 30 SPECIFICATIONS Tab 3.1 Robot Specification Table Model ER8-1450-HW ER8-1500-CW ER8-2000-CW Type Articulated robot Controlled axis 6-axis（J1，J2，J3，J4，J5，J6） Installation floor/top Floor Allowable weight J1-axis ±170° ±170° ±170° J2-axis -85°~ +160° -90°~ +155° -100°~ +155° J3-axis -150°~ +85° -145°~ +85° -160°~ +86° Motion range J4-axis ±150°...
  • Page 31 SPECIFICATIONS J6-axis 6.3（N.m） 6.3（N.m） Drive method Electric servo drive by AC servo motor Repeatability ±0.08mm ±0.08mm Max. reach 2015mm 2015mm Weight 286kg 286kg Ambient temperature: 0～45℃ (Note 2) Ambient humidity: 20~80%RH Installation environment Height: Up to 1000 meters above the sea level required Vibration acceleration: 4.9m/s2 (0.5G) or less Free of corrosive gases (Note 3) (Note 1) During short distance motions, the axis speed may not reach the maximum value stated.

  • Page 32: External Dimensions And Operating Space

    SPECIFICATIONS 3.2 EXTERNAL DIMENSIONS AND OPERATING SPACE The following figures illustrate the range of motion of the robot and serves as a reference for selecting and setting up the robot's installation position. When installing peripheral devices, it is important to ensure they do not interfere with the main body of the robot and its range of motion.
  • Page 33 SPECIFICATIONS point P Range of motion at point P Fig 3.6 Motion range(ER8-1500-CW)
  • Page 34 SPECIFICATIONS point P Range of motion at point P Fig 3.7 Motion range(ER8-2000-CW)
  • Page 35 SPECIFICATIONS point P Range of motion at point P Fig 3.8 Motion range(ER8-2000-HW、ER8-2000-HW-T)

  • Page 36: Zero Point Position And Motion Limit

    SPECIFICATIONS 3.3 ZERO POINT POSITION AND MOTION LIMIT Zero point and motion range are provided for each controlled axis. Exceeding the software motion limit of a controlled axis is called overtravel (OT). Overtravel is detected at both ends of the motion limit for each axis.
  • Page 37 SPECIFICATIONS Fig 3.11 Zero point position （ER8-2000-CW） Fig 3.12 Zero point position （ER8-2000-HW、ER8-2000-HW-T）...
  • Page 38 SPECIFICATIONS Fig 3.13 Mechanical stoppers(ER8-1450-HW)
  • Page 39 SPECIFICATIONS J4-axis mechanical stopper (movable side) J3-axis mechanical stopper (fixed side) J2-axis mechanical stopper (movable side) J1-axis mechanical stopper (fixed side) J1-axis mechanical stopper (movable side) J4-axis mechanical stopper (fixed side) J3-axis mechanical stopper (movable side) J2-axis mechanical stopper (fixed side) Fig 3.14 Mechanical stoppers(ER8-1500-CW)
  • Page 40 SPECIFICATIONS J4-axis mechanical stopper (movable side) J3-axis mechanical stopper (fixed side) J2-axis mechanical stopper (movable side) J1-axis mechanical stopper J1-axis mechanical stopper (movable side) (fixed side) J4-axis mechanical stopper (fixed side) J3-axis mechanical stopper (movable side) J2-axis mechanical stopper (fixed side) Fig 3.15 Mechanical stoppers(ER8-2000-CW)
  • Page 41 SPECIFICATIONS J4-axis mechanical stopper (movable side) J3-axis mechanical stopper (fixed side) J2-axis mechanical stopper (movable side) J1-axis mechanical stopper (fixed side) J1-axis mechanical stopper (movable side) J4-axis mechanical stopper (fixed side) J3-axis mechanical stopper (movable side) J2-axis mechanical stopper (fixed side) Fig 3.16 Mechanical stoppers(ER8-2000-HW、ER8-2000-HW-T) Refer to system operation manual for more information about setting motion range.

  • Page 42: Wrist Load Condition

    If payload exceeds allowable value, it is necessary to consult ESTUN CAUTION representatives. Refer to ESTUN robot bearing capacity calculation table when calculate load torque and load inertia. Contact ESTUN sales representatives for more detail. Note: Allowable load inertia at J5 axis 0.38 kg.m^2 Allowable load inertia at J6 axis 0.08 kg.m^2...

  • Page 43: Additional Load Condition

    SPECIFICATIONS Note: Allowable load inertia at J5 axis 0.46 kg.m^2 Allowable load inertia at J6 axis 0.08 kg.m^2 Fig 3.19 Load capacity at wrist（ER8-2000-CW） Note: Allowable load inertia at J5 axis 0.38 kg.m^2 Allowable load inertia at J6 axis 0.08 kg.m^2 Fig 3.20 Load capacity at wrist（ER8-2000-HW、ER8-2000-HW-T）...
  • Page 44 SPECIFICATIONS Notes： The coordinate origin is on the midpoint of center line of additional load mounting holes. Unit: mm. Centroid of additional load should be within the shadow as shown in the figure above, and be less than 10kg. Fig 3.21 Additional load condition（ER8-1450-HW） W: Loadable weight of the end flange mounting surface W: Loadable weight on motor mount surface...
  • Page 45 SPECIFICATIONS W: Loadable weight of the end flange mounting surface W: Loadable weight on motor mount surface Notes： The coordinate origin is on the midpoint of center line of additional load mounting holes. Unit: mm. Centroid of additional load should be within the shadow as shown in the figure above, and be less than 10kg. Fig 3.23 Additional load condition（ER8-2000-CW）...

  • Page 46: Equipment Installation To The Robot

    EQUIPMENT INSTALLATION TO THE ROBOT 4.EQUIPMENT INSTALLATION TO THE ROBOT 4.1 FLANGE DIMENSION This section describes the mounting face dimension of the end effector. Consider the depth of the screw holes and pin holes sufficiently before choose the length of the bolts and pins. Antirust measures of screws, grippers, etc., should be considered as well.

  • Page 47: Euipment Mounting Face

    EQUIPMENT INSTALLATION TO THE ROBOT Item and model Fixed screw：M5（GB/T 70.1 12.9 grade） Spring washer：Φ5（GB/T 93） Positioning pin：cylindrical pin Φ4（GB/T120.2） Fig 4.3 End flange mounting dimension（ER8-2000-CW） Item and model Fixed screw：M5（GB/T 70.1 12.9 grade） Spring washer：Φ5（GB/T 93） Positioning pin：cylindrical pin Φ4（GB/T120.2） Fig 4.4 End flange mounting dimension（ER8-2000-HW、ER8-2000-HW-T）...
  • Page 48 EQUIPMENT INSTALLATION TO THE ROBOT Fig 4.5 Equipment mounting face(ER8-1450-HW)
  • Page 49 EQUIPMENT INSTALLATION TO THE ROBOT Fig 4.6 Equipment mounting face(ER8-1500-CW)
  • Page 50 EQUIPMENT INSTALLATION TO THE ROBOT 4-M5 Through 4-M6 Through Fig 4.7 Equipment mounting face(ER8-2000-CW) 4-M5 Through 4-M6 Through Fig 4.8 Equipment mounting face(ER8-2000-HW、ER8-2000-HW-T)
  • Page 51 EQUIPMENT INSTALLATION TO THE ROBOT Take precautions to avoid interference between peripheral device and the robot. ！ Payload on J3-axis should not exceed 10kg. CAUTION...

  • Page 52: Pipes And Tubes

    EQUIPMENT INSTALLATION TO THE ROBOT 4.3 PIPES AND TUBES The robot has inlets and outlets openings to supply air or hydraulic pressure to the end effector. Fig 4.9 Pipes and tubes（ER8-1450-HW） Pipe joint 2 -Φ8 Fig 4.10 Pipes and tubes（ER8-1500-CW）...
  • Page 53 EQUIPMENT INSTALLATION TO THE ROBOT Pipe joint 2 -Φ8 Fig 4.11 Pipes and tubes（ER8-2000-CW） Pipe joint 2 -Φ8 Fig 4.12 Pipes and tubes（ER8-2000-HW、ER8-2000-HW-T）...

  • Page 54: Check And Maintenance

    CHECK AND MAINTENANCE 5. CHECK AND MAINTENANCE Before performing any maintenance, be sure to read SAFETY PRECAUTIONS and understand the content. ！ Never implement any maintenance unless the power of the robot is cut off. CAUTION 5.1 DAILY CHECKS Check the items below before daily operation as occasion demands. Item Check item Check points...

  • Page 55: Periodic Checks And Maintenance

    Check the items at the intervals recommended below based on the total time or the accumulated operating time, whichever comes first. Periodic checks keep the performance of the robot. The items below can be performed by yourself, or you can contact ESTUN for maintenance service. Check and maintenance intervals...
  • Page 56 Replace the controller battery.  mechanical unit battery Replacing the grease Replace the grease of each axis reducer.  of each axis reducer Replacing the Replace the mechanical unit cable. Contact ESTUN  mechanical unit representative for information regarding replacing the cable. cable...
  • Page 57 CHECK AND MAINTENANCE 5.3 ADJUST THE BELT J4-axis, J5-axis and J6-axis of the robot are drove by timing belt. The belt tense tends to reduce after a period of operation. This section describes how to strain the belt A loose timing belt may cause a reduction of robot repeatability and a shortness of belt ！...
  • Page 58 CHECK AND MAINTENANCE Fig 5.2 Strain the J5-axis and J6-axis timing belt（ER8-1450-HW） Hexagon socket head cap screw M4*12 J6-axis motor fixing plate Hexagon socket head cap screw Aim headpin of the straining device to the belt in line at 5-7mm M4*12 distance.
  • Page 59 CHECK AND MAINTENANCE Hexagon socket head cap screw M6*16 内六角圆柱头螺钉M5*16 Aim headpin of the straining device to the belt in line at 5-7mm J5-axis motor fixing plate J5轴电机固定板 distance. Use an internal hexagon wrench to wave the belt 张紧仪针头沿直线方向对准同步带，保持5-7mm间距， 使用内六角扳手波动同步带进行测试。 when measuring tense.

  • Page 60: Position Of Oil Inlet/Outlet On Each Axis

    CHECK AND MAINTENANCE 5.5 ROBOT GREASING Greasing is required every 3 years, or for a cumulative operation time of 11520 hours, whichever occurs first, according to the following steps. Refer to the table below for the brand and quantities of the grease applied to each joint.
  • Page 61 CHECK AND MAINTENANCE J1-axis oil inlet J1-axis oil outlet Fig 5.6 J1 axis oil inlet and outlet J2-axis oil inlet J2-axis oil outlet Fig 5.7 J2 axis oil inlet and outlet(ER8-1450-HW)
  • Page 62 CHECK AND MAINTENANCE J2-axis oil inlet J2-axis oil outlet Fig 5.8 J2 axis oil inlet and outlet(ER8-1500-CW) J2-axis oil inlet J2-axis oil outlet Fig 5.9 J2 axis oil inlet and outlet(ER8-2000-HW、ER8-2000-HW-T)
  • Page 63 CHECK AND MAINTENANCE J2-axis oil inlet J2-axis oil outlet Fig 5.10 J2 axis oil inlet and outlet(ER8-2000-CW) J3-axis oil inlet J3-axis oil outlet Fig 5.11 J3 axis oil inlet and outlet(ER8-1450-HW) J3-axis oil inlet J3-axis oil outlet Fig 5.12 J3 axis oil inlet and outlet(ER8-1500-CW)
  • Page 64 CHECK AND MAINTENANCE J3-axis oil inlet J3-axis oil outlet Fig 5.13 J3 axis oil inlet and outlet(ER8-2000-HW、ER8-2000-HW-T) J3-axis oil inlet J3-axis oil outlet Fig 5.14 J3 axis oil inlet and outlet(ER8-2000-CW) J4-axis oil inlet J4-axis oil outlet Fig 5.15 J4 axis oil inlet and outlet(ER8-1500-CW)

  • Page 65: Procedure Of Greasing

    CHECK AND MAINTENANCE J4-axis oil inlet J4-axis oil inlet Fig 5.16 J4 axis oil inlet and outlet(ER8-2000-CW) PROCEDURE OF GREASING 5.5.2. The following steps only applied to operation of reducers of J1, J2, and J3 axis. a) Teach each joint to run at a speed of 100% for 10-20min, to make the grease into oil with low viscosity.

  • Page 66: Procedure For Releasing Remaining Pressure Within The Grease Bath

    TROUBLESHOOTING PROCEDURE FOR RELEASING REMAINING PRESSURE WITHIN THE 5.5.3. GREASE BATH Release remaining pressure with the following procedures. Attach bags under the oil outlet to prevent spilled oil/grease from splattering. Power the robot, and operate at a 100% speed with full load for 4 hours continuously. Stop the running program of the robot at zero position, turn off the servo power with the teach pendant.

  • Page 67: Calibration

    If the zero position data lost due to disassembly or maintenance, this method cannot be used. ESTUN robot use encoder data as an auxiliary of calibration. Procedures are shown below. a) Jog the robot manually to the place where the calibration marks are align.

  • Page 68: Mechanical Zero Position Calibration

    TROUBLESHOOTING Fig 6.1 Single loop value of quick zero position calibration （ ERC controller） 6.3 MECHANICAL ZERO POSITION CALIBRATION ZERO POSITION CALIBRATION METHOD 6.3.1. Mechanical disassembly or maintenance may cause zero position data lost. mechanical zero position calibration is performed with all axes jogged to zero-position using their respective witness marks. Use the J1 axis as an example to illustrate the calibration procedure.
  • Page 69 TROUBLESHOOTING J1 zero calibration Fig 6.2 J1 axis calibration J2 zero calibration Fig 6.3 J2 axis calibration（ER8-1450-HW）...
  • Page 70 TROUBLESHOOTING J2 zero calibration Fig 6.4 J2 axis calibration（ER8-1500-CW、ER8-2000-CW、ER8-2000-HW、 ER8-2000-HW-T） J3 zero calibration Fig 6.5 J3 axis calibration（ER8-1450-HW） J4 zero calibration Fig 6.6 J4 axis calibration（ER8-1450-HW）...
  • Page 71 TROUBLESHOOTING J3 zero calibration J4 zero calibration Fig 6.7 J3、J4 axis calibration（ER8-1500-CW） J4 zero calibration J3 zero calibration Fig 6.8 J3、J4 axis calibration（ER8-2000-HW、ER8-2000-HW-T）...
  • Page 72 TROUBLESHOOTING J4 zero calibration J3 zero calibration Fig 6.9 J3、J4 axis calibration（ER8-2000-CW） J6 zero calibration J5 zero calibration Fig 6.10 J5、J6 axis calibration（ER8-1450-HW） J6 zero calibration J5 zero calibration Fig 6.11 J5、J6 axis calibration（ER8-1500-CW）...
  • Page 73 TROUBLESHOOTING J6 zero calibration J5 zero calibration Fig 6.12 J5、J6 axis calibration（ER8-2000-HW、ER8-2000-HW-T） J5 zero calibration J6 zero calibration Fig 6.13 J5、J6 axis calibration（ER8-2000-CW）...

  • Page 74: Troubleshooting

    TROUBLESHOOTING 7. TROUBLESHOOTING Be sure to read SAFETY PRECAUTIONS and understand its contents before any maintenance. ！ Never perform any maintenance unless the power of the robot system is turned off. CAUTION 7.1 TOOLS Troubleshooting tools includes travelling crane, forklift, internal hexagonal wrench, monkey wrench and special tools for removing the bearings.

  • Page 75: Replacing The Servo Motor

    7.3 REPLACING THE SERVO MOTOR Contact ESTUN representative if servo motor replacement is needed. When removing some parts of the robot, other parts may lose support, thus leads to ！ unexpected movement, and cause personnel injury and equipment damage.

  • Page 76: Appendix

    APPENDIX APPENDIX APPENDIX A BOLT TORQUE LIST Bolt Models (GB/T 70.1) Tightening Torque 9.01 15.6 37.2 73.5 /N.m (Level 12.9) ±0.49 ±0.78 ±1.86 ±3.43 ±6.37 ±10.2 ±15.9 ±22 APPENDIX B SPECIFICATION OF BOLT Designed Designed Nominal Screw Drill Anchor Max. anchor Anti-pull pulling shearing...

  • Page 77: Appendix Cer8-1450-Hw Suggested Spare Parts List（For Single Unit

    REVISION RECORD APPENDIX C ER8-1450-HW Suggested spare parts list（for single unit） Material code Name Qty. Remark 12700000375 Robot servo motor（J1、J2-axis） 12700000376 Robot servo motor（J3-axis） 12700000058 Robot servo motor（J4-axis） 12700000157 Robot servo motor（J5、J6-axis） 31500000010 Lithium battery LS14500[No leads, no plugs] G5400000323 Timing belt（J4-axis）...
  • Page 78 REVISION RECORD REVISION RECORD Date Contents Revision New edition. 2021.07 Modify 5.5 Robot lubrication notes. 2022.01 Add ER8-1500-CW、ER8-2000-CW、ER8-2000-HW 2022.07 Add ER8-2000-HW-T，Update the connection to the control unit. 2022.09...

This manual is also suitable for:

Er8-1450-hwEr8-1500-cwEr8-2000-cwEr8-2000-hwEr8-2000-hw-t

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