Estun S1E Series Operation Instructions Manual
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Estun S1E Series Operation Instructions Manual

Estun S1E Series Operation Instructions Manual

Control cabinet
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Summary of Contents for Estun S1E Series

  • Page 2 ESTUN Robot S1E Control Cabinet Operation Instructions E-0701EN-02...
  • Page 3 Thank you for purchasing ESTUN robots. Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content. ESTUN endeavor to prove the products. All specifications and designs are subject to change without notice. All statements, information, and advice provided in this manual have been carefully processed, but no guarantee is given for their complete accuracy.
  • Page 4 Revision History Revision Date Content 2022.09 Initial issue 2023.03 Update the dimensional drawing, delete ER20-1745-PV; add ER20B-1745-PV...
  • Page 5 This Chapter describes the content to be observed for the safe use of the robot. Before using, be sure to read and understand the content in this Chapter. Companies and individuals using Estun Robotics should be familiar with the local and national standards and laws. Appropriate safety facilities shall be provided to protect users. Before use...
  • Page 6 Safety helmet  Operations within the safety zone require specialized training on the robot. For more information regarding training, please consult ESTUN Robotics Engineering Co., Ltd. 2. Installation precautions (1) Follow the specified methods for handling and installing the robot.
  • Page 7 When handling and installing the robot, follow the methods specified by Estun Robotics. Using incorrect methods may result in the robot tipping over and causing accidents; (2) During the initial operation of the robot, start at low speed, gradually increase speed, and check for any abnormalities;...

  • Page 8: Safety Precautions

    Under any circumstances, do not stand under any robot arm to prevent abnormal motion of the robot or connection with other people. A carbon dioxide fire extinguisher needs to be placed on site to prevent the robot system from catching fire.

  • Page 9: Safety Precautions

    Operations such as handling, setup, teaching, adjustment, and maintenance must be conducted within a safety area by personnel who have received professional training in robotics. For more information regarding training, please contact ESTUN Robotics Engineering Co., Ltd. Precautions for users...
  • Page 10 E-stop is just used for stopping the robot in the case of an emergency. That is to say, it cannot be used in the normal stop.  Programmers While teaching the robot, and in some cases, the programmer needs to enter the range of the robot's movement, so be sure to keep himself safe.

  • Page 11: Revision History

    After turning off the air source or hydraulic pump, a few residual gas or liquid exists in the pneumatic system or hydraulic system. Beware these gases or liquid, which have a certain energy; we must take some measures to prevent the residual energy from damaging to the human body and equipment.

  • Page 12: Safety Precautions

    Ways to stop robot The stopping of robots has the following three ways. Power-Off Stop Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is moving, and the motion path of the deceleration is uncontrolled. The following processing is performed at Power-Off stop: An alarm is generated and servo power is turned off, and the robot operation is ...
  • Page 13 Symbol Description No stepping Do not step on or climb the robot as it may adversely affect the equipment, and cause the bodily injury to operators. Wounding by robot There is a danger of wounding by robot when working within the motion range of robot.

  • Page 14: Safety Precautions For Robot

    Preface This document primarily provides instructions for the use of the S1E Control Cabinet. The S1E is a standard vertical cabinet. The compatible robot types for this control cabinet are as follows: Control cabinet Type ER8-2000-HW-T ER8-2000-HW ER8-2000-CW ER8-2000-CW-T ER8-1500-CW ER8-1450-HW ER10-2000-CW ER12B-1510...

  • Page 15: Table Of Contents

    CONTENTS Revision History ..........................4 Safety Precautions .......................... 1 Definition of users ..........................1 Safety Symbols ..........................1 Safety Precautions ........................... 2 Safety Precautions .......................... 5 Precautions for users ........................5 Safety precautions for robot ......................7 Ways to stop robot ..........................8 Safety precautions for tools and peripheral equipment ..............
  • Page 16 4.1 Checks before power-on ......................45 4.2 Use of teach pendant ........................ 46 4.2.1 Connection of teach pendant ......................46 4.2.2 Editing method ..........................46 4.3 Use of ESView software ......................47 4.3.1 Connecting the servo drive unit ....................47 4.3.2 Installing ESView ..........................

  • Page 17: Preface

    Chapter 1 Product Information Information on nameplate Model Weight Input specification Power Frequency PO number Serial number Figure 1.1 Information on nameplate of electric cabinet Designation Design Drive Remarke Version Series name Model sequence specification Integrated drive system Mark Spec. Mark Compact electrical cabinet Low-load drive...

  • Page 18: Contents

    Components Description of appearance E-stop button Teach pendant hook Main power switch Figure 1.3 Description of appearance Internal structure Inside the control cabinet, multi-core cables should be used for wiring. Avoid leaving excessively long wiring and check for any cable entanglement. Driver Circuit breaker Heat exchanger...

  • Page 19: Basic Parameters

    Tubular resistor Transformer Figure 1.4 Internal structure External interface M25 reserved Mains power cable interface RJ45 interface Encoder cable IO cable interface Teach pendant cable connector Reserved interface for heavy-load connector Figure 1.5 External interface Basic parameters Table 1-1 Basic parameters list of control cabinet Reference Dimensions Self-...
  • Page 20 2.76 ER20-1780 1.61 ER20-1780-HI 1.09 ER20B-1745-PV 1.17 ER20B-1760 1.25 ER20-1780-F 0.91 ER30B-1810-F 1.38 ER30-1840-F 1.33 ER30-1880 1.12 ER35-1880 1.34 ER35B-1810 1.34 ER35B-1810-LI 0.44 ER8-2000-CW 0.44 ER8-2000-CW-T 0.73 ER10-2000-CW Table 1-2 Control cabinet installation parameters Control cabinet installation environment Ventilated, not airtight Minimum installation range 2500*2500*1200 (mm, L*W*H) Ambient working temperature...

  • Page 21: Overall Dimensions

    1.5 Overall dimensions Figure 1.6 Overall dimensions...

  • Page 22: Chapter 2 Transportation & Installation

    Chapter 2 Transportation & Installation 2.1 Transportation Handle horizontal control cabinets on pallets during transportation.  The operation of cranes, hoists, and forklifts must be carried out by  authorized personnel to prevent personal injury and equipment damage. During transportation, avoid vibration, dropping, or impacting the control ...

  • Page 23: Transport By A Forklift

    2.1.2 Transport by a forklift When using a forklift to transport the control cabinet, the following precautionary measures should be followed: Ensure a safe working environment for the control cabinet to be safely transported to the  installation site. Notify personnel working in the forklift's path to be aware of the ongoing movement of ...

  • Page 24: Installation Location

    There should be no ion or non-ion interference.  Instructions for users: Please refer to the Instructions for Users and standardize your work. 2.2.2 Installation location  The control cabinet should be installed outside the range of robot movement (within a safety fence) Security fence Electrical control cabinet...
  • Page 25 - There should be a distance of at least 200 mm on both sides of the control cabinet to  ensure proper airflow. Top view of the control cabinet Control cabinet door opened  The control cabinet should be installed at a height between 0.6 meters and 1.72 meters from the ground.

  • Page 26: Chapter 3 Wiring & Connection

    Chapter 3 Wiring & Connection The system must be electrically grounded to avoid fire, electric shock  and bodily injury. Turn off the main power switch prior to wiring and inspection to avoid  electric shock and bodily injury. Be sure to turn off the main power supply for at least 5 minutes prior ...

  • Page 27: Residual-Current Circuit Breaker

    All non-workers shall be evacuated from the site when connecting cables. Be sure to put  all cables in underground cable trench with cover. Piping Wiring duct Wiring 管  The wiring and routing of encoder cables must be separated from power cables. If they are placed in the same cable conduit, isolators must be used to keep them separated.

  • Page 28: Basic Diagram

    Name Description Mains power cable IO cable interface Undefined input and output signal interfaces (24-pin) RJ45 interface Communication interface to the vision module Encoder cable Motor encoder cable interface for each axis of the robot to collect the robot position signal and connect to the robot body using a special cable.

  • Page 29: Power Supply Wiring

    Three-phase power supply wiring Protective earth The input power cable for ESTUN control cabinets is not included and should be wired by the user or purchased from ESTUN (ER12-ER35 still come with input power cables as standard). When selecting your own cable, it must comply with the relevant safety regulations. The following cable specifications are recommended based on different control cabinet models.
  • Page 30 Connect the power supply incoming terminals on the electrical cabinet, ensuring that the line numbers on the load switch incoming and outgoing terminals match. Figure 1 Securely fasten the green-yellow grounding wire to the grounding copper bar. Figure 2 Figure 3.4 Power harness assembly illustration (3-phase 2)
  • Page 31 Electrical principle After the three-phase AC is filtered, the three-phase AC 380V voltage is changed to three-phase AC 200V through the transformer (for the electric control cabinet powered by the servo drive with 200V power supply). When there is a temporary power supply frequency interruption or voltage drop, or there is any alarm from the driver, the servo power will be cut off and power will be shut down.
  • Page 32 Control power supply 24V Control Power Positive Control power negative Figure 3.6 Control power supply 24V...
  • Page 33 Cooling fan EV1~EV3 rear door DC fan Please note! The fan blows air outside the cabinet! Figure 3.7 Cooling fan...
  • Page 34 DC 24V control loop Servo power-on indication Servo mains control Servo alarm circuit E-stop pendant, provided or not If an external E-stop is required, remove the shorting stub from the terminal Figure 3.8 DC 24V control loop...
  • Page 35 AC 220V control loop Servo main contactor control Figure 3.9 AC 220V control loop...

  • Page 36: Teach Pendant

    Motor brake Figure 3.10 Motor brake 3.6 Teach pendant 3.6.1 Precautions for using teach pendant Handle with care and avoid dropping, throwing, or striking the teach pendant, as this may cause damage or malfunction. When not in use, hang it on the dedicated holder to prevent accidental dropping (our internal drop test result is satisfactory at a height of 1 meter);...

  • Page 37: Apperance Of Teach Pendant

    3.6.2 Apperance of teach pendant 1. LCD display area; 2. Emergency-stop button; 3. Mode switch; 4. Keyboard area; 5. Indicator LED; 6. Enable switch; 7. Suspension bracket; 8. Cable connection area; 9. USB interface; 10. Operation pen Description Name Processor 335X basic frequency 800mHZ, DDRIII 512M Memory/Storage NANDflash 512M...

  • Page 38: Teach Pendant Interface Definition

    Name Description Housing material, color ABS/PC; BLACK/GRAY Operating environment Operating temperature: 0°C to 45°C Storage temperature -20°C to 70°C 3.6.3 Teach pendant interface definition Definition Description Definition Description 24V power supply +24V Reserved － Power ground Reserved － E-stop 1+ Teach pendant enable 2+ ES1+ ED2+...

  • Page 39: Teach Pendant Connection

    3.6.4 Teach pendant connection This product can be equipped with a teach pendant for robot teaching and programming. The connection is illustrated as shown in the figure below. For detailed operation of the teach pendant, please refer to the programming manual of the teach pendant.

  • Page 40: Electrical Principle

    3.6.5 Electrical principle ESTUN teach pendant Power supply Emergency stop Enable Connection to ETHERNETO via RJ45 Figure 3.12 Teach pendant wiring 3.7 IO wiring 3.7.1 IO wiring IO interface definition The figure below shows the aviation plug at body side...
  • Page 41 Definition Definition...
  • Page 42 Signal specifications The technical specifications of the digital input/output expansion module EC4-1616BWE are shown in the table below. Table 3-2 Table of technical parameters EC4-1616BWE Interface parameters Bus protocol EtherCAT Number of I/O stations Depending on the master Data transmission Ethernet/EtherCAT CAT5 cable medium Transmission distance ≤...
  • Page 43 Isolation method Optocoupler isolation Isolation withstand 500 V voltage Channel indicator Green LED Load Maximum output current 250mA Figure 3.13 DO NPN type wiring diagram Figure 3.14 DI PNP type wiring diagram Load Maximum output current 250mA Figure 3.15 DO PNP type wiring diagram...

  • Page 44: Encoder Wiring

    Figure 3.16 DI NPN type wiring diagram 3.7.2 Encoder wiring Table 3-1 Encoder - Aviation plugs Definition Description Definition Description S1＋ S4＋ S1﹣ S4﹣ － － Wiring of the J1 motor Wiring of the J4 motor encoder encoder － － 5V-1 5V-4 0V-1...

  • Page 45: Controller

    Definition Description Definition Description － － 5V-2 5V-5 0V-2 0V-5 S3＋ S6＋ S3﹣ S6﹣ － － Wiring of the J3 motor Wiring of the J6 motor － － encoder encoder 5V-3 5V-6 0V-3 0V-6 － － 3.8 Controller The controller is the motion control device of the robot system, which receives instructions from the teach pendant and sends control signals.
  • Page 46 Item Description Power supply Connected to switching power supply (DC 24V±10%) interface Serial interface － LAN interface Standard RJ45 connectors (3 in total), connected to: RJ45 connector of the Teach pendant  Coupler  RJ45 connector of the control cabinet ...
  • Page 47 O&M Wizard optional Extension network port Teach pendant connector Figure 3.18 Communication connections (optional O&M wizard) E-stop wiring Figure 3.19 E-stop wiring diagram Wiring terminals E002 and E006 may connect to external emergency stop signals, and wiring terminals E004 and E008 may connect to external emergency stop signals.
  • Page 48 Coupler power supply Coupler power supply/DC24V Coupler Figure 3.20 Coupler power supply Input module Remote Safety System E- Remote Remote Remote Teach pendant enable Module power supply stop door stop start reset mode EC4-1616B DI part Reload Reserved Module power supply procedure Figure 3.21 Input module...
  • Page 49 Output module Program Excitation Main Visual Remote Reload Teach pendant Alarm Module power supply operation status Power trigger lockout program done provided or not EC4-1616B DO part Reserved Module power supply Figure 3.22 Output module...

  • Page 50: Relay Module

    3.9 Relay module The model of the relay module is 11261100001 (relay module ER-Relay-A). Its integrated 18 LED indicators indicate the current status in detail, which has a guiding effect on the maintenance of the internal lines of the control cabinet. Description LED ON LED OFF...
  • Page 51 The electrical schematic diagram of relay module is shown below. Figure 3.24 Relay module...

  • Page 52: Chapter 4 Debugging

    Chapter 4 Debugging 4.1 Checks before power-on Before powering on the control cabinet, please check and confirm the following items, and make necessary adjustments if needed. Content Inspect the appearance of the control cabinet both inside and outside. Check if the fastening screws are securely connected. Verify the status of connectors and installation locations of each unit in the control cabinet.

  • Page 53: Use Of Teach Pendant

    4.2 Use of teach pendant 4.2.1 Connection of teach pendant Please refer to “4.2.1 Connection of teach pendant” for the connection and wiring method of the teach pendant. 4.2.2 Editing method The modification of drive unit parameters can be completed by following the steps below. Step 1: When the main power is turned on, the control cabinet undergoes an initialization diagnosis.

  • Page 54: Use Of Esview Software

    Step 5: In the parameter dialog box that appears, set the desired parameters. Please note that the teach pendant can only be used to set certain Pn parameters. If you wish to set more parameters, please use the operating panel. 4.3 Use of ESView software 4.3.1 Connecting the servo drive unit To perform online operations, connect the PC and the servo drive unit using a USB-...

  • Page 55: Installing Esview

    Plug the MINI USB plug into the drive's CNS Connect the USB plug into the PC Step 6: Rotate the "O-OFF" switch to "I-ON" to power on the control. At this point, the PC has successfully connected to the servo drive unit. 4.3.2 Installing ESView System Requirements Users are required to have a personal computer that meets the following basic conditions:...
  • Page 56 Please make the following preparations before installation: Windows operating system, communication cable, and decompression software. Log in to the official website of ESTUN at www.estun.com and navigate to the "Downloads" section to find and download the ESView software. If you are unable to obtain the software or require assistance, please contact ESTUN engineers.

  • Page 57: Enabling Esview

    4.3.3 Enabling ESView Online operation Through online operation, you can upload, download, and perform other operations on the parameters of the servo drive unit. To perform online operations, connect the PC and the servo drive unit using a USB- RS485 (RJ45) communication cable. Step 1: Connect the drive unit to the PC using a USB connection cable.
  • Page 58 Robot axis Default ESView display ID number address J6 axis J2 axis J5 axis J3 axis J4 axis The "Address" can be viewed or modified using Pn701. Baud Rate: Set the communication speed with the device. The actual communication  speed can be viewed using parameter Pn700.0, with a default value of 9600.
  • Page 59 Step 8: Click on "Connect". Step 9: Once in the main window of ESView, the connected device will be displayed in the left "Devices" column. Users can now make necessary settings to the drive unit or motor in real-time. Offline Operation In offline operation, users can perform image operations such as oscilloscope, FFT, mechanical analysis, etc., without the need to connect any devices.
  • Page 60 Step 4: Choose the desired "Drive Type" for configuration, such as "EDS". Step 5: Click on "Open".

  • Page 61: Parameter Settings

    Step 6: Once in the main window of ESView, the created offline device will be displayed in the left "Devices" column. Certain functionalities are limited and cannot be configured correctly in offline operation. 4.3.4 Parameter settings In the "Parameter Edit" window, users can perform the following operations: Upload Parameters ...
  • Page 62 Step 2: The "Parameter Edit" window will appear in the "Function Display Area." Uploading Parameters There are two ways to upload parameters: "Upload All" and "Upload Selected Items." Upload All:  Method 1: In the "Parameter Edit" window, click on "Upload All." After a moment, ESView will read and display the settings of all parameters from the drive unit in the "Device Value"...
  • Page 63 Upload Selected Items  In the "Parameter Edit" window, users can either drag the mouse to select specific parameters or hold down the "Ctrl" key on the keyboard and individually select the parameters to be read. Then, right-click on one of the selected items and choose "Upload Selected Items"...
  • Page 64 Edit Parameters After successfully uploading parameters, users can directly modify the desired parameters in the "Device Value" column, and the parameters will be updated accordingly. When editing parameters, detailed explanations for each parameter will be displayed below the parameter list, providing assistance for user configuration. Search Parameters Operating steps: 1.
  • Page 65 Download Parameters Download All  Method 1: In the "Parameter Edit" window, click on "Download All." After a moment, the edited parameters will be written to the drive unit. Method 2: Users can also right-click on any non-editable area of the parameter list and select "Download All"...
  • Page 66 If the page displays a "Failed to download parameters" message, please check the connection between the drive unit and the PC. Restore Factory Values Performing "Restore Factory Values" will reset the parameters in the drive unit (excluding certain specified parameters) to their default settings. Please proceed with caution. Step 1: In the "Parameter Edit"...
  • Page 67 Step 2: In the pop-up "Save As" dialog box, select the desired path to store the parameter file. Step 3: Click "Save." Compare Parameters Compare Parameters is an operation that compares the parameter values in the device with the parameter values in an offline file on the PC. Please follow the following steps to perform this operation.

  • Page 68: Definition Of Parameters

    4.4 Definition of parameters Instructions for use When indicating a parameter change, the effective time of the change is as follows: "Restart": The change takes effect only after the power is restored. "Immediately": The change takes effect immediately after the parameter settings are confirmed. Detailed explanation of parameters Servo ON...
  • Page 69 Detailed explanation of parameters When to Factory Name Scope Unit take value effect － Basic function settings 0 0000～0111 0110 Restart Pn000.0: Servo ON External S-ON is valid External S-ON is not valid. Motor excitation signal Pn000 automatically turned on after /S-RDY output Pn000.1: Reserved Pn000.2: Reserved Pn000.3: Reserved...
  • Page 70 When to Factory Name Scope Unit take value effect － Application function settings 5 1000～1301 1000 Restart Pn005.0: Torque Feedforward Method General torque feedforward High-speed torque feedforward Pn005 Pn005.1: Reserved Pn005.2: Deviation alarm enable Disable deviation alarm Enable deviation alarm, triggers an alarm when the deviation counter value exceeds the setting of Pn504 Reserved Reserved...
  • Page 71 When to Factory Name Scope Unit take value effect － Application function settings 6 0000～0104 0004 Restart Pn006.0: Bus type Not using bus control, but the internal speed parameter control Reserved Pn006 Using EtherCAT bus Pn006.1: Reserved Pn006.2: Low-frequency vibration suppression switch enabling low-frequency vibration...
  • Page 72 When to Factory Name Scope Unit take value effect － Application function settings 8 0000～0001 0001 Restart Pn008.0: Alarm/warning selection Alarm Warning Pn008 Pn008.1: Axis shielding Axis enable Axis shielding Pn008.2: Reserved Pn008.3: Reserved...
  • Page 73 When to Factory Name Scope Unit take value effect － Application function settings 100 0000～0036 0000 Restart Pn100.0: Load Inertia Setting Selection Manually set the percentage of load inertia (Pn106) Use conventional inertia online identification when the load inertia remains unchanged Use conventional inertia online identification when the load inertia changes slightly Use conventional inertia online identification when the...
  • Page 74 When to Factory Name Scope Unit take value effect Immediat 1～4000 Speed loop gain Pn102 This value determines the magnitude of the speed loop gain. Immediat 1～4096 Speed loop integral time 0.25ms Pn103 Decreasing this value will shorten the positioning time and improve the speed response. Immediat 0～1000 Position loop gain...
  • Page 75 When to Factory Name Scope Unit take value effect Immediat 0～500 Basic waiting process 10 ms The standard setting is to turn off the servo while the /BK output (brake activation) is active. Pn506 In this case, due to the mechanical construction and characteristics of the brake, the mechanical system may experience slight movement under the influence of gravity.
  • Page 76 When to Factory Name Scope Unit take value effect Immediat 0000～FF03 － Encoder selection 0003 Pn840.0: Encoder type 17-bit absolute encoder Pn840 Pn840.1: Reserved Pn840.2: Reserved Pn840.3: Reserved...

  • Page 77: Chapter 5 Troubleshooting

    Chapter 5 Troubleshooting 5.1 Alarm check During the operation of the robot, alarms that occur can be viewed using the teach pendant or ESView. Once an alarm occurs, the robot will stop its motion and the user will need to take necessary actions to resolve the issue before resuming robot operation.

  • Page 78: Viewing Alarms With Esview

    Get Historical Alarms Clicking on "Get Historical Alarms" will synchronize all historical alarm information from the controller and update the historical alarm interface. Clear Alarms If there are any current alarms, clicking on "Clear Alarms" will attempt to clear and reset the system to continue normal operation.
  • Page 79 Name Cause of fault Solution Check if the electronic gear ratio setting  is within the specified range: Input pulse Errors in the drive unit frequency * electronic gear ratio < parameter settings, such as 500kHz improper electronic gear ratio configuration If >...
  • Page 80 Name Cause of fault Solution Issue with Excessive U-phase current Perform Fn005 operation to bias the current current channel and then restore factory A.08 detection settings channel 1 Drive unit malfunction Replace the servo drive unit Issue with Excessive V-phase current Perform Fn005 operation to bias the current current channel and then restore factory...
  • Page 81 Check the ambient temperature and A.18 overheating exceeding the set threshold reduce the load alarm Temperature Temperature sensor not Please contact ESTUN or an authorized sensor on the connected or damaged distributor A.1D drive board disconnected Open phase in One phase of the main circuit Ensure correct wiring of the main circuit A.20...
  • Page 82 Name Cause of fault Solution Module current Detection of module working Check and reset Pn8403 A.39 exceeds limits current exceeding the set parameters Motor power Incorrect setting of Pn8403 Check and reset Pn8403 level is not A.40 within the specified range Incorrect motor Incompatibility between motor A.42...
  • Page 83 Name Cause of fault Solution Damaged encoder cable Strictly prohibit hitting the motor shaft and rear cover during motor installation to prevent damage to the motor encoder Damaged drive unit Replace the drive unit Damaged motor Replace the motor Battery not connected or insufficient battery voltage Absolute Ensure the battery box voltage is 36V...
  • Page 84 Name Cause of fault Solution Try winding a magnetic ring around the External interference  encoder cable and motor power lines (at least three turns) Try connecting a wire from the shield  layer of the encoder cable to the motor body Serial encoder communication...
  • Page 85 Name Cause of fault Solution Try winding a magnetic ring around the External interference  encoder cable and motor power lines (at least three turns) Try connecting a wire from the shield  layer of the encoder cable to the motor body Use shielded twisted-pair cables for the ...

  • Page 86: Chapter 6 Maintenance

    Chapter 6 Maintenance 6.1 Maintenance precautions Before performing maintenance, please carefully read the following content and ensure a thorough understanding of the methods for safe maintenance. Maintenance of the robot system must be carried out by personnel who have  received safety training.

  • Page 87: Daily Inspection

    6.2 Daily inspection To ensure the normal functioning of the product and protect it from damage, it is necessary to perform regular maintenance and inspections. If the equipment is located in the following environments, reduce the inspection interval: Temperature, humidity, dust, and vibration in the environment ...

  • Page 88: Items To Confirm During Installation Adjustment

    surface begins to peel Normal operation Visual confirmation,  confirmation cleaning Visual confirmation, Filter sponge Dirt and blockage  cleaning and replacement Teach pendant console, electric cabinet Confirm the function of operation indicator light, operation Visual confirmation  panel, other switch, button switch, etc.
  • Page 89 Press the emergency stop button on the operation panel to switch on the power. Confirm the interface signal between the control cabinet and the robot. Confirm and set the parameters. Contact emergency stop of operation panel. Confirm the motion of each axis under manual feed. Confirm the signal action of each interface.

  • Page 90: List Of Spare Parts

    6.5 List of spare parts Table 6-1 List of spare parts of ER8-2000-HW Series Robot ED3L Control Cabinet Material No. Name Qty. 51600000145 Switch power DRL-24V120W1EN[DELTA] 51600000144 Switch power DRL-24V240W1EN[DELTA] 11261100001 Extension module ER-Relay-A-Relay module 31600000370 Tubular resistor 1200W40Ω*2+750W25Ω+200W45Ω+50W45*2 52900000072 Fan cover ZL-803(Grey)(Flame retardant) 11200000532 ED3L Servo drive ED3L-30DEA-R1[JZ]...
  • Page 91 11200000485 ED3L Servo drive ED3L-08AEA-R1[JZ] 11200000484 ED3L Servo drive ED3L-04AEA-R1[JZ] Straight-end network cable VS-IP20-IP20-LI/0.3-CAT5E/ Pre- 13200000905 freezing 13200001469 Straight-end network cable VS-IP20-IP20-LI/0.2-CAT5E 13200000908 Straight-end network cable VS-IP20-IP20-LI/1.5-CAT5E 52911610002 Axial flow fan SJ1238HD2BPL 52200000465 IO module XB6-1616BWE(PNP) 51400000013 Circuit breaker NXB-63 3P D32 Table 6-4 List of spare parts of ER8-1450-HW Series Robot ED3L Control Cabinet Material No.
  • Page 92 Table 6-6 List of spare parts of ER12B-1510 Series Robot ED3L Control Cabinet Material No. Name Qty. 51600000145 Switch power DRL-24V120W1EN[DELTA] 51600000144 Switch power DRL-24V240W1EN[DELTA] 13200000908 Straight-end network cable VS-IP20-IP20-LI/1.5-CAT5E Straight-end network cable VS-IP20-IP20-LI/0.3-CAT5E/ Pre- 13200000905 freezing 13200001469 Straight-end network cable VS-IP20-IP20-LI/0.2-CAT5E 11200000541 Extension module ER-Relay-A-BJ-Relay module 51400000013...
  • Page 93 52900000472 风机 SJ1751HD2BAL 5000RPM 51400000013 Circuit breaker NXB-63 3P D32 Table 6-9 List of spare parts of ER20B-1745-PV Series Robot ED3L Control Cabinet Material No. Name Qty. 52911610002 Axial flow fan SJ1238HD2BPL 15000000053 Robot controller ERC30E 51433300001 Common fuse base RT18-32 51500000076 AC contactor NXC-22 220V 52300000297...
  • Page 94 11200000484 ED3L Servo drive ED3L-04AEA-R1[JZ] Table 6-12 List of spare parts of ER30～ER35 Series Robot ED3L Control Cabinet Material No. Name Qty. 51600000145 Switch power DRL-24V120W1EN[DELTA] 51600000144 Switch power DRL-24V240W1EN[DELTA] 13200000907 Straight-end network cable VS-IP20-IP20-LI/1.0-CAT5E Straight-end network cable VS-IP20-IP20-LI/0.3-CAT5E/ Pre- 13200000905 freezing 13200001469...

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