Estun ER8-MI Series Operation Instructions Manual
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Estun ER8-MI Series Operation Instructions Manual

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ER8-MI series Robot
Robot instruction manual

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  • Page 1 ESTUN ER8-MI series Robot Robot instruction manual...
  • Page 2 ESTUN ER8-MI series robot ROBOT INSTRUCTION MANUAL M-0503EN-05...
  • 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.

  • 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. 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 (7) Transport Position Label Fig 0.7 Transport Position Label（ER8-720-MI） Fig 0.8 Transport Label（ER7-910-MI） This mark indicates precautions for handling robots.

  • Page 13: Preface

    Clean room specifications ISO ER8-720-MI-C Class 6 ER7-910-MI Clean room specifications ISO ER7-910-MI-C Class 6 Related manuals ESTUN Robot ER8-MI Series User Manual ERC Series Compact Control Cabinet Product Brochure ESTUN Robot C2E Control Cabinet Operation Instructions ESTUN RCS2 System User Manual...

  • Page 14: Table Of Contents

    CONTENTS CONTENTS SAFETY ................................s-1 PREFACE ................................p-1 CONTENTS................................c-1 TRANSPORTATION AND INSTALLATION..................... 1 1.1. TRANSPORTATION ........................1 1.1.1. Transportation Method ......................2 INSTALLATION ..........................3 1.2. Bench ............................. 6 1.2.1. 1.3. INSTALL CONDITIONS ......................6 CONNECTION WITH THE CONTROLLER ..................... 7 PRODUCT SPECIFICATIONS ........................

  • Page 15: Transportation And Installation

    Forearm assembly (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 16: Transportation Method

    1.1.1 Use a crane to transport ESTUN small robot. Move the robot to zero point position. Fix two special brackets on both sides of the robot base, use a crane to heave the robot with 4 slings. Make sure that the fixed bolts of the robot are removed before transportation.

  • Page 17: Installation

    TRANSPORTATION AND INTSALLATION center of gravity of the robot and handling furniture 4-M6× 16 tightening torques for screws and washers: 16N.m Handling conditions: Crane load capacity above 150kg; Sling load capacity above 40kg. Fig 1.2 Robotic crane handling diagram 1.2 INSTALLATION When performing installation with the system power on, make sure the earth wire is properly connected.
  • Page 18 TRANSPORTATION AND INTSALLATION Item Definition Maximum value 1450 (N· m) Maximum overturning force 1200 (N· m) Maximum torsional force Maximum vertical force 2250 (N) Maximum horizontal force 2100 (N) Fig 1.3 Force data of robot base +0.012 Ø 6 H7 ( ) through 4-Ø11 through Minimum 300...
  • Page 19 TRANSPORTATION AND INTSALLATION Tab 1.2 Required parts for fixing Item and model Amount Fixed screw: M10X35 (ISO4762 level 12.9) Spring washer: Spring washer 10 (DIN 7880-1987) Positioning pin: Cylindrical pin 6X20 (ISO 8735) Positioning pin can reduce the influence on current program caused by reinstallation or replacement of the robot.

  • Page 20: Bench

    TRANSPORTATION AND INTSALLATION Bench 1.2.1 A pedestal for anchoring the robot is not provided. Please make your own stand for fixing the robot. The shape and size of the gantry varies depending on the purpose of the robotic system. The gantry must not only support the weight of the robot, but also the dynamic forces when it moves at maximum acceleration.

  • Page 21: 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. Detail A Flat washers 4 (nickel-plated) Robot connection cable Screw M4*10 (nickel-plated) Cabinet (Power cable, signal cable,)

  • Page 22: Product Specifications

    PRODUCT SPECIFICATIONS 3 PRODUCT SPECIFICATIONS 3.1 ROBOT STRUCTURE Motor base Forearm Servo moto for J4-axis Servo moto for J6-axis Big arm Wrist Servo moto for J3-axis Servo moto for J5-axis Rotation base Servo moto for J2-axis Servo moto for J1-axis Base Fig 3.1 Robot structure Tab 3.1 Robot specification table...
  • Page 23 PRODUCT SPECIFICATIONS J4 axis 0.5kg· m² 0.5kg· m² Allowable load J5 axis 0.5kg· m² 0.5kg· m² inertia at wrist J6 axis 0.2kg· m² 0.2kg· m² J4 axis 17N· m 17N· m Allowable load J5 axis 17N· m 17N· m torque at wrist J6 axis 10N·...
  • Page 24 PRODUCT SPECIFICATIONS Fig 3.2 Movement trajectory space map...

  • Page 25: 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 (ER8-720-MI, ER8-720-MI-C)
  • Page 26 PRODUCT SPECIFICATIONS Point P P-point motion range Fig 3.4 Motion range (ER7-910-MI, ER7-910-MI-C)

  • Page 27: 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 28 PRODUCT SPECIFICATIONS Buffer plate for J3-axis fixed mechanical stopper J3-axis fixed Mechanical stopper J3-axis fixed mechanical stopper Fig 3.7 J3 axis brake position J5-axis fixed mechanical stopper Fig 3.8 J5 axis brake position Please refer to the operation manual for the setting operation of the movable range.

  • Page 29: 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 30: 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 31 INSTALL EQUIPMENT Fig 4.2 Equipment mounting face 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 1kg (the sum of the load on the wrist and the load on the wrist shall not exceed the total load).

  • Page 32: 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. For installing air pipe fittings I/O interface I/O interface Air pipe I/O interface connection Fig 4.4 ER8-720-MI, ER7-910-MI, ER8-720-MI-C, ER7-910- MI-C Schematic diagram of external pipeline Robot IO connector pinout description 4.3.1...
  • Page 33 INSTALL EQUIPMENT Wire gauge Pins Color Blue Green Schematic diagram of Schematic diagram of Alignment table IO connector at wrist soldering surface Fig 4.6 IO connector pinout at the base of ER8-720-MI, ER7- 910-MI, ER8-720-MI-C, ER7-910-MI-C Solenoid Valve Option Installation Instructions 4.3.2 See the following table for air line specifications: Maximum Operating Pressure...
  • Page 34 INSTALL EQUIPMENT Fig 4.8 Robot Pneumatic Schematic Fig 4.9 Electrical diagram of internal connection of aviation plug connector Table 4.1 Comparison table of base IO pins and air tubes Connector pin number Function Corresponding to control No. 2 air tube Corresponding to control No.

  • Page 35: 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. 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 36 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 ...

  • Page 37: Adjustment Of The Drive Belt

    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. ...

  • Page 38: Replacing The Batteries

    CHECK AND MAINTENANCE Socket head cap screws M4× 14 The needle of the tensioner is aligned with the timing belt in a straight line, keeping a distance of J5 axis motor mounting plate 5-7mm, and using an Allen wrench to fluctuate the timing belt for testing.
  • Page 39 CHECK AND MAINTENANCE Plug slab on the base Battery box Fig 5.2 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 replacement.

  • Page 40: Zero Calibration

    ZERO CALIBRATION 6. ZERO CALIBRATION OVERVIEW 6.1. 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.

  • Page 41: Mechanical Zero Calibration

    ZERO CALIBRATION 41561 54267 12273 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. 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.
  • Page 42 ZERO CALIBRATION MECHANICAL ZERO CALIBRATION 6.3.1. Zero label patch and engraved line for J1-axis Fig 6.2 Schematic diagram of J1 axis calibration...
  • Page 43 ZERO CALIBRATION Zero label patch and engraved line for J2- axis Fig 6.3 Schematic diagram of J2 axis calibration Zero label patch and engraved line for J3-axis Fig 6.4 Schematic diagram of J3 axis calibration...
  • Page 44 ZERO CALIBRATION Zero label patch and engraved line for J4-axis Fig 6.5 Schematic diagram of J4 axis calibration Zero label patch and engraved line for J6-axis Zero label patch and engraved line for J5-axis Fig 6.6 Schematic diagram of J5, J6 axis calibration...

  • Page 45: 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. NECESSARY TOOLS 7.1. Crane, forklift, Allen wrench, adjustable wrench and special tools for disassembling and assembling bearings, etc.

  • Page 46: 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 47: 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. Designed Designed Anchor Anti-pull Nominal Screw Drill anchor pulling...

  • Page 48: Appendix C Parts List Of Er8-720-Mi (One Set Required)

    APPENDIX APPENDIX C PARTS LIST OF ER8-720-MI/ER8-720-MI-C (ONE SET REQUIRED) Material code Name Amount Note 12J00000063 Servo motor for J1-axis 12J00000062 Servo motor for J2-axis 12J00000071 Servo motor for J3-axis 12700000154 Servo motor for J4-axis 12700000154 Servo motor for J5-axis 12700000154 Servo motor for J6-axis 51200000155...

  • Page 49: Revision History

    REVISION HISTORY REVISION HISTORY Revision Date Contents 2022.07 New edition 2022.09 Update 2 Concentration with the Controller 2023.06 Addition of clean room version 2023.09 7/8 kg standard version IO interface 10-pole switching 12-pole 2024.06 Delete 5.5 Greasing.
  • Page 50 ADD：No. 1888, Jiyin Avenue, Jiangning Development Zone, Nanjing Tel.：025-85097068 Post Code：211102 Electronic mail：robot@estun.com...

This manual is also suitable for:

Er8-720-miEr8-720-mi-cEr7-910-miEr7-910-mi-c

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