Estun ER100B-3000 Operation Instructions Manual
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Estun ER100B-3000 Operation Instructions Manual

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通用大负载系列本体使用说明书

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Summary of Contents for Estun ER100B-3000

  • Page 1 通用大负载系列本体使用说明书...
  • Page 2 ESTUN General Large Payloads Seri Robot Body Operation Instructions M-FC-A01...
  • Page 3 The user must take full responsibility for his/her application of any product and must use this manual and the product with caution. The right to interpret all contents of this manual belongs to Nanjing ESTUN Robotics Engineering Co. This manual may not be reproduced and copied in any way, in whole or in part, without a license to any party.
  • Page 4 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. Companies or individuals using ESTUN Robots should familiarize themselves with the standards and laws in their respective regions or countries. 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 Instructions or damage caused by the manipulator or other auxiliary devices.  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. ...
  • Page 7 Safety Instructions ！ 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 Instructions Frequent Power-off stop of the robot during operation can cause failures of the robot. Avoid system designs that require routine or frequent Power-off stop conditions. Alarm stop The robot system sends alarm (not include power-off alarm), and the robot is decelerated until it stops by control instructions.
  • Page 10 Safety Instructions LABELS (1) Electric Shock Warning Fig 0.1 Electric Shock Warning This label indicates hazardous voltage or electric shock. (2) High-temperature Warning Fig 0.2 High-temperature Warning Be cautious about a section where this label is affixed, as the section generates heat. If you have to inevitably touch such a section when it is hot, use a protection provision such as heat-resistant gloves.
  • Page 11 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. (6) Energy Storage Warning...
  • Page 12 Fig 0.6 Energy Storage Warning The balance cylinder is equipped with springs, high-pressure gas or high-pressure liquid. Never disassemble the balance cylinder without permission. (7) Transport symbol Fig. 0.1 Transport symbol ( ER100B-3000,ER170B-2650,ER220B-2650, ER135B-2700 Fig. 0.8 Transport symbol ( ER100B-3550-DW...
  • Page 13 Safety Instructions Fig. 0.9 Transport symbol ( ER130B-3200 Fig. 0.10 Transport symbol ( ER160B-3200 s-10...
  • Page 14 Safety Instructions Fig. 0.11 Transport symbol ( ER270-2700 Fig. 0.12 Transport symbol ( ER220-3100 s-11...
  • Page 15 Safety Instructions Fig 0.13 Transport symbol（ ER220-2700 ） （8）Falling and Squeezing Symbol falling and squeezing Symbol Fig 0.14 Pay attention （9）Lightning Symbol s-12...
  • Page 16 Safety Instructions Lightning Symbol Fig 0.15 Pay attention （10）Nitrogen Symbol Nitrogen Symbol Fig 0.16 Pay attention s-13...
  • Page 17 ER160B-3200 160kg ER170B-2650 170kg ER220B-2650 220kg ER270-2700 270kg ER220-3100 220kg ER220-2700 220kg Related manuals ESTUN Robot Operation Instructions ESTUN Robotics Functional Safety Series Operation Manual of Control Cabinet ESTUN RCS2 System Operator’s Manual ESTUN CP System Operator’s Manual Original instructions...

  • Page 18: Table Of Contents

    Contents CONTENTS SAFETY ................................1 PREFACE ................................1 CONTENTS ................................1 TRANSPORTATION AND INSTALLATION ....................1 1.1. TRANSPORTATION ........................1 1.1.1. Transport by a forklift ......................7 1.1.1.1. Transport by a crane ....................11 1.2. Storage ............................14 1.3. INSTALLATION .......................... 15 1.4.
  • Page 19 APPENDIX ................................92 APPENDIX A BOTL TORQE LIST......................92 APPENDIX B SPECIFICATION OF BOLT ..................92 APPENDIX C Part list for ER100B-3000 ..................... 92 APPENDIX D Part list for ER100B-3500-DW ..................93 APPENDIX E Part list for ER130B-3200 ..................... 93 APPENDIX F Part list for ER160B-3200 .....................

  • Page 20: Safety

    J4 axis J5 axis J6 axis ER100B-3500-DW 0° -39.5° +75° 0° +54.5° 0° ER130B-3200 0° -50° +75° 0° +65° 0° ER160B-3200 ER100B-3000 ER170B-2650 0° -50° +70° 0° +70° 0° ER220B-2650 ER135B-2700 ER270-2700 ER220-3100 0° -55° +75° 0° +70° 0° ER220-2700 Refer to theoretical weight of main parts shown below to install, disassemble and transport the robot.
  • Page 21 Wrist assembly (including wrist joint and motors of J5-axis and J6-axis) Some parts with less weight are not listed. Contact ESTUN if you need the INFO details. Fixed bracket should be mounted before transport the robot and be removed before install the robot.
  • Page 22 Transportation and Installation Fig. 1.2 Robot fixed bracket 2 (ER100B-3000) Other View A ∅13 Through hole ∅13 Through hole Fig. 1.3 Robot fixed bracket 3 (ER130B-3200)
  • Page 23 Transportation and Installation Fig. 1.4 Robot fixed bracket 4 (ER170B-2650,ER220B-2650,ER135B-2700) Fig. 1.5 Robot fixed bracket 5 (ER100B-3500-DW)
  • Page 24 Transportation and Installation View A 2-∅8.8 Through hole 2-∅5 Through hole Fig. 1.6 Robot fixed bracket 6 (ER100B-3500-DW) Peripheral shearing Other View A ∅13 Through hole Fig. 1.7 Robot fixed bracket 7 (ER160B-3200)
  • Page 25 Transportation and Installation Fig. 1.8 Robot fixed bracket 8 (ER270-2700,ER220-3100,ER220-2700) View A View B Fig. 1.9 Robot fixed bracket 9 (ER220-3100)

  • Page 26: Transport By A Forklift

    ER100B-3000,ER100B-3500-DW,ER130B-3200,ER160B-3200,ER170B-2650,ER220B-2650 ER135B-2700,Use 12 M16X50 bolts to fix the 4 fixed plates on the forklift to the robot base. As ER270-2700,ER220-3100 and ER220-2700, Use 8 M16X45 bolts to fix the 4 fixed plates on the forklift to the robot base a forklift to heave the robot. Make sure that the fixed bolts of the robot are removed before...
  • Page 27 Transportation and Installation Fixed plates Forklift≥2T Fig. 1.11 Use a forklift to transport the robot (ER100B-3000,ER130B-3200,ER160B-3200,ER170B-2650,ER220B-2650,ER135B-2700)
  • Page 28 Transportation and Installation Fixed plates Forklift≥2T Fig. 1.12 Use a forklift to transport the robot (ER100B-3500-DW)
  • Page 29 Transportation and Installation Fixed plates Forklift≥2T Fig. 1.13 Use a forklift to transport the robot (ER270-2700,ER220-2700)

  • Page 30: Transport By A Crane

    Transportation and Installation Fixed plates Forklift≥2T Fig. 1.14 Use a forklift to transport the robot (ER220-3100) ！ The forklift mounting plate and screws are to be provided by the customer or can be optionally purchased when placing the order. CAUTION Transport by a crane 1.1.1.1.
  • Page 31 ！ Transportation conditions are listed below: Crane load capacity above 2000kg, CAUTION Slings capacity above 2000kg, Rings with specifications conforming GB/T 825-1988. Center-of-gravity position Name Spec Rings Fig. 1.15 Use a crane to transport the robot (ER100B-3000, ER130B-3200,ER160B-3200,ER170B-2650, ER220B-2650,ER135B-2700)
  • Page 32 Transportation and Installation Center-of-gravity position Name Spec Rings Fig. 1.16 Use a crane to transport the robot (ER100B-3500-DW) Center-of-gravity 4-M20 Rings position Name Spec Rings Fig. 1.17 Use a crane to transport the robot (ER270-2700,ER220-2700)

  • Page 33: Storage

    Transportation and Installation Center-of-gravity 4-M20 Rings position Name Spec Rings Fig. 1.18 Use a crane to transport the robot (ER220-3100) 1.2. Storage The storage requirements for this model of robot when transported on a wooden pallet are as follows:...

  • Page 34: Installation

     Be sure to read and understand SAFETY chapter thoroughly.  ESTUN robots must be installed by authorized person, and in accordance with the applicable national laws, regulations and standards.  Check the external damage of the robot package. Open the package and check the external damage of the robot.
  • Page 35 Transportation and Installation Max. value Item Definition ER170B-2650/ ER100B-3000 ER100B-3500-DW ER130B-3200 ER160B-3200 ER220B-2650 ER135B-2700 Max. overturning 28600 (N·m) 27500 (N·m) 39200 (N·m) 39200 (N·m) 36000 (N·m) 39200 (N·m) torque Max. torsional 23520 (N·m) 23520 (N·m) 23520 (N·m) 23520 (N·m) 23520 (N·m) 23520 (N·m)
  • Page 36 Transportation and Installation Max. value Item Definition ER270-2700 ER220-3100 ER220-2700 43750 (N-m) Mk Max. overturning torque 43750（N·m） 43750（N·m） 29400 (N-m) Max. torsional torque 29400（N·m） 29400（N·m） 49000 (N) Max. vertical force 50250（N） 52000（N） 15300 (N) Max. horizontal force 15900（N） 15300（N） Fig 1.21 Robot base force...
  • Page 37 Transportation and Installation Fig. 1.22 Robot base mounting dimension (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650,ER135B-2700)
  • Page 38 Transportation and Installation 8-∅22 Through hole 8-M12 Through hole Through hole Fig. 1.23 Robot base mounting dimension (ER100B-3500-DW) 4-M20 Through Rings screws Fig. 1.24 Robot base mounting dimension (ER270-2700, ER220-3100,ER220-2700)
  • Page 39 Transportation and Installation Tab. 1.3 Robot fixing components Item and model Number Fixed screw: M20X70 (GB/T 70.1 12.9) Spring washer: Spring washer 20 (GB/T 93) Positioning pin: Cylindrical pin 20X60 (GB/T120.2) Positioning pin can reduce the influence on current program caused by INFO re-installation or replacement of the robot.
  • Page 40 The size of * in the figure is the recommended size.If users need to change,they need to consider the force of the robot on the base and the structure of the base,which can only be changed after strict calculation. Fig. 1.25 Robot mounting plate dimension and mounting method (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700)
  • Page 41 Transportation and Installation the table above. The size of * in the figure is the recommended size.If users need to change,they need to consider the force of the robot on the base and the structure of the base,which can only be changed after strict calculation. Fig.

  • Page 42: Installation Conditions

    Max. surface roughness 0.5mm Max. inclination angle 5° Storage condition Min. ambient temperature -25℃ Max. ambient temperature +55℃ Max. humidity 95%RH Protection level ER100B-3000 ER100B-3500-DW ER130B-3200 ER135B-2700 Wrist: IP65 Body: IP54 ER160B-3200 ER170B-2650 ER220B-2650 ER270-2700 Wrist: IP67 ER220-3100 Body: IP54...
  • Page 43 (1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids. Potentially these liquids will cause irreversible damage to the rubber parts (such as gaskets, oil seals, O-rings etc.). (As exception to this only liquids tested and approved by ESTUN can be used with the robot).

  • Page 44: Connection With The Controller

    CONNECTION WITH THE CONTROLLER 2. CONNECTION WITH THE CONTROLLER The figure below shows the cables connect the robot with the controller. Connect these cables on the back of the base. Detail A Flat washer 8 Screw M8*16 (nickel plated) (nickel plated) Robot connection cable Spring washers 8 (power, signal, I/O cable and earth wire )

  • Page 45: Specifications

    Specifications 3. SPECIFICATIONS 3.1. ROBOT CONFIGURATION Fig 3.1 Robot Configuration (ER100B-3000) J5-axis Small arm J6-axis Motor mount J4-axis Servo motor for J4-axis Servo motor for J3-axis Servo motor for J6-axis Wrist body J3-axis Large arm J2-axis Servo motor for J2-axis...
  • Page 46 Specifications J5-axis Small arm J6-axis Motor mount J4-axis Servo motor for J4-axis Servo motor for J3-axis Servo motor for J6-axis Wrist body J3-axis Large arm Servo motor for J2-axis J2-axis Servo motor for J1-axis Rotation base J1-axis Base Fig. 3.3 Robot Configuration (ER130B-3200) Connector J5-axis J6-axis...
  • Page 47 Specifications Fig 3.5 Robot Configuration (ER170B-2650, ER220B-2650, ER135B-2700) Fig 3.6 Robot Configuration (ER270-2700, ER220-2700)
  • Page 48 Specifications Fig 3.7Robot Configuration (ER220-3100) Tab. 3.1 Specifications Model ER100B-3000 ER100B-3500-DW ER130B-3200 ER160B-3200 Type Articulated robot Controlled axis 6 axes Installation Floor J1-axis ±180° ±180° ±180° ±180° J2-axis -60°~ +80° -40°~ +170° -60°~ +80° -60°~ +80° J3-axis -95°~ +80° -95°~ +80°...
  • Page 49 Specifications J6-axis 40kg·m² 40kg·m² 89.4kg·m² 90kg·m² J4-axis 513N·m 513N·m 776N·m 1365N·m Allowable load J5-axis 513N·m 513N·m 776N·m 1365N·m torque at wrist J6-axis 196N·m 196N·m 369N·m 740N·m Drive method Electric servo drive by AC servo motor Repeatability ±0.06mm Reach 3000mm 3500mm 3200mm 3158mm Weight...

  • Page 50: External Dimensions And Operating Space

    Specifications Weight 1092kg 1120kg 1360kg 1345kg 1320kg Ambient temperature: 0～45℃(Note 2) Ambient humidity: 20~80%RH Installation Height: Up to 1000 meters above the sea level required environment Vibration acceleration: 4.9m/ s (0.5G) or less Free of corrosive gases (Note 3) (Note 1) During short distance motions, the axis speed may not reach the maximum value stated. The maximum speed is measured at zero position of the robot, and will be limited by the position of other axes.
  • Page 51 Specifications Point P motion path Fig. 3.8 Motion range (ER100B-3000)
  • Page 52 Specifications Fig. 3.9 Motion range (ER100B-3500-DW)
  • Page 53 Specifications Point P Point P motion path Fig. 3.10 Motion range (ER130B-3200)
  • Page 54 Specifications Point P Point P motion path Fig 3.11 Motion range (ER160B-3200)
  • Page 55 Specifications Point P Point P motion path Point P motion path Fig 3.12 Motion range (ER170B-2650, ER135B-2700)
  • Page 56 Specifications Point P Point P motion path Fig 3.13 Motion range (ER220B-2650)
  • Page 57 Specifications Point P Point P motion path Fig 3.14 Motion range (ER270-2700, ER220-2700)

  • Page 58: Zero Point Position And Motion Limit

    Specifications Point P Point P motion path Fig 3.15 Motion range (ER220-3100) 3.3. ZERO POINT POSITION AND MOTION LIMIT 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 59 Do not reconstruct the fixed mechanical stopper. There is a possibility that the robot doesn’t stop normally. CAUTION Fig. 3.16 Zero point position Mechanical stopper of J1-axis (fixed part) Mechanical stopper of J1-axis (movable part) Fig. 3.17 J1-axis mechanical stoppers (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700)
  • Page 60 Specifications Mechanical stopper of J1-axis (fixed part) Mechanical stopper of J1-axis (movable part) Fig. 3.18 J1-axis mechanical stoppers (ER100B-3500-DW) Mechanical stopper of J1-axis (movable part) Mechanical stopper of J1-axis (fixed part) Fig. 3.19 J1-axis mechanical stoppers (ER270-2700,ER220-3100, ER220-2700)
  • Page 61 Specifications Mechanical stopper of J2-axis (movable part) Mechanical stopper of J2-axis (fixed part) Mechanical stopper of J2-axis (fixed part) Fig. 3.20 J2-axis mechanical stoppers (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700)
  • Page 62 Specifications Mechanical stopper of J2-axis (fixed part) Mechanical stopper of J2-axis (movable part) Mechanical stopper of J2-axis (fixed part) Fig. 3.21 J2-axis mechanical stoppers (ER100B-3500-DW)
  • Page 63 Mechanical stopper of J2-axis (fixed part) Fig. 3.22 J2-axis mechanical stoppers (ER270-2700,ER220-3100, ER220-2700) Mechanical stopper of J3-axis (movable part) Mechanical stopper of J3-axis (fixed part) Mechanical stopper of J3-axis (fixed part) Fig. 3.23 J3-axis mechanical stoppers(ER100B-3000, ER100B-3500-DW, ER130B-3200,ER160B-3200 ER170B-2650, ER220B-2650, ER135B-2700)
  • Page 64 Specifications Mechanical stopper of J3-axis (movable part) Mechanical stopper of J3-axis (fixed part) Fig. 3.24 J3-axis mechanical stoppers（ER270-2700,ER220-3100, ER220-2700） Mechanical stopper of J5-axis (fixed part) Mechanical stopper of J5-axis (movable part) Fig. 3.25 J5-axis mechanical stoppers (ER100B-3000, ER100B-3500-DW, ER130B-3200)
  • Page 65 Specifications Mechanical stopper of J5-axis (movable part) Mechanical stopper of J5-axis (fixed part) Mechanical stopper of J5-axis (fixed part) Mechanical stopper of J5-axis (movable part) Fig. 3.26 J5-axis mechanical stoppers (ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) Mechanical stopper Mechanical stopper of of J5-axis (fixed part) J5-axis (movable part) Fig.

  • Page 66: Wrist Load Condition

    Payloads include total weight of tools such as grippers, welding guns, tool CAUTION convertors, dampers, etc. If payload exceeds allowable value, it is necessary to consult ESTUN representatives. Refer to ESTUN robot bearing capacity calculation table when calculate load torque and load inertia. Contact ESTUN sales representatives for more detail.
  • Page 67 Notes: Allowable load inertia atJ5-axis 72kg∙m Allowable load inertia at J6-axis 40kg∙m Fig. 3.29 Load capacity at wrist (ER100B-3000, ER100B-3500-DW) Notes: Allowable load inertia atJ5-axis 111.1kg∙m Allowable load inertia at J6-axis 89.4 kg∙m Fig. 3.30 Load capacity at wrist (ER130B-3200)
  • Page 68 Specifications Notes: Allowable load inertia at J5-axis 150kg∙m Allowable load inertia at J6-axis 90kg∙m Fig 3.31 Load capacity at wrist (ER160B-3200) Notes: Allowable load inertia at J4&J5-axis 81kg∙m Allowable load inertia at J6-axis 40.1kg∙m Fig. 3.32 Load capacity at wrist (ER170B-2650, ER135B-2700)
  • Page 69 Specifications Notes: Allowable load inertia at J5-axis 146.8kg∙m Allowable load inertia at J6-axis 81.kg∙m Fig. 3.33 Load capacity at wrist (ER220B-2650) Notes: Allowable load inertia at J5-axis 340kg∙m Allowable load inertia at J6-axis 260kg∙m Fig. 3.34 Load capacity at wrist (ER270-2700)
  • Page 70 Specifications Notes: Allowable load inertia at J5-axis 320kg∙m Allowable load inertia at J6-axis 230kg∙m Fig. 3.35 Load capacity at wrist (ER220-3100) Notes: Allowable load inertia at J5-axis 150kg∙m Allowable load inertia at J6-axis 85kg∙m Fig. 3.36 Load capacity at wrist (ER220-2700)

  • Page 71: Additional Payload Conditions

    : Wrist payload center of mass position (mm); : Position of payload center of mass on J3 axis (mm). Model (mm) (mm) (mm) (mm) (kg) ER100B-3000 1132 1616 ER100B-3000-DW 740 1150 1616 ER130B-3200 1132 1809 ER135B-2700 1132 1266 ER160B-3200 1132...

  • Page 72: Equipment Installation To The Robot

    6-M10 Through hole EQS Item and model Amount Fixed screw: M10 (GB/T 70.1 12.9) Spring washer: spring washerΦ10 (GB/T 93) Positioning pin: cylindrical pinΦ10 (GB/T120.2) Fig. 4.1 End flange mounting dimension (ER100B-3000, ER100B-3500-DW) (ø160h6 area)
  • Page 73 Check and Maintenance Item and model Amount Fixed screw: M10 (GB/T 70.1 12.9) Spring washer: spring washerΦ10 (GB/T 93) Positioning pin: cylindrical pinΦ10 (GB/T120.2) Fig. 4.2 End flange mounting dimension (ER130B-3200) Item and model Amount Fixed screw: M10 (GB/T 70.1 12.9) Spring washer: spring washerΦ10 (GB/T 93) Positioning pin: cylindrical pinΦ10 (GB/T120.2) Fig.
  • Page 74 Check and Maintenance Item and model Amount Fixed screw: M10 (GB/T 70.1, grade 12.9) Spring washer: spring washerΦ10 (GB/T 93) Positioning pin: cylindrical pinΦ10 (GB/T120.2) Fig. 4.5 End flange mounting dimension (ER270-2700) Item and model Amount Fixed screw: M10 (GB/T 70.1, grade 12.9) Spring washer: spring washerΦ10 (GB/T 93) Positioning pin: cylindrical pinΦ10 (GB/T120.2) Fig.

  • Page 75: Equipment Mounting Face

    Check and Maintenance 4.2. EQUIPMENT MOUNTING FACE As shown in the figures below, tapped holes are provided to install equipment to the robot. Fig. 4.7 Equipment mounting face (ER100B-3000)
  • Page 76 Check and Maintenance View B Fig. 4.8 Equipment mounting face (ER100B-3500-DW)
  • Page 77 Check and Maintenance View B Fig. 4.9 Equipment mounting face (ER130B-3200)
  • Page 78 Check and Maintenance View B Fig. 4.10 Equipment mounting face (ER160B-3200)
  • Page 79 Check and Maintenance View B Fig. 4.11 Equipment mounting face (ER170B-2650, ER135B-2700)
  • Page 80 Check and Maintenance View B Fig. 4.12 Equipment mounting face (ER220B-2650)
  • Page 81 Check and Maintenance View B Fig. 4.13 Equipment mounting face (ER270-2700)
  • Page 82 Check and Maintenance View B Fig. 4.14 Equipment mounting face (ER220-3100)
  • Page 83 Check and Maintenance View B View C Air tube connector 2-φ12 Fig. 4.15 Equipment mounting face (ER220-2700) ！ Take precautions to avoid interference between peripheral device and the robot. CAUTION...

  • Page 84: Pipes And Tubes

    The robot has inlets and outlets openings to supply air or hydraulic pressure to the end effector. Air tube connector 2-φ10 WS28-J24TQ1 I/O connector Fig. 4.16 (ER100B-3000, ER100B-3500-DW, ER170B-2650, ER220B-2650, Pipes and tubes ER135B-2700) Air tube connector 2-φ12 气管接头2-Φ12 I/O connector WS28-J24TQ1 I/O插座...

  • Page 85: Check And Maintenance

    Check the items at the intervals recommended below based on the total time or the accumulated operating time, whichever comes first. Periodic checks keep the performance of the robot. The items below can be performed by yourself, or you can contact ESTUN for maintenance service. Check and maintenance intervals...
  • Page 86 Check and Maintenance external damage is serious, and causes a problem in which the robot will not operate, replace the damaged parts. Check whether the cable protection sheaths of the Check damages of mechanical unit cable have holes or tears. If damage is ...

  • Page 87: Oil Leakage Inspection

    CAUTION Replace the gas spring when the pressure is not maintained or when wear occurs on the piston pin. Contact ESTUN for more details about replacing the gas spring. There are three methods to check the gas spring.
  • Page 88 Load rate Load rate Model Orientation (zero load) (full load) J2: 47°, J3: -38.82°, J4: 0°, J5: -30.56°, J6: the ER100B-3000 2.3±5% 52.8±5% load is in the vertical direction J2:82°, J3: -73.82°, J4:0°, J5: -30.08°, J6: the ER100B-3500-DW 15.3%±5% 76.8±5%...
  • Page 89 Check and Maintenance Screw Cover Fig. 5.2 Inspection of gas spring (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) Cover Screw Fig. 5.3 Inspection of gas spring (ER100B-3500-DW) Cover Screw Fig. 5.4 Inspection of gas spring (ER270-2700，ER220-3100, ER220-2700) A gas pressure detection device is mounted at the air inlet and specified pressure is listed in the table below;...
  • Page 90 Check and Maintenance Method III: Using the software reminder function on the teach pendant. Fig. 5.5 Reminder of gas spring inspection software Tab. 5.2 Gas-pressure corresponding to the surface temperature of the gas spring (ER100B-3000, ER130B-3200, ER170B-2650, ER135B-2700) Surface temp 0℃...

  • Page 91: Adjusting The Belt

    Check and Maintenance 5.3. ADJUSTING THE BELT J5-axis of this series of robot（ER100B-3000, ER100B-3500-DW, ER130B-3200, ER170B-2650, ER135B-2700, ER160B-3200, ER220B-2650） are drove by timing belt. After a period of operation, the belt tense will reduce. This section describes how to strain the J5-axis timing belt.

  • Page 92: Replacing The Battery

    Check and Maintenance Fig 5.6 Strain the timing belt (ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) Tab. 5.6 Timing belt tense/frequency value (ER100B-3000, ER100B-3500-DW) Model Range of belt tense Range of frequency new belt (new) 86.9～95.6N 96.4～101Hz Belt used belt (old) 60.8～69.5N 80.6～86.2Hz Tab.

  • Page 93: Greasing

    3000 hours. Tab. 5.9 Replacing the grease periodically Model Position Quantity J1-axis reducer 4450ml J2-axis reducer 2450ml J3-axis reducer 1370ml ER100B-3000 J4-axis reducer 1130ml ER100B-3500-DW J5-axis reducer 170ml J6-axis reducer 220ml J1-axis reducer 4450ml J2-axis reducer...
  • Page 94 Check and Maintenance Model Position Quantity ER135B-2700 J2-axis reducer 2450ml J3-axis reducer 1370ml J4-axis reducer 1130ml J5-axis reducer 440ml J6-axis reducer 330ml J1-axis reducer 4450ml J2-axis reducer 2450ml J3-axis reducer 3150ml ER220B-2650 ER160B-3200 J4-axis reducer 1850ml J5-axis reducer 450ml J6-axis reducer 550ml J1-axis reducer 6600ml...

  • Page 95: Position Of Oil Inlet/Outlet On Each Axis

    Follow the instructions in the safety chapter when greasing the reducer. CAUTION J1-axis oil inlet J1-axis oil outlet Fig. 5.8 J1-axis oil inlet/outlet (ER100B-3000, ER130B-3200,ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J1-axis oil inlet J1-axis oil outlet Fig. 5.11 J1-axis oil inlet/outlet (ER100B-3500-DW)
  • Page 96 J1-axis oil inlet J1-axis oil outlet Fig. 5.12 J1-axis oil inlet/outlet (ER270-2700，ER220-3100, ER220-2700) J2-axis oil inlet J2-axis oil outlet Fig 5.13 J2-axis oil inlet/outlet (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J2-axis oil inlet J2-axis oil outlet Fig 5.14 J2-axis oil inlet/outlet (ER100B-3500-DW)
  • Page 97 J2-axis oil inlet J2-axis oil outlet Fig 5.15 J2-axis oil inlet/outlet (ER270-2700, ER220-3100, ER220-2700) J3-axis oil outlet J3-axis oil inlet Fig. 5.16 J3-axis oil inlet/outlet J4-axis oil outlet J4-axis oil inlet Fig. 5.17 J4-axis oil inlet/outlet（ER100B-3000, ER100B-3500-DW, ER130B-3200, ER160B-3200,ER170B-2650, ER220B-2650， ER135B-2700）...
  • Page 98 J4-axis oil inlet J4-axis oil outlet Fig. 5.18 J4-axis oil inlet/outlet(ER270-2700, ER220-3100, ER220-2700) J5-axis oil inlet J5-axis oil outlet Fig. 5.19 J5-axis oil inlet/outlet (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J5-axis oil inlet J5-axis oil outlet Fig. 5.20 J5-axis oil inlet/outlet (ER100B-3500-DW)
  • Page 99 Check and Maintenance J5-axis oil outlet J5-axis oil inlet Fig. 5.21 J5-axis oil inlet/outlet (ER270-2700) J5-axis oil outlet J5-axis oil inlet Fig. 5.22 J5-axis oil inlet/outlet（ER220-3100, ER220-2700）...
  • Page 100 Check and Maintenance J6-axis oil inlet J6-axis oil outlet Fig. 5.23 J6-axis oil inlet/outlet (ER100B-3000, ER100B-3500-DW, ER130B-3200) J6-axis oil outlet J6-axis oil inlet Fig. 5.24 J6-axis oil inlet/outlet (ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J6-axis oil inlet J6-axis oil outlet Fig. 5.25 J6-axis oil inlet/outlet (ER270-2700)

  • Page 101: Procedures Of Replacing Greasing

    Check and Maintenance J6-axis oil inlet J6-axis oil outlet Fig. 5.26 J6-axis oil inlet/outlet（ER220-3100, ER220-2700） 5.5.2. Procedures of replacing greasing The required equipment, tools and supplies are as follows: Name Model Remarks Equipment Grease Filling Equipment Includes oil pump, grease gun and oil container Tools Hexagonal spanner Tools...

  • Page 102: Procedure For Releasing Remaining Pressure Within The Grease Bath

    Check and Maintenance discharged after warming up the machine); f) Install the screw plugs to the oil injection port and oil outlet, tightening torque is 13.7N-m. g) Release the residual pressure in the grease reservoir following the procedure in 5.5.3; If greasing is not performed properly, the internal pressure inside the grease bath may increase suddenly, which will damage the seal part, resulting in oil leakage and abnormal operation.

  • Page 103: Grease Parameters

    If the zero position data lost due to disassembly or maintenance, this method cannot be used. ESTUN robot uses encoder data as an auxiliary of calibration. Procedures are shown below. Jog the robot manually to the place where the calibration marks are align.

  • Page 104: Mechanical Zero Position Calibration

    ZERO CALIBRATING Display the encoder information screen. Jog the axis at a low speed to make the real single loop value close to the reference value. Calibrate the zero position of the axis. Create a new program, then create a new instruction “RefRobotAxis”, select the axis to be calibrated, and run it.
  • Page 105 Figures in this section are reference for calibration of other axes. J1-axis zero position Fig. 6.3 Calibration for J1-axis (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J1-axis zero position Fig.
  • Page 106 ZERO CALIBRATING Fig. 6.5 Calibration for J1-axis (ER270-2700, ER220-3100, ER220-2700) J2-axis zero position Fig. 6.6 Calibration for J2-axis (ER100B-3000, ER130B-3200, ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J2-axis zero position Fig. 6.7 Calibration for J2-axis (ER100B-3500-DW) J2-axis zero position Fig. 6.8 Calibration for J2-axis (ER270-2700，ER220-3100, ER220-2700)
  • Page 107 ZERO CALIBRATING J3-axis zero position Fig. 6.9 Calibration for J3-axis J4-axis zero position Fig. 6.10 Calibration for J4-axis J6-axis zero position J5-axis zero position Fig. 6.11 Calibration for J5&J6-axis (ER100B-3000, ER100B-3500-DW, ER130B-3200)
  • Page 108 ZERO CALIBRATING J6-axis zero position J5-axis zero position Fig. 6.12 Calibration for J5&J6-axis (ER160B-3200, ER170B-2650, ER220B-2650, ER135B-2700) J5-axis zero position J6-axis zero position Fig. 6.13 Calibration for J5&J6-axis (ER270-2700，ER220-3100, ER220-2700)

  • Page 109: Troubleshooting

    Troubleshooting 7. TROUBLESHOOTING Be sure to read SAFETY PRECAUTIONS and understand its contents before any maintenance. ！ Never perform any maintenance unless the power of the robot system is turned off. CAUTION 7.1. TOOLS Troubleshooting tools includes travelling crane, forklift, internal hexagonal wrench, monkey wrench and special tools for removing the bearings.

  • Page 110: Replacing The Servo Motor

    7.3. REPLACING THE SERVO MOTOR 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 111: Appendix

    51.5 φ24×300 φ28 ≥140KN 75.5 φ30×380 φ35 ≥200KN 121.3 163.7 φ33×420 φ38 ≥260KN APPENDIX C Part list for ER100B-3000 Name Amount Note 31521100006 ER34615M/2 Lithium battery 48300000974 Nitrogen spring 12800000076 Servo motors (J1 axes) 12800000014 Servo motors (J2, J3 axes)

  • Page 112: Appendix D Part List For Er100B-3500-Dw

    APPENDIX APPENDIX D Part list for ER100B-3500-DW Name Amount Note 31521100006 ER34615M/2 Lithium battery 48300000141 Nitrogen spring 12800000076 Servo motors (J1 axes) 12800000014 Servo motors (J2, J3 axes) 12800000050 Servo motors (J4 axes) 12J00000073 Servo motors (J5 axes) 12J00000074 Servo motors (J6 axes) G5401000035 Timing belt APPENDIX E Part list for ER130B-3200...

  • Page 113: Appendix H Part List For Er220B-2650

    APPENDIX 48300000974 Nitrogen spring 12800000076 Servo motors (J1 axes) 12800000014 Servo motors (J2, J3 axes) 12700000298 Servo motors (J4 axes) 12700000326 Servo motors (J5 axes) 12700000685 Servo motors (J6 axes) G5400000096 Arc tooth timing belt APPENDIX H Part list for ER220B-2650 Name Amount Note...
  • Page 114 APPENDIX 12700000766 Servo motors (J6 axes)

  • Page 115: Appendix K Part List For Er220-2700

    Revision Date Contents 2018.12 New edition. Modify the ER100B-3000 end flange mounting dimension. Add 2019.05 ER220-2650. Modify the spare part lists. Modify the error description. 2019.06 Modify the screw tightening torque table, and the spare parts list. Update the zero-point calibration for J5 and J6 axes of the ER170B-2650 2019.07...
  • Page 116 REVISION RECORD grease row in spare parts list; modify the description of installation precautions and the ambient temperature; update diagram and spare parts list for all models. 2023.07 Add the ER160B-3200, ER270-2700 and ER220-3100 model. 2023.09 Modify ER270-2700 FLANGE DIMENSION Add ER220-2700, ER135B-2700;...
  • Page 117 ADD: NO.1888, Jiyin Avenue, Jiangning Development Zone, Nanjing TEL: 025-85097068 Post Code: 21102 E-mail: robot@estun.com...

This manual is also suitable for:

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