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

Estun S1E Series Operation Instructions Manual

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Robotics S1E Series (CE Version)
Operation Manual of Control Cabinet
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  • Page 1 Robotics S1E Series (CE Version) Operation Manual of Control Cabinet...
  • Page 2 ESTUN Robotics S1E Series (CE Version) Operation Manual of Control Cabinet E-S1ECE-A01...
  • Page 3 Thank you for purchasing ESTUN robots. Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content. ESTUN is committed 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 History Revision Date Content 2024.01 Initial issue.

  • Page 5: Preface

    The robot is a part of the robot safety system and cannot operate independently without end effectors or peripheral devices. ESTUN Robotics are not experts in safety systems, safety equipment, or specific workplace safety aspects. Purchasers or users of ESTUN robots have the responsibility to implement necessary safety measures to ensure the safety of all personnel in the workplace.
  • Page 6 The compatible robot types for this control cabinet are as follows: Cabinet Model Compatible Models ER35B-1810 ER35B-1810-LI ER30B-1810-F ER28B-1800-PV ERC-S-E4MA(ED3L-ER20B)-CE ER20B-1760-HI ER20B-1760 ER20B-1745-PV ER20-1745-PV ERC-S1-E4MA(ED3L-ER20B-2010)-CE ER20B/10-2010-HI ERC-C2-E4SA(ED3L-B)-CE ER20-1200-MI ERC-S-E4SB(ED3L)-CE ER15-1520-PR ERC-S-E4SA(ED3L-II)-CE ER12B-1510 ERC-S-E5MA(ED3L-ER20)-CE ER10-2000-CW-T1...

  • Page 7: Table Of Contents

    CONTENTS Revision History ......................... 4 Preface ............................5 CONTENTS ..........................7 Chapter 1 Safety Precautions ....................10 1.1 Safety Symbols and Warning Signs ......................10 1.1.1 Safety Symbols ..........................10 1.1.2 Warning and Caution Signs......................11 1.2 Definition of users ............................11 1.3 Precautions for Users ..........................
  • Page 8 3.1 Handling Procedures ..........................34 3.1.1 Transport the control cabinet with a crane ..................34 3.1.2 Transport the control cabinet with a forklift ................... 35 3.2 Installation ..............................35 3.2.1 Installation guidelines ........................35 3.2.2 Installation location......................... 36 Chapter 4 Wiring & Connection ..................37 4.1 Precautions for cable connection .......................
  • Page 9 5.4.3 Editing method ..........................71 5.5 Use of ESView software ..........................73 5.5.1 Connecting the servo drive unit ...................... 73 5.5.2 Installation ............................74 5.5.3 Start ESView ........................... 82 5.5.4 Edit Parameters ..........................86 5.6 Definition of parameters ..........................92 5.6.1 Instructions for use .........................

  • Page 10: Chapter 1 Safety Precautions

    We will not assume any legal liability for personal safety incidents or property losses resulting from improper product operation. Companies or individuals using ESTUN Robots should familiarize themselves with the standards and laws in their respective regions or countries. Additionally, appropriate safety measures should be installed to protect personnel using the robot.

  • Page 11: Warning And Caution Signs

    1.1.2 Warning and Caution Signs Symbol Description Electric shock Attention should be paid to the danger of high voltage and electric shock at the place where this sign is affixed. High temperature Be cautious about a section where this label is affixed, as the section generates heat.
  • Page 12 ⚫ To operate the E-stop button on the control cabinet and teach pendant in case of emergency. ⚫ Must not work inside the safety fence. 2. Programmers ⚫ To operate the robot; ⚫ To teach the robot outside the safety fence, etc.; ⚫...

  • Page 13: Precautions For Users

     Safety helmet 1.3 Precautions for Users 1.3.1 Precautions for operators Operators must conduct the main power switch ON/OFF operation outside the safety fence and perform checks before power-on, as outlined in "5.1 Checks before Power-on" and follow the steps in "5.2 Control Cabinet Power-up Procedures".
  • Page 14 The initial test upon repair, installation and maintenance shall be carried out by following the steps below:  Clean up the robot and all maintenance and installation tools in the working space of the robot.  Install all the protective measures. ...

  • Page 15: Safety Precautions For Robot

    Safety helmet  Operations within the safety area require specialized training on the robot.  For more information regarding training, please consult ESTUN Robotics Engineering Co., Ltd. 1.4.2 Installation precautions  Installation personnel must be familiar with product installation requirements and related documentation.

  • Page 16: Precautions For Operation

     Check the functionality of all E-stop switches after powering on. If they are not functioning correctly, stop using the equipment immediately and contact ESTUN personnel promptly.  Do not lean on the control cabinet or touch buttons casually when powering on, to prevent unexpected robot actions that could cause personal injury or equipment damage.

  • Page 17: Maintenance Precautions

     For more information regarding training, please contact ESTUN Robotics Engineering Co., Ltd. 1.5 Robot Stop Types The S1E Series Control Cabinet of ESTUN Robotics has the following 3 stop methods:...

  • Page 18: Power-Off Stop

    Upon effective execution of the protective stop, the control cabinet promptly decelerates the robot's movements. Subsequently, the servo main power is cut off via a safety relay. As per ESTUN's risk assessment, the average number of operations for a protective stop should not exceed 252 times within a year.

  • Page 19: Emergency Stop

    Therefore, it is essential to avoid frequent pressing of the E-stop button.  As per ESTUN's risk assessment, the E-stop switch should not be operated more than 252 times on average within one year.  Refer to the maintenance manual of each robot control cabinet for the actual location of the E-stop button.

  • Page 20: Operations Within The Safety Fence

    Figure 1-2 Placement of Robot Control Cabinet 1.8.1 Safety fences and other safety measures ESTUN Robotics is not an expert in safety systems, safety devices, or specific workplace safety. The purchaser or user of ESTUN robots is responsible for implementing necessary safety measures to ensure the safety of all individuals in the workplace.

  • Page 21: Procedure For Entering The Safety Fence

    (e.g., releasing harmful substances into the workspace). Safety plugs and sockets.  As per ESTUN's risk assessment, the E-stop switch should not be operated more than 252 times on average within one year.  It is recommended that the customer use a safety feature device that is not less than the level of safety required or listed by ESTUN.

  • Page 22: Emergency Brake Release Procedure

    1. Press the [STOP] button on the teach pendant, wait for the robot to come to a complete stop. 2. After the robot has fully stopped, press the E-stop button or use the external stop function on SAFETY IO to cut off the power source to the motors. Ensure the robot has completely stopped before entering the safety fence.
  • Page 23 Figure 1-3 Device of Brake Release The unlocking device consists of a locking button box and a cable. The locking button box contains the unlocking buttons for axes J1 to J6, which are used to unlock the locks of the corresponding axes. The steps for releasing the brake in case of emergency are outlined below: 1) Press the [STOP] button on the teaching pendant;...
  • Page 24 ⚫ Lifting method of J3 axis Figure 1-4 Lifting Method of J3 Axis ⚫ Lifting method of J2 axis When the J2 axis angle is less than 45° , the hoisting method is similar to the aforementioned J3 axis. When the J2 axis angle exceeds 45° , refer to Figure 1.5 for the hoisting method: Figure 1-5 Lifting Method of J2 Axis ER220-2650 lifting method ⚫...
  • Page 25 Figure 1-7 Lifting Method of J2 Axis 4) Restore the E-stop button, then press the start button 2 times. Wait for the light to illuminate to provide servo main power; 5) Immediately insert the plug from the brake release device into the CN7 socket on the relay module board inside the control cabinet, as shown in Figure 1-8.
  • Page 26 External24V Figure 1-9 External Power Supply for Relay Module Board For external power connections, select a switch power supply of 24V 4A or higher if required.

  • Page 27: Chapter 2 Product Information

    Chapter 2 Product Information 2.1 Information on Nameplate Model Date Weight Input Specification Trip Current Product Order Number Product Serial Number Figure 2-1 Nameplate Information for Control Cabinet 2.2 Model Description Drive Version Design sequence Control cabinet Note Series name specifications classification model...

  • Page 28: Product Dimensions

    2.3 Product Dimensions Figure 2-3 Product Dimensions...

  • Page 29: Components

    2.4 Components 2.4.1 Description of appearance Stop Button with Red LED E-Stop Button Start Buttonwith White LED Teach Pendant Hook Main Power Switch Figure 2-4 Appearance Description of CE Version Control Cabinet Table 2-1 Introduction of Functions of Various Components of the CE Version Control Cabinet Component Name Function Used for emergency stops;...

  • Page 30: Internal Structure

    Reserved interface Reserved interface IO Cable Interface Reserved interface Main Cable Interface Encoder Cable Interface Robot Power Cable Teach Pendant interface Interface Figure 2-5 External Interfaces at the Bottom of the CE Version Control Cabinet* Table 2-2 Introduction to External Interfaces at the Bottom of the CE Version Control Cabinet Component Name Function Mains Cable Inlet...
  • Page 31 Heat Exchangers SAFETY IO Terminal Block Driver Intermediate Relay Main Power Switch IO Module Safety Relay Filter Broad Switching Controllers Power Supply Interrupter Relay Module External Interface Tubular Resistor 管式电阻 风扇 Fan 变压器 Transformer Internal Structure of the CE Version Control Cabinet*...

  • Page 32: Basic Parameters

    Self-weight (kg) Applicable model (kW) consumption (L*W*H) (kW.h) 1.34 ER35B-1810 1.34 ER35B-1810-LI 0.91 ER30B-1810-F 1.38 ER28B-1800-PV 1.17 ER20B-1760 1.17 ER20B-1760-HI S1E Series 620*550*750 Vertical 1.08 ER20-1745-PV Version) control cabinet 1.08 ER20B-1745-PV 1.19 ER20B/10-2010-HI 1.43 ER20-1200-MI 1.64 ER15-1520-PR 0.81 ER12B-1510 2.57...
  • Page 33 Passive contacts, 5 inputs, 2 outputs Safety IO 10 DIs，9 DOs System IO 22 DIs, 23 Dos (For additional user IOs, please consult ESTUN Robotics General IO Engineering Co., Ltd.) Standard: EtherCAT, Modbus TCP, TCP/IP; [Note]: Other communication protocols are optional, please consult Communication interface with peripherals our sales department.

  • Page 34: Chapter 3 Transportation & Installation

    Chapter 3 Transportation & Installation 3.1 Handling Procedures  Place the control cabinet on a pallet for transportation.  Use of cranes, lifting gear, or forklifts must be performed by authorized personnel to prevent personal injury and equipment damage.  Avoid vibrations, dropping, or impacting the control cabinet during transportation, as excessive vibrations or impacts can have detrimental effects on its performance.

  • Page 35: Transport The Control Cabinet With A Forklift

    3.1.2 Transport the control cabinet with a forklift When using a forklift to transport the control cabinet, adhere to the following precautions: 1) Ensure a safe working environment for moving the cabinet securely to the installation site. 2) Notify personnel working within the forklift's operating range to be mindful of the cabinet's movement.

  • Page 36: Installation Location

    3.2.2 Installation location  The control cabinet should be installed outside the range of robot movement (within a safety fence) 安全围栏 电控柜 门 1000mm 1000mm 1000mm Range of motion of robot arm Maximum of range of motion of robot arm including the tool ends 1000mm ...

  • Page 37: Chapter 4 Wiring & Connection

    Chapter 4 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 wiring and inspection.

  • Page 38: Basic Connection Diagram

     Confirm the socket and cable number to prevent equipment damage arising from incorrect connection.  All non-workers shall be evacuated from the site when connecting cables. Be sure to put all cables in underground cable trench with cover.  Connect the control cabinet's ground wire to the earth for improved EMC performance. ...

  • Page 39: Circuit Breaker/Surge Protector Selection

    IEC60204-1. 4.4 Power Cable Selection ESTUN control cabinets are not equipped with input power cables. Users need to provide their wiring or purchase from ESTUN. When choosing cables, comply with the relevant safety standards. The recommended cable specifications are as follows.

  • Page 40: Power Supply Wiring

    4.5 Power supply wiring Description The control cabinet uses a three-phase AC 380V power supply. Follow the provided diagram for proper power cable assembly and correct wiring. Pay attention to the following connections: Diagram Description Three-phase power wiring Safe ground wiring Power Harness Assembly When wiring the power supply cable, please note that it should be routed in the following way as shown in Figure 4-3：...

  • Page 41: Teach Pendant

    Figure 4-4 Power Cable Harness Assembly 4.6 Teach pendant 4.6.1 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 M);...

  • Page 42: Appearance Of Teach Pendant

    Follow our defined wiring guidelines to avoid connection errors and potential issues; 10. The teach pendant is not explosion-proof. Do not use it in explosive environments or work units; 11. Keep the teach pendant away from water, oil, and similar environments; 12.

  • Page 43: Teach Pendant Interface Definition

    4.6.3 Teach pendant interface definition Figure 4-6 Teach Pendant Interface Diagram Table 4-2 Definition of Teach Pendant Interface Definition Description Definition Description － +24V 24V Power Supply Reserved － Power Ground Reserved ES1+ E-stop 1+ ED2+ Teach pendant enable 2+ ES1- E-stop 1- Teach pendant EtherNet transfer data+...

  • Page 44: Io Wiring

    Figure 4-7 Teach Pendant Connection Diagram 4.7 IO Wiring This chapter mainly introduces the DI/DO interfaces of S1E series (CE version) control cabinet, the standard configuration is: 32 DI and 32 DO, of which the system occupies 10 DI (DI0~DI9) and 9 DO (DO0~DO8), and the user can customise the use of 22 DI (DI10~DIF of DM1 module and DI0~DIF of DM2 module) and 23 DO (DO9~DOF of DM1 module and DO0~DOF of DM2 module).

  • Page 45: Io Signal Specifications

    IO Module Figure 4-8 IO Module Location 4.7.1 IO Signal specifications The technical parameters of the digital I/O expansion module EC4-1616BWE are shown in Table 4-3 below. Table 4-3 EC4-1616BWE Technical Parameters Interface parameters Bus protocol EtherCAT Number of I/O stations Depending on the master Data transmission medium Ethernet/EtherCAT CAT5 cable...
  • Page 46 Signal type "0" signal voltage (PNP) -3~+3 V "1" signal voltage (PNP) 15~30 V Input filtering 3 ms Input current 4 mA Isolation method Opto-couplers isolation Isolation withstand voltage 500 V Channel indicator Green LEDs Digital Output DOs Rated voltage 24 VDC (±...

  • Page 47: System Dis

    Table 4-4 IO Module Definition and Description of DI Interfaces Port Definition Explanation Input0~InputF 16-channel DIs signal port There are two pins for Power+24V in the DIs section, labeled as 24V on the IO module panel, internally connected. By default, the cabinet's internal 24V power Power+24V 24V power wiring port for DIs supply (wire sequence 19) is connected here.
  • Page 48 DI_remoteStop Program pause DI_safeyDoor Safety Door * DI_eStopBt Emergency stop* DI_remoteStart Program start DI_remoteResetErr Alarm reset DI_cabMode External remote DI_remoteloadProg Reload program DI_exitCycle Program PC returns to the first line [Note] * indicates that these ports are occupied by the control cabinet and cannot be used by users. The specific wiring methods for system DIs are as follows：...

  • Page 49: System Dos

    IO Module DI X Upper Unit Figure 4-11 DI Wiring Diagram with External 24V Power Supply [Note]: When using an external 24V power supply, disconnect the wiring between the IO module's 24V and the cabinet's internal 24V (19), and insulate it. It is recommended to use an external 24V power source for wiring 4.7.3 System DOs The DOs0~DO8 ports on the DM1 module have been designated as system DOs, with specific...
  • Page 50 The DO0 motion indicator output signal can be connected to an external green light, which illuminates when the robot is in motion. DO1, the alarm indicator output signal, can be connected to an external red light, which illuminates during robot alarms. DO3, the completion of enabling output signal, can be connected to an external yellow light, indicating the robot is enabled for excitation.
  • Page 51 IO Module DO X Load Internal 24V Rlay （19） Internal 0V （20） Figure 4-13 DO Wiring Diagram with Internal 24V Power Supply (load from relay) (2) Wiring method for load from customer DI modules with internal 24V power supply IO Module DI X Customer DI Module...
  • Page 52 IO Module DO X Internal 24V External （19） Relay load Internal 0V （20） Figure 4-15 DO Wiring Diagram with External 24V Power Supply (load from relay) (4) Wiring method for load from customer DI module with external 24V power supply IO Module DI X Customer DI...

  • Page 53: General Dis

    4.7.4 General DIs The DM1 module is occupied by the system, using 10 DIs (DI0~DI9), while the user can utilize 6 DIs (DI10~DIF). All DIs on the DM2 module is available for user customization. The specific wiring methods for general DIs are as follows: (1) Wiring method for load from customer DI modules with internal 24V power supply IO Module DM1/DM2 DI Module...

  • Page 54: General Dos

    It is recommended to use an external 24V power source for wiring. 4.7.5 General DOs The DM1 module is occupied by the system, using 9 DOs (DO0~DO8), while the user can utilize 7 DOs (DO9~DOF). All DOs on the DM2 module is available for user customization. The specific wiring methods for general DOs are as follows: (1) Wiring method for load from relays with internal 24V power supply IO Module...
  • Page 55 It is recommended to use an external 24V supply for wiring. (3) Wiring method for load from relays with external 24V power supply Figure 4-21 General DO Wiring Diagram with External 24V Power Supply (load from relay) (4) Wiring method for load from customer DI modules with external 24V power supply IO Module DM1/DM2 DI Module DI X...

  • Page 56: Reserved Dis/Do Cables

    4.7.6 Reserved DIs/DO Cables The S1E series control cabinet has reserved a specific quantity of IO cables, enabling them to connect to the robot body's IO cable interface for the use of tooling and fixtures on the robot. The reserved IO cables within the control cabinet do not have any electrical connections established.

  • Page 57: Safety Io

    4.8 SAFETY IO The S1E series robot control cabinet features a comprehensive array of safety stop methods. The detailed SAFETY IO interface is illustrated in the figure below. By default, shorting jumpers are inserted into the SAFETY IO, rendering the corresponding functions inactive.

  • Page 58: External E-Stop Wiring Method

    A9 A10 A11 A12 A13 A4 A5 A6 A7 Figure 4-23 SAFETY IO Diagram The inputs and outputs related to safety stop signals along with their functionalities are described in the table below: Definition Explanation ES1+ Channel 1 External E-stop + ES1- Channel 1 External E-stop - ES2+...

  • Page 59: Safety Door Wiring Method

    SAFETY IO Terminal External E-Stop ES1+ ES1- ES2+ ES2- Figure 4-24 External E-stop Wiring Diagram SAFETY IO Terminal Shorting Terminal Figure 4-25 Wiring Diagram Not Using External E-stop 4.8.3 Safety Door Wiring Method The SAFETY IO includes the functionality of a normal stop, which can be used for safety doors and safety light curtains when the robot operates.

  • Page 60: Emergency Stop Output Wiring Methods

    SAFETY IO Terminal Normal Stop GS1+ GS1- GS2+ GS2- Figure 4-26 Wiring Diagram Using Normal Stop SAFETY IO Terminal Shorting Terminal Figure 4-27 Wiring Diagram Not Using Normal Stop 4.8.4 Emergency Stop Output Wiring Methods (1) Wiring method for load from relays...
  • Page 61 External 24V SAFETY IO Terminal Relay Load EO1+ EO2+ External 0V Figure 4-28 Emergency Stop Output Wiring Diagram (load from relays)  When the E-stop switch is not pressed, EO1+ and EO1- are connected; when the E- stop switch is pressed, EO1+ and EO1- are disconnected. ...

  • Page 62: Start Confirmation Wiring Method

     When the E-stop switch is not pressed, EO1+ and EO1- are connected; when the E- stop switch is pressed, EO1+ and EO1- are disconnected.  Short-circuiting EO1+ and EO1-, EO2+ and EO2- is strictly prohibited when not using this function. 4.8.5 Start Confirmation Wiring Method When using the start confirmation function, SC+ and SC- are externally connected to a self-resetting normally open switch.

  • Page 63: Encoder Wiring

    4.9 Encoder Wiring Figure 4-31 Encoder Diagram Table 4-6 Encoder-Aviation plug Definition Description Definition Description S1＋ S4＋ S1﹣ S4﹣ － － Wiring of Axis J1 Motor Wiring of Axis J4 Motor Encoder Encoder － － 5V-1 5V-4 0V-1 0V-4 S2＋ S5＋...

  • Page 64: Controller

    Definition Description Definition Description S3＋ S6＋ S3﹣ S6﹣ － － Wiring of Axis J3 Motor Wiring of Axis J6 Motor － － Encoder Encoder 5V-3 5V-6 0V-3 0V-6 － － 4.10 Controller The controller is the motion control device of the robot system, which receives instructions from the teach pendant and sends control signals.
  • Page 65 Item Description Power supply interface Connected to switching power supply (DC 24V± 10%) － Serial interface Standard RJ45 connectors (3 in total), connected to: ⚫ RJ45 connector of the Teach pendant LAN interface ⚫ Coupler ⚫ RJ45 connector of the control cabinet Status display 7-segment LED digital display tube －...

  • Page 66: Relay Module

    Figure 4-32 Communication Connection Diagram Optional O&M wizard Expansion Network Port Teach pendant connector Figure 4-33 Communication Connection Diagram (optional O&M wizard) 4.11 Relay Module The model of the relay module in the control cabinet is: 11261100001 Expansion Module ER-Relay- A-Relay Module.
  • Page 67 Axis alarm status LED, corresponding to the alarm status of each of the 6 axes. LED ON: no alarm. LED OFF: alarm present The brake output LED corresponds to the operating status of the brake for each of the 6 axes. LED ON: brake inactive.

  • Page 68: Chapter 5 Debugging

    Chapter 5 Debugging 5.1 Checks before power-on Before powering on the control cabinet, please check and confirm the following items, and make necessary adjustments if needed. Content Check the safety environment inside and outside the control cabinet to ensure that the circuit breakers and surge protectors are working properly.

  • Page 69: Servo Power-Up Procedure

    4) Users rotates the load switch from OFF to ON. Wait for the teach pendant to be ready and check for any alarms on the interface. If no alarms are present, proceed with the control power operation. 5.2.2 Servo Power-Up Procedure Under normal operating conditions, after the control cabinet has powered up and the teach pendant is operational, press the white start confirmation button or utilize the start confirmation function on the SAFETY IO.

  • Page 70: Use Of Teach Pendant

    5.4 Use of teach pendant 5.4.1 Teach pendant connection 5.4.2 Operation Mode Switch in Manual/Auto Modes For the S1E series robot control cabinet, the operation mode switch is located on the teach pendant, as illustrated in the figure below. operation mode switch...

  • Page 71: Editing Method

    Mode Switch In the S1E series robot control cabinet, the mode selector switch is installed on the upper left of the teach pendant. Users can use a key to choose the corresponding mode for respective operations. Operation Modes The operation modes include Manual Mode (T), Auto Mode (A), and Remote Mode (R).
  • Page 72 3) When the teach pendant displays the Home screen, select "General Settings > Servo Management". 4) Select the "Set Pn Parameters" tab. When the teach pendant displays the "Set Pn Parameters" screen, choose the tab corresponding to the desired drive axis (e.g., Axis 1) and click the "Set" button.

  • Page 73: Use Of Esview Software

    5.5 Use of ESView software 5.5.1 Connecting the servo drive unit To perform online operations, connect the PC and the servo drive unit using a USB-RS485 (RJ45) communication cable. Please follow the guided steps below to connect the servo drive unit. 1.

  • Page 74: Installation

    Visit ESTUN official website www.estun.com to find and download ESView V4 on Technical Support. If you are unable to access or need assistance, please contact ESTUN. Download for getting the compressed file. For help, please contact ESTUN.  Turn on the power supply of PC and start Windows. (Close down other software running.) ...
  • Page 75 Step 2 Double click the ESView V4 installation program. The installation program will automatically start, as shown in the following Figure Figure 5-1 Installation Step 3 Follow the instructions of the installation wizard to install ESView V4 to your PC ---- End Install USB Driver After installing the ESView V4 software successfully, you may also need to install the USB driver.
  • Page 76 Step 4 An exclamatory mark attaches to the option Other devices > ESTUN USB COMM in Device Manager window, which indicates an error occurs in the driver and needs to update, as shown in Figure Figure 5-2 An error occurs in the driver...
  • Page 77 Figure 5-4 Browse my computer for driver software Step 7 Click Let me pick from a list of available drivers on my computer. Figure 5-5 Let me pick from a list of available drivers on my computer Step 8 Click Next.
  • Page 78 Figure 5-6 Select your device’s type from the list below Step 9 Click Have Disk. Figure 5-7 Have Disk Step 10 Click Browse on the Install From Disk dialog box.
  • Page 79 Figure 5-8 Browse files Step 11 Set the Look in as the directory of ESView V4 decompressed file \USB Drivers\windows_drivers on the Locate File dialog box. Step 12 Choose usb_dev_bulk.inf, and then click Open. Figure 5-9 Choose the driver file Step 13 Click OK on the Install From Disk dialog box.
  • Page 80 Figure 5-10 Select the driver you want to install for this hardware Step 15 Click Yes on the Update Driver Warning dialog box. Figure 5-11 Confirm the driver updating Step 16 Wait for a while, and then click Install on the Windows Security dialog box.
  • Page 81 Figure 5-12 Confirm the installation Step17 The driver will be automatically installed to your PC, and then the installation result will be displayed. Click Close to complete the USB driver installation. Figure 5-13 Complete the USB driver installation...

  • Page 82: Start Esview

    5.5.3 Start ESView Online Operation The parameters only can be written into or read from the Drive under the online operation. It is recommended that you perform an online operation for the first time to set the Drive. You need to connect the Drive to the PC by using the USB connection cable before the online operation.
  • Page 83 Figure 5-15 Search device Step 6 Select the found device. Figure 5-16 Select the found device If the device is not found in "Search", please check the connection between the device and the PC and make sure that the software version of ESView V4 is up-to-date. Step 7 Click Connect.
  • Page 84 Figure 5-18 Device State Now, you can make the necessary settings for the Drive or Motor in real time  The Device list can display all the device you had connected or created (including online and offline), and their basic status. ...
  • Page 85 Figure 5-19 Select Offline Step 4 Select the desired Device Type, e.g. ED3L. Figure 5-20 Click Connect. Step 5 The created device will be displayed in the Device list on the left of the ESView V4 main windows Figure 5-21 Status of a created device...

  • Page 86: Edit Parameters

     When using offline operation, some functions are limited and cannot be set correctly.  Connected online devices or created offline devices are displayed in the “Devices” column. and click “OK” in the pop-up box. To delete a device. Click on the top right of the device 5.5.4 Edit Parameters In the "Parameter Edit"...
  • Page 87 − − Right-click the parameters list where cannot be edited, and select Upload All in the pop-up menu. ⚫ Upload the Select Drag the mouse to select the desired parameters, or you can hold Ctrl key and click the desired parameter, and then right-click a selected parameter, and select Upload the selected in the pop- up menu You can only fulfill the Upload Parameter function in Online operation.
  • Page 88 Figure 5-24 Display after editing parameters You can refer to the description displayed on the underside of the parameter list for the parameter modification. Figure 5-25 Details description of the parameter Click Search input box on the Edit Parameters window, and type the keyword you want to search. The keyword, including NO, Name, Value, Range, Default, Unit, as well as description of each parameter.
  • Page 89 ----End Import Parameters You can fulfill Import function, importing the offline parameters file into the online Drive. Step 1 Select Parameters > Import in the Menu Bar of the ESView V4 main windows Figure 5-27 Select parameters to import Step 2 Select a proper offline parameter file (*.esvpa) in the pop-up Open dialog box. Step 3 The Import window will be displayed in Function Display Area.
  • Page 90 Download Parameters Download All ⚫ − Click Download All in the Edit Parameters window. After waiting for a moment, write the edited parameters to the drive. − Right-click the parameters list where cannot be edited, and select Download All in the pop-up menu ⚫...
  • Page 91 Restore parameters Executing "Restore Factory Settings" will revert the parameters within the drive unit (except for specific designated parameters) back to their default settings. Please proceed with caution when performing this action. Step 1 Click Restore in the Edit Parameters window. Figure 5-29 Restore parameters Step 2 Read the content on the warning dialog box and click OK.

  • Page 92: Definition Of Parameters

    5.6 Definition of parameters 5.6.1 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.

  • Page 93: Detailed Explanation Of Parameters

    5.6.2 Detailed explanation of parameters Factory When to Name Scope Unit value take effect － 0000～0111 Basic function settings 0 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 94 Factory When to Name Scope Unit value take effect － 0000～1111 Application function settings 3 0000 Restart Pn003.0: Reserved Pn003.1: Reserved Pn003.2: Low-speed compensation Pn003 No low-speed compensation There is no low-speed compensation to prevent motor crawling, but sometimes it may cause low-speed vibrations in the motor.
  • Page 95 Factory When to Name Scope Unit value take effect － 1000～1301 Application function settings 5 1000 Restart Pn005.0: Torque Feedforward Method General torque feedforward High-speed torque feedforward Pn005 Pn005.1: Reserved Pn005.2: Out-of-tolerance alarm enable Disable out-of-tolerance alarm Enable out-of-tolerance alarm, triggers an alarm when the out-of-tolerance counter value exceeds the setting of Pn504 Reserved Reserved...
  • Page 96 Factory When to Name Scope Unit value take effect － 0000～0104 Application function settings 6 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 Not enabling low-frequency vibration suppression function Enabling low-frequency vibration suppression function Pn006.3: Reserved...
  • Page 97 Factory When to Name Scope Unit value take effect － 0000～0001 Application function settings 8 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 98 Factory When to Name Scope Unit value take effect － 0000～0036 Application function settings 100 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 load...
  • Page 99 Factory When to Name Scope Unit value take effect 1～4000 Speed loop gain Immediately Pn102 This value determines the magnitude of the speed loop gain. 1～4096 Speed loop integral time 0.25ms Immediately Pn103 Decreasing this value will shorten the positioning time and improve the speed response. 0～1000 Position loop gain Immediately...
  • Page 100 Factory When to take Name Scope Unit value effect 10～100 Brake waiting time 10 ms Immediately If the delay after servo OFF exceeds the value set by this parameter, the /BK signal will be Pn508 output. The /BK signal will also be output if either the brake waiting speed or the brake waiting time meets the specified conditions.
  • Page 101 Factory When to take Name Scope Unit value effect － 0000～FF03 Encoder selection 0003 Immediately Pn840.0: Encoder type 17-bit absolute encoder Pn840 Pn840.1: Reserved Pn840.2: Reserved Pn840.3: Reserved...

  • Page 102: Chapter 6 Troubleshooting

    Chapter 6 Troubleshooting 6.1 Alarm Check During the operation of the robot, alarms that occur can be viewed using the teach pendant 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 103: Log

    ⚫ If the current alarm has been cancelled, click "Clear Cur Alarm" button below to clear the current alarm. ⚫ Click on "Historical Alarms" above to go to the "Historical Alarms" tab and click on the "Get Alarms" button to get historical alarm information. 6.3 Log ⚫...

  • Page 104: Help

    6.4 Help On the Log management screen, you can check whether there are any alarm details on the Help screen. ⚫ On the "Log management" screen, click the "Help" button at the bottom to switch to the "Help" tab. ⚫ Click "Search box", enter "Alarm number"...

  • Page 105: Alarm List

    6.5 Alarm List Name Cause of fault Solution Storage parameter check Try performing a factory reset; if the A.01 Storage parameter check exception exception alarm persists, return to the factory. 1. Check the setting value of Pn323 The motor speed calculated in the program 2.
  • Page 106 Name Cause of fault Solution IPM or IGBT detects a temperature exceeding Try optimizing the drive's cooling A.18 IGBT module overheating 105℃ environment Avoid frequent the mains power-up A.1A Charging resistor overload Charging resistor overload and power-off within a short period. A.1B DB brake circuit damaged DB brake circuit damaged...
  • Page 107 Name Cause of fault Solution Encoder single-turn Clearable through Fn011; try to power A.53 Encoder internal error information error up again Checksum or stop bit error Checksum or stop bit error in encoder control Clearable through Fn011; try to power A.54 in encoder control field field...
  • Page 108 Name Cause of fault Solution If alarm persists, then return to the A.101 Storage check exception Storage check exception factory Control input and output of MC1 are A.103 MC1 feedback exception Return to the factory inconsistent A.104 MC2 feedback exception MC2 control input and output are not consistent Return to the factory A.105...
  • Page 109 Name Cause of fault Solution Channel 2 GS2 safety door is closed; Channel 1 1. Check cable and terminal A.11E GS signal exception GS1 safety door is disconnected, and system connections; 2. Return to the factory alarm is triggered Channel 1 GS2 safety door is closed; Channel 2 1.
  • Page 110 Name Cause of fault Solution Logic or gate related hardware circuitry fault on A.147 Logic or gate 2 fault Return to the factory Channel 2 Buffer module A hardware circuitry fault on A.148 Buffer module A1 fault Return to the factory Channel 1 Buffer module A hardware circuitry fault on A.149...
  • Page 111 Name Cause of fault Solution 1. Clear the alarm and execute the Class 1 E-stop time for E-stop time less than the limit for Class 1 in Class 1 stop again; A.165 Channel 2 is too fast Channel 2 2. Return to the factory if it is repeatedly occurring.

  • Page 112: Chapter 7 Maintenance

    Chapter 7 Maintenance 7.1 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 113: Daily Inspection

    7.2 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 114 Confirmation by visual inspection, cleaning. Replace Warning label on  Peeling, defacement the sticker when there are electrical cabinet obvious stains or the surface begins to peel Normal operation Confirmation by visual  confirmation inspection, cleaning Confirmation by visual  Filter sponge Dirt and blockage inspection, cleaning and...

  • Page 115: Items To Confirm During Installation Adjustment

    7.4 Items to confirm during installation adjustment During installation adjustment, follow the table below to confirm the adjustment. Content Inspect the outside and inside outlook of control cabinet Check the fixing screws are properly connected Confirm the installation positions of connectors and control cabinet units. Connect the cable between control cabinet and robot.

  • Page 116: List Of Spare Parts

    7.5 List of spare parts Material No Name 51600000221 Transformer JBK5-1600VA,380V/220V 51601220924 Transformer JBK5-800VA,380V.415V/220V 52900000472 fan SJ1751HD2BAL 5000RPM 15000000053 Robot Controller ERC30E 11200000483 ED3L SERVO DRIVE ED3L-01AEA-R1[JZ] 11200000578 ED3L SERVO DRIVE ED3L-02AEA-R1[JZ] 11200000730 ED3L SERVO DRIVE ED3L-04AEA-R11[JZ] 11200000484 ED3L SERVO DRIVE ED3L-04AEA-R1[JZ] 11200000485 ED3L SERVO DRIVE ED3L-08AEA-R1[JZ] 11200000579...

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