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Related Manuals for Estun ER Series
Summary of Contents for Estun ER Series
- Page 1 ESTUN Positioner Operator’s Manual...
- Page 2 ESTUN Positioner Operator’s Manual M-0901EN-01...
- 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.
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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. - Page 5 A supplementary explanation helps users operating the robot more efficiently. 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.
- Page 6 SAFETY Check the motor brake to avoid personnel injuries caused by unexpected situation. Always have an escape plan in mind in case the robot comes towards you unexpectedly. Ensure that there is a place to retreat to in case of emergency. ！...
- 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 arms can be moved by hand. Lager arms should be moved by crane or other handling equipment.
- Page 9 SAFETY Alarm stop 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 10 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.
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Page 11: Preface
This manual describes the following manipulators. Model Load capacity ESP-1D-500 500kg ESP-2U-500 500kg Related manuals ESTUN Robot Mechanical Unit Operator’s Manual ESTUN Robot ER Series Cabinet Operator’s Manual ESTUN Integrate Series Cabinet Operator’s Manual ESTUN RCS2 System Operator’s Manual ESTUN CP System Operator’s Manual... -
Page 12: Table Of Contents
CONTENTS CONTENTS SAFETY ................................1 PREFACE ................................1 CONTENTS ................................1 SPECIFICATIONS ............................1 1.1. BASIC SPECIFICATIONS ......................1 1.2. EXTERNAL DIMENSIONS ......................2 EXTERNAL DIMENSIONS ......................4 1.3. 1.4. Utilization rate during welding ....................5 1.4.1. Example ..........................6 ALLOWABLE LOAD ............................ -
Page 13: Contents
CONTENTS... -
Page 14: Specifications
In this case, we recommend performing the warm up operation for several minutes. 1. 重复定位精度是在变位机反复多次自动运行后变位机运行平稳时测得的数据。 ！ 2. There are brakes in ESTUN positioner motors. 3. Specifications are subject to change without notice. CAUTION 4. 变位机在两次动作之间应有 4.5s 的暂停时间，否则系统可能发出报警。... -
Page 15: External Dimensions
SPECIFICATIONS 1.2. EXTERNAL DIMENSIONS Home position calibration 原点校准点 Hollow string holes 中空串线孔 Power collector 集电装置 Welding cable connector 焊接电缆接口 Fig 1.1 ESP-1D-500 part name 4- φ 18 2- φ 10 H7 Fig 1.2 ESP-1D-500 dimensions (unit: mm) - Page 16 337.5 337.5 SPECIFICATIONS Dustproof cover Flange J1-axis motor and cover J2-axis motor and cover J1-axis mechanical stop Power collector J1 轴硬限位 Welding cable connector Fig 1.3 ESP-2U-500 part name 1069 337.5 337.5 Fig 1.4 ESP-2U-500 dimensions (unit: mm)
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Page 17: External Dimensions
SPECIFICATIONS 1.3. EXTERNAL DIMENSIONS 2 - φ 16 H7 15 22.5 ° φ 418 ± 0.1 φ 220 8 - M16 22 2 - φ 12H7 18 6 - M12 22 Fig 1.5 Dimensions for ESP-1D-500 flange (unit: mm) Add additional load on ESP-1D-500 flange: 1. -
Page 18: Utilization Rate During Welding
P.C.D.220 φ 500 Fig 1.6 Dimensions for ESP-2U-500 flange (unit: mm) 1.4. Utilization rate during welding 固定在变位机上的工件焊接时的使用率，是由集电装置前侧的固定集电刷和电缆集电极电容确定的。 下面针对 ESTUN ESP 系列变位机进行分析。 将一个载荷焊接到变位机上的条件包括：集电极电容 500A，使用率 60%： actual welding time(��������) ) < 0.6（60%） reference welding time (ten mins) If working current is under rated current (500A), allowable utilization rate is calculated as below:... -
Page 19: Example
SPECIFICATIONS inside the motor and cause failure. 1.4.1. Example The robot described in this manual can be transported by a forklift. Use eight M12X30 bolts to fix the 4 (1) When the welding current is 350A: Allowable utilization rate = (500 ) ×... -
Page 20: Allowable Load
ALLOWABLE LOAD 2. ALLOWABLE LOAD 2.1. INSTRUCTIONS Eccentricity and height of center-of-gravity should both meet the limited requirements. 2.2. MAXIMUM ALLOWABLE LOAD Tab 2.1 Max. allowable load Max. allowable Max. eccentricity of Max. height of Type Allowable moment Allowable inertia load center-of-gravity center-of-gravity... -
Page 21: Allowable Moment
ALLOWABLE LOAD Eccentricity of center-of-gravity Height of center-of-gravity 1 5 0 Center-of-gravity Fig 2.2 Eccentricity and height of center-of-gravity (ESP-2U-500) 2.4. ALLOWABLE MOMENT 本变位机在最大载荷时各轴的转矩必须在允许范围内。 根据负载的重量，转矩可通过下列公式求得： moment = load × × acceleration of gravity eccentricity of center_of_gravit （1） 另，如果有外力施加在负载上，同样可以求得各轴受到的载荷力矩： torque = external force × external force point eccentricity of （2）... -
Page 22: Instructions For Installation
INSTRUCTIONS FOR INSTALLATION 3. INSTRUCTIONS FOR INSTALLATION 3.1. MOUNTING THE BASE The positioner should be installed correctly to ensure its function. The base, which is an essential part for positional and filling accuracy, should bear not only the static load but also the reaction forces generated in acceleration and deceleration. - Page 23 INSTRUCTIONS FOR INSTALLATION Positioner 变位机 机器人 Robot 安全栅栏 Safety fence Welding power 焊接电源 Control cabinet 机器人控制柜 Fig 3.1 Safety fence Notes for safety fence installation. The cabinet should be installed outside the motion range of the robot and the positioner (outside the safety fence).
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Page 24: Mounting Methods
MOUNTING METHODS 4. MOUNTING METHODS 内 六 角 圆 柱 头 螺 钉 M 1 6 弹簧垫圈 平垫圈 4.1. FLANGE DIMENSION 变位机底座 安装基座 Dimensions for positioner installation are shown in the figure below. For the convenience of installation, there are mounting surface (machined surface) and pin holes on the base. Frame base 4- φ... - Page 25 MOUNTING METHODS 1069 φ 500 735.5 333.5 337.5 337.5 Fig 4.2 Dimensions for ESP-2U-500 installation Movements of the positioner cause a large force of inertia, requiring the installation floor to be strong and rigid. Therefore, when the positioner and jigs are to be mounted together on the same common frame base, the frame base must be at least 20mm in thickness and the positioner must be firmly fixed using four pieces of hexagon socket head cap screws (M16), spring washer and washer with a tightening torque of 215Nm.
- Page 26 MOUNTING METHODS Hexagon socket head 内 六 角 圆 柱 头 螺 钉 M 1 6 cap screw M16 弹簧垫圈 Spring washer 平垫圈 Washer 变位机底座 Base 安装基座 Frame base Fig 4.3 Mounting ESP-1D-500...
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Page 27: Grounding
GROUNDING 5. GROUNDING To ensure safety, grounding system shown in the figure below must be applied (The user is responsible for providing the grounding wires). Ground the robot and positioner separately using grounding cables with a diameter no less than 3.5 Securely connect a welding cable to the connecting terminal on the work side in the rear of the positioner. -
Page 28: Transportation
TRANSPORTATION 6. TRANSPORTATION Use a crane to transport the positioner for unpacking or installing. When lifting the positioner with a crane, hook a sling on the eyebolts of positioner and lift it up as shown in the figure below. Be careful with the cover which may be damaged by the eyebolts and slings. -
Page 29: Options
OPTIONS 7. OPTIONS This product provides a slave as an option, to support a longer work piece. It is applied to single-axis positioner ESP-1D-500 only. Fig 7.1 Dimensions for ESP-1F-500 slave ESP-1D-500 Slave ESP-1F-500 变位机 ESP-1D-600 变位机从动端 ESP-1F-600 Base A Base B 底座... -
Page 30: Periodic Check
PERIODIC INSPECTION 8. PERIODIC INSPECTION 8.1. INSTRUCTIONS To perform inspection, maintenance, adjustments, repairs or other similar work on the positioner, access to the robot (include a positioner) working range may be required, or work with the primary-side power or the servo power turned on may be necessary. In any case, be sure to observe the following precautions for inspection, maintenance, adjustments and repairs. -
Page 31: Schedual Of Periodic Check
PERIODIC INSPECTION 请根据客户的安全管理标准规范，执行向检修等作业人员、监护员及相关的机械操作员发出的 手势信号。 10. 监督员必须遵守下列事项。 请在可以看见整个机器人动作区域的地方专心监护。 请随时握住紧急停止按钮，发生异常时立即按下紧急停止按钮。 除进行检查等作业的人员外，请勿让其他人员进入机器人的动作区域。 11. 进行检查等作业的人员必须遵守以下事项。 如果可以在机器人动作区域以外进行作业，请事先确认作业内容。并且无论任何情况，都 只能在机器人动作区域外进行作业。 原则上，机器人停止运转后才能进行检查等作业。不得不在运转中进行作业时，必须向安 全管理责任人报备，得到允许后方可在机器人动作区域外进行。 作业时，如果要求机器人处于可运转状态，请事先确定作业步骤，妥善安全地进行作业。 如果没有特别要求在可运转状态下作业， 请切断机器人控制装置及焊接电源等的输入电源。 另外，如果无需特别步骤，请切断治具或周边设置的输入电源，或使其处于无效状态。 需要进入机器人的动作区域时，为防止机器人万一出现的机能失常，请保持可立即按下紧 急停止按钮的姿势进行作业。 作业时，请仔细确认脚下安全，小心进行。请勿使用不稳定的脚手架，或将高处当做脚手 架进行作业。 在机器人动作区域内，请勿背向机器人进行作业。 更换机器人控制装置或示教盒内部的印刷电路板时，请采取静电保护膜等防静电措施。 12. 如果作业中发生异常，采取措施时必须注意以下事项。 如果发生机器人运转异常，请立即按下紧急停止按钮。 请立即联系监护人员，... -
Page 32: Delivery And Maintenance Duration
PERIODIC INSPECTION 2. Be sure to turn off the external breaker before performing inspection or maintenance. Note that, with turning off only the non-fuse breaker of the robot controller, the primary side of the non-fuse breaker is still being applied with voltage. In order to show that inspection or maintenance is underway, hang a noticeable sign on the switch of the external breaker. - Page 33 PERIODIC INSPECTION Carbon brush Direction pole Reference surface V-gap Fig 8.1 Current-collecting unit...
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Page 34: Quality Assurance
QUALITY ASSURANCE 9. QUALITY ASSURANCE 本公司可对变位机系统提供品质保证，并提供免费维修，如果故障发生在下列期限内，并且用户已按照 使用说明书所述妥善操作并定期检查变位机的系统， 或者有生产制作缺陷引起的故障， 将免费予以维修。 保修期为： 产品装运提货单为准 14 个月内。 实际累计运行时间达 2000 小时。 即使在保修期内保修服务不适用于以下情况。客户需要支付维修费用。 1. 由于错误使用或操作实物引起的故障。 2. 本公司以为气体维修方未经批准擅自维修或改动引起的故障。 3. 由于地震、火灾及洪水等自然灾害引起的损坏或故障。 4. 交货之后不当搬运或存放引起的故障。 5. 其他类似情况。 6. 易损耗和维修保养件。... -
Page 35: Appendix
APPENDIX APPENDIX APPENDIX A BOLT TORQUE LIST Bolt Models (GB/T 70.1) 9.01 15.6 37.2 73.5 Tightening Torque ±0.49 ±0.78 ±1.86 ±3.43 ±6.37 ±10.2 ±15.9 ±22 /N.m (Level 12.9) APPENDIX B SPECIFICATION OF BOLT Designed Designed Nominal Screw Drill Anchor Max. anchor Anti-pull pulling shearing... -
Page 36: Revision Record
REVISION RECORD REVISION RECORD Revision Date Contents 2018.04 New edition. Addition of ER30-1880, ER12-1510. Addition of transportation method. Deletion of 2019.12 ER20/10-2000. Addition of ER12-1510-H5. Modification of parts list. Modification of errors.
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