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Summary of Contents for Estun ER20-MI Series
- Page 1 ESTUN ER20-MI series Robot Robot instruction manual...
- Page 2 ESTUN ER20-MI series robot ROBOT INSTRUCTION MANUAL M-0504EN-02...
- Page 3 ESTUN assumes no responsibility for any direct or indirect losses arising from use of this manual. Users must take full responsibility for any product they apply, and must use this manual and product with care.
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Page 4: Safety
Before using the robot, be sure to read and understand this chapter thoroughly. ESTUN robots must be transported, mounted and operated in accordance with the applicable national laws, regulations and standards. Appropriate safeguards must be correctly situated to protect the users. - Page 5 SAFETY OF THE USER (1) The robot should be transported and installed by accurately following the procedures recommended by ESTUN. Wrong transportation or installation may cause the robot to fall, resulting in severe injury or damage. (2) Draw an outline on the floor, clearly indicating the range of safety zone before install the robot. If necessary, install a safety fence or warning board to ensure the safety operation of the robot and keep unauthorized person outside the safety zone.
- Page 6 SAFETY Speed must be limited under 250mm/s at manual mode. Only authorized person with fully understand of the risks can adjust the robot to rated speed manually. Be careful about rotating joints to prevent hair and clothes involved. Take precautions of injury or damage caused by the manipulator or other auxiliary devices.
- Page 7 SAFETY ！ Turn on or off the system by press or release Mot button on the teach pendant. CAUTION To use the teach pendant safely, the following precautions should be taken: Be sure that the enable switch is effective at any time. ...
- Page 8 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 robotic arms can be removed manually, but larger robots require a crane or other small equipment.
- Page 9 SAFETY Alarm stop This is a robot stop method that decelerates the movement of the robot to a stop with a control command after the robot system issues an alarm (except for a power failure alarm). By controlling the stop, the following processing is performed: ...
- Page 10 SAFETY Warning and caution labels (1) Electric shock warning sign Fig 0.1 Electric Shock Warning This label indicates hazardous voltage or electric shock. (2) High-temperature Warning Fig 0.2 High-temperature Warning The area where this label is attached will heat up, so be careful. Wear heat-resistant gloves and other protective equipment when you must touch the device in a hot state.
- Page 11 SAFETY (4) Personal injury warning Fig 0.4 Personal injury warning sign There is a risk of being injured by the robot when working within the robot's motion range. (5) Disassembly is prohibited Fig 0.5 Disassembly is prohibited The parts with this mark are not allowed to be disassembled by the user. Disassembly should be carried out by professionals using professional tools.
- Page 12 SAFETY (6) Transport Position Label Fig 0.6 Transport Label（ER20-1200-MI） Fig 0.7 Transport Label（ER15-1430-MI）...
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Page 13: Preface
PREFACE PREFACE This manual describes the following manipulators: Name Load Capacity ER20-1200-MI 20kg ER15-1430-MI 15kg Related manuals ESTUN Robot ER20-MI Series User Manual ESTUN Robot C2E Control Cabinet Operation Instructions ESTUN RCS2 System User Manual... -
Page 14: Table Of Contents
CONTENTS CONTENTS SAFETY ..............................s-1 PREFACE ................................CONTENTS................................c-1 TRANSPORTATION AND INSTALLATION ....................1 TRANSPORTATION ......................... 1 1.1.1 Transport by a forklift ......................2 1.1.2 Transport by a crane ......................4 INSTALLATION ......................... 5 INSTALL CONDITIONS ......................9 CONNECTION WITH THE CONTROLLER ................... 10 PRODUCT SPECIFICATIONS ...................... - Page 15 CONTENTS APPENDIX D PARTS LIST OF ER15-1430-MI (ONE SET REQUIRED) ..........42 REVISION HISTORY ............................. 43...
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Page 16: Transportation And Installation
17.2 17.2 (Including wrist and J5&J6-axis motors) Some parts with less weight are not listed. Contact ESTUN if you need the details. When the robot is transported, it is necessary to install the fixing bracket and the protective pad. Before installing the robot, remove the fixing bracket and protective pad. -
Page 17: Transport By A Forklift
TRANSPORTATION AND INTSALLATION M6X14 screws and flat washers*2 M6X14 screws and flat washers*2 Fig 1.1 Robot fixing bracket (ER-1200-MI) M6X14 screws and flat washers*2 M6X14 screws and flat washers*2 Fig 1.2 Robot fixing bracket (ER15-1430-MI) Transport by a forklift 1.1.1 This series of robots can be handled by forklift. - Page 18 TRANSPORTATION AND INTSALLATION Forklift fixing plate Forklift fixing plate and screws are optional by the customer. ！ Handling conditions: Forklift can handle weight 400kg, 4 pieces of forklift fixing plate, hexagonal screws in accordance with GB/T70.1-2000 CAUTION standard. Fig 1.3 Robotic forklift handling diagram...
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Page 19: Transport By A Crane
TRANSPORTATION AND INTSALLATION Transport by a crane 1.1.2 This series of robots can also be handled by crane. Attach the eyebolt to the robot base and lift it up with a sling. In this case, please make the slings crosswise as shown in the drawing, and protect the contact part of the slings with the robot body accordingly to prevent the paint from being scratched. -
Page 20: Installation
TRANSPORTATION AND INTSALLATION Robot center of gravity Fig 1.5 Robotic crane handling diagram (ER15-1430-MI) 1.2 INSTALLATION When performing installation with the system power on, make sure the earth wire is properly connected. The following precautions must be fully understood and observed before installing the robot: ... - Page 21 TRANSPORTATION AND INTSALLATION When mounting the robot base, consider its structure and the force upon it. Concrete on the base may not have any crack and conform to the specified codes. The bearing capacity and compaction of the concrete foundation should be in accordance with the design guideline.
- Page 22 TRANSPORTATION AND INTSALLATION Item Definition Maximum value ER20-1200-MI ER15-1430-MI Maximum overturning 9800（N· m） 9800（N· m） force Maximum torsional 3675（N· m） 3675（N· m） force Maximum vertical force 8000（N） 8250（N） Maximum horizontal 5100（N） 4500（N） force Fig 1.6 Force data of robot base Though Though Fig 1.7 Robot base installation dimensions...
- Page 23 TRANSPORTATION AND INTSALLATION If necessary, it can also be fixed using the 8-M12 threaded holes in the base. Tab 1.1 Required parts for fixing Item and model Amount Fixed screw: M16X55 (ISO4762 level 12.9) Spring washer: Spring washer 16 (DIN 7880- 1987) Positioning pin:Cylindrical pin 12X45 (ISO 8735) Positioning pin can reduce the influence on current program caused by...
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Page 24: Install Conditions
TRANSPORTATION AND INTSALLATION 1.3 INSTALL CONDITIONS ！ Damage of the cable jacket can cause water intrusion. Take care when installing the cable and exchange if it is damaged. CAUTION Foundation Maximum surface unevenness 0.5mm Maximum inclination angle 5° Storage condition Minimum ambient temperature -25℃... -
Page 25: Connection With The Controller
CONNECTION WITH THE CONTROLLER 2 CONNECTION WITH THE CONTROLLER Connection cable between robot and control unit. Connect each cable to the connector on the back of the chassis. Cabinet Robot connection cable (Power cable, signal cable,) Detail A Flat washers 8 (nickel-plated) Screw M8*16 (nickel-plated) Grounding... -
Page 26: Product Specifications
PRODUCT SPECIFICATIONS 3 PRODUCT SPECIFICATIONS 3.1 ROBOT STRUCTURE Wrist Servo motor for J6-axis J5 axis Servo motor for J5-axis J6 axis Forearm Motor base J4 axis J3, J4 axis motors Big arm J3 axis J2 axis motor Rotation base J2 axis Base J1 axis motor J1 axis... - Page 27 PRODUCT SPECIFICATIONS (Note 1) J5 axis 450° /s 450° /s J6 axis 700° /s 700° /s Max. payload Wrist 20kg 15kg...
- Page 28 PRODUCT SPECIFICATIONS J4 axis 1.45 kg· m² 2.05 kg· m² Allowable load J5 axis 1.45 kg· m² 2.05 kg· m² inertia at wrist J6 axis 0.94 kg· m² 1.33 kg· m² J4 axis 34.2 N· m 47.9 N· m Allowable load J5 axis 34.2 N·...
- Page 29 PRODUCT SPECIFICATIONS Fig 3.2 Movement trajectory space map...
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Page 30: Dimensions And Motion Range
PRODUCT SPECIFICATIONS 3.2 DIMENSIONS AND MOTION RANGE The following figure describes the motion range of the robot, which is used as a reference when selecting a robot and setting the installation position of the robot. When installing peripheral equipment, care should be taken to avoid interference with the main body and motion range of the robot. Point P P-point motion range Fig 3.3 Motion range (ER20-1200-MI) - Page 31 PRODUCT SPECIFICATIONS Point P P-point motion range Fig 3.4 Motion range (ER15-1430-MI)
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Page 32: Origin Position And Movable Range
PRODUCT SPECIFICATIONS 3.3 ORIGIN POSITION AND MOVABLE RANGE 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 33 PRODUCT SPECIFICATIONS J1-axis fixed mechanical stopper J1-axis fixed mechanical stopper Fig 3.6 J1 axis brake position...
- Page 34 PRODUCT SPECIFICATIONS J2-axis fixed mechanical stopper J2-axis fixed mechanical stopper Fig 3.7 J2 axis brake position J3-axis fixed mechanical stopper Fig 3.8 J3 axis brake position J5-axis fixed mechanical stopper Fig 3.9 J5 axis brake position Please refer to the operation manual for the setting operation of the movable range.
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Page 35: Wrist Load Condition
Robot load capacity (including weight of gripper or welding gun) coincides with robot model. Observe restrict of load torque and load inertia strictly. Refer to ESTUN robot bearing capacity calculation table when calculate load torque and load inertia. Contact ESTUN sales representatives for more detail. - Page 36 PRODUCT SPECIFICATIONS Note: Allowable moment of inertia of J5 axis 1.45 kg.m^2 Allowable moment of inertia of J6 axis 0.94 kg.m^2 Fig3.11 Load capacity at wrist (ER15-1430-MI)
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Page 37: Install Equipment
INSTALL EQUIPMENT 4 INSTALL EQUIPMENT 4.1 END FLANGE MOUNTING INTERFACE 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 38 INSTALL EQUIPMENT Fig 4.2 Equipment mounting face (ER20-1200-MI)
- Page 39 INSTALL EQUIPMENT Fig 4.3 Equipment mounting face (ER15-1430-MI) When installing external equipment, be careful not to interfere with the robot ！ body to avoid accidents. The load on the external interface of the J3 axis shall not exceed 2kg (the sum of CAUTION the load on the wrist and the load on the wrist shall not exceed the total load).
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Page 40: External Pipeline
INSTALL EQUIPMENT 4.3 EXTERNAL PIPELINE The mini-series robots provide access to the end effector for supply of air or hydraulic pressure. I/O interface I/O interface Air pipe I/O interface connection For installing air pipe fittings Figure 4.4 Schematic diagram of external pipeline... -
Page 41: Check And Maintenance
CHECK AND MAINTENANCE 5 CHECK AND MAINTENANCE Before performing all maintenance activities, carefully read the first chapter on safety precautions. ！ Never implement any maintenance unless the power of the robot is cut off. CAUTION 5.1 DAILY MAINTENANCE When operating the system every day, the following items should be checked at any time Item Check items Check points... - Page 42 CHECK AND MAINTENANCE damage is serious, and causes a problem in which the robot will...
- Page 43 CHECK AND MAINTENANCE not operate, replace the damaged parts. Check damages of Check whether the cable protection sheaths of the the cable protection mechanical unit cable have holes or tears. If damage is sheaths found, replace the cable protection sheath. If the cable protection sheath is damaged due to the interference with peripheral equipment, eliminate the cause Check for water...
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Page 44: Replacing The Batteries
CHECK AND MAINTENANCE parts, and cable protection cover). Check the operation (When cooling fans are installed on the each axis motor) Only of the cooling fan Check whether the cooling fans are operating correctly. If check the cooling fans do not operate, replace them. Replacing Please replace the battery of the robot body. -
Page 45: Oil Leakage Inspection
CHECK AND MAINTENANCE Battery box Plug slab on the base Fig 5.1 Schematic diagram of battery location During the battery replacement process, the control cabinet should be kept uninterrupted. If the control cabinet is powered off, the robot position ！ information will be lost, and zero calibration is required after battery CAUTION replacement. - Page 46 CHECK AND MAINTENANCE J4 shaft reducer 250g J5 shaft reducer 150ml The following table lists the grease replacement or replenishment operations and the recommended azimuths. Please note that users are not allowed to change the grease at the wrist of the ER20 robot by themselves.
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Page 47: Oil Inlet/Outlet On Each Axis
ZERO CALIBRATION Oil inlet/outlet on each axis 5.5.1 J1-axis oil inlet J1-axis oil outlet Fig 5.2 J1 axis oil inlet and outlet J2-axis oil inlet J2-axis oil outlet Fig 5.1 J2 axis oil inlet and outlet... -
Page 48: Zero Calibration
ZERO CALIBRATION J3-axis oil inlet J4-axis oil inlet J4-axis oil outlet, remove the muffler cover and oil plug, and connect the J3-axis oil outlet M10x1 oil delivery pipe. Fig 5.2 J3, J4 axis oil inlet and outlet (ER20-1200-MI) J3-axis oil inlet J4-axis oil inlet J3-axis oil outlet J4-axis oil outlet... -
Page 49: Dedicated Instrument Calibration
ZERO CALIBRATION Zero calibration refers to the operation of correlating the angle of each robot joint with the pulse count value. The purpose of the calibration is to obtain the pulse count value corresponding to the zero position. "Zero Calibration" is done before leaving the factory. It is not necessary to calibrate in daily operation. However, a calibration operation is required in the following cases. -
Page 50: Mechanical Zero Calibration
41561 54267 12273 ZERO CALIBRATION 89299 7081 52662 Fig 6.1 Quick zero calibration single turn value information MECHANICAL ZERO CALIBRATION 6.3. 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. -
Page 51: Zero Calibration For J1-Axis
ZERO CALIBRATION Zero calibration for J1-axis 6.3.1. The zero calibration of the equipment is mainly to calibrate the joint score line and the middle score line of the zero mark patch by visual inspection. Now take J1 axis as an example to calibrate the zero point of this joint: adjust the robot to align the scale line indicated in the figure. -
Page 52: Zero Calibration For J5, J6-Axis
ZERO CALIBRATION Zero calibration for J4-axis Zero calibration for J3-axis Fig 6.4 Schematic diagram of J3, J4 axis calibration (ER20- 1200-MI) Zero calibration for J4-axis Zero calibration for J3-axis Fig 6.5 Schematic diagram of J3, J4 axis calibration (ER15- 1430-MI) Zero calibration for J5, J6-axis 6.3.4. -
Page 53: Faq
7. FAQ Before performing all maintenance activities, read the safety precautions in Chapter 1 carefully. ！ Never perform any maintenance unless the power of the robot system is turned off. CAUTION NECESSARY TOOLS 7.1. Crane, forklift, Allen wrench, adjustable wrench and special tools for disassembling and assembling bearings, etc. -
Page 54: Replacing Servo Motor Parts
REPLACING SERVO MOTOR PARTS 7.3. 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 55 ！ When replacing servo motors, the disassembled parts should be kept properly and cleaned thoroughly before remounting. Replace it when damage occurs. CAUTION...
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Page 56: Appendix
APPENDIX APPENDIX APPENDIX A SCREW TIGHTENING TORQUE TABLE Bolt Models (ISO4762) Tightening 9.01 15.6 37.2 73.5 Torque /N· m ± 0.49 ± 0.78 ± 1.86 ± 3.43 ± 6.37 ± 10.2 ± 15.9 ± 22 (level12.9) APPENDIX B SPECIFICATION OF BELT Max. -
Page 57: Appendix C Parts List Of Er20-1200-Mi (One Set Required)
APPENDIX APPENDIX C PARTS LIST OF ER20-1200-MI (ONE SET REQUIRED) Material code Name Amount Note 12700000685 Servo motor for (J1-axis) 12700000326 Servo motor for (J2-axis) 12700000062 Servo motor for (J3-axis) 12J00000072 Servo motor for (J4-axis, J5-axis) Servo motor for （J6-axis） 12J00000149 EVE_3.6V/AA/ER14505_ EVE Energy Co., Ltd 51200000154... - Page 58 REVISION HISTORY REVISION HISTORY Revision Date Contents 2023.02 New edition 2023.09 Update Robot specification table...
- Page 59 ADD：No. 1888, Jiyin Avenue, Jiangning Development Zone, Nanjing Tel.：025-85097068 Post Code：211102 Electronic mail：robot@estun.com...
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