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Related Manuals for Estun ER7 SCARA
Summary of Contents for Estun ER7 SCARA
- Page 1 ESTUN Robotics ER7 SCARA Robot Body Operation Instructions...
- Page 2 ESTUN Robotics SCARA ER7 Series Robot Body Operation Instructions M-0607EN-01...
- 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.
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Page 4: Instructions For Safe Use
Instructions for Safe Use Instructions for Safe Use Installation and transportation of the robot and related equipment should be carried out by qualified personnel. Please adhere to the relevant regulations and laws of each country. Before installing the robot system or connecting cables, please read this manual and the relevant documents to ensure proper use. -
Page 5: Precautions For Operation
Instructions for Safe Use Precautions for Operation (1) Prior to engaging in the operation of the robot system, it is crucial to thoroughly review the safety guidelines. Operating the robot system without a proper understanding and adherence to the instructions may result in severe injuries or substantial damage, posing a significant danger. (2) Avoid entering the operating area while the power is on. - Page 6 Instructions for Safe Use (13) Caution should be exercised during lubrication and manual teaching operations to avoid direct contact with the lead screw and its grease using hands. Frequent contact with the lead screw can lead to rusting. (14) When using adhesive tapes or seals with strong adhesive properties on the painted surfaces of the robot body and controller, be cautious during removal as it may cause damage to the paint surface.
- Page 7 Instructions for Safe Use (2) Wounding by Robot Figure 0.2 Wounding by robot warning sign There is a danger of wounding by robot when working within the motion range of robot. (3) Mind Your Hands Figure 0.3 Mind your hands sign There is a risk of getting caught by moving parts of the robot when the robot is in motion.
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Page 8: Preface
This manual is applicable to the following robot model: Model Transportable weight Z-axis motion travel ER7-600-SR-SF 200mm List of Related Manuals ESTUN Robotics SCARA (Customized) Body Operation Instructions ESTUN Robotics ERC3-C1 Series Control Cabinet Product Manual ESTUN Robotics ER Series Industrial Robot Operation Manual... -
Page 9: Table Of Contents
Product Specifications CONTENTS Instructions for Safe Use ............................1 Preface ..................................1 CONTENTS ................................1 1. Product Specifications ............................2 Designation ..............................2 Components and Outline Dimensions ......................2 Specifications ..............................4 2. Environment and Installation ..........................1 Environment ..............................1 Special environmental conditions ........................ -
Page 10: Product Specifications
Product Specifications 1. Product Specifications Designation Payload: 7kg Locking SCARA Arm length: 600mm applications Components and Outline Dimensions 3rd joint brake release switch 1st robotic arm Motion slider (shaft) Base 2nd robotic arm Figure 1.1 Component of robot... - Page 11 Product Specifications External threaded hole Figure 1.2 Outline dimensions...
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Page 12: Specifications
Product Specifications Specifications Table 0.1 Robot specifications Item ER7-600-SR-SF 1st+2nd arm(mm) Arm length 1st arm(mm) 2nd arm (mm) Max. 1st+2nd joints (mm/s) 7750 operating 3rd joint (mm/s) 1333.3 speed 1st+2nd joints (mm/s) ±0.02 Repeatability 3rd joint (mm/s) ±0.015 Max. transport mass (kg) Max. -
Page 13: Instructions For Safe Use
Environment and Installation 2. Environment and Installation Environment To optimize and maintain the performance of the robot system and ensure safe operation, please install the robot system in an environment that meets the following conditions: Item Conditions Ambient Temperature* 0 to 45°C (with minimal temperature variations) Relative Humidity 10 to 80% (no condensation) Electrical Fast Transient Burst Immunity... -
Page 14: Stand
Environment and Installation Avoid using alcohol, benzene, or similar substances for vigorous wiping when cleaning the robot. Otherwise, it may result in a reduction of the glossiness of the painted surfaces. Stand No stand for anchoring the robot is provided. Customers are responsible for fabricating a stand for securing the robot. - Page 15 Environment and Installation 27.6mm Figure 2.1 Connector sizes Do not detach the M/C cable from the robot body. Table 0.1 Specifications of cables for bending Min. Bending Radius 80mm and above Cable Occupancy Rate for brackets, etc.: Within 50% Installation Method Fixed installation In cases where the robot body is installed on a walking axis or lifting platform, the factory-standard inter-cable for equipment falls under fixed installation...
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Page 16: Installing Dimensions Of Robot
Environment and Installation Installing dimensions of robot The maximum area shown in the "1.2 Components and Outline Dimensions" diagram is determined based on the robot's maximum dimensions. When the end of the fixture exceeds the robot's maximum outline dimensions, the maximum area is defined by the end of fixture. For larger components like cameras or solenoid valves mounted on the robot arm, establish the maximum area to encompass their potential range, excluding the fixture's end. -
Page 17: Unpacking & Handling
Environment and Installation 3rd joint center Maximum area Motion area Area before the mechanical stop Figure 2.2 Motion range Unpacking & handling Qualified operators must handle tasks such as lifting, crane operations, and forklift driving during the handling and transportation of the robot. Performing ！... - Page 18 Environment and Installation Please use a trolley or similar robotic handling equipment in a manner as close as possible to the method used during delivery. M4*20 screws If the fixed bolts are removed, the robot fixed on the handling equipment may tip over. Please be extremely cautious to avoid hands or fingers being caught by the robot.
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Page 19: Installing
Environment and Installation Component Weight (kg) Complete system of robot ER7-600-SR-SF Controller Intelligent unit RP controller Z101 NANO(4AXIS) Drive ED3L servo drive ED3L-0404AEA Some components have lighter weights and are not listed here. For details, please request information from our company. Installing ... -
Page 20: Grounding Guidelines
Environment and Installation Spring washer Flat washer Screw hole (20mm and above deep) Installation mode Figure 2.4 Stand installation diagram Grounding guidelines (1) Grounding methods 1) There are three grounding methods shown in the diagram below; dedicated grounding (a) should be used for the robot body and controller whenever possible. 2) Grounding points should be positioned close to the robot body and controller to minimize the distance of the grounding wires. -
Page 21: Cable Connection
Environment and Installation Cable for body grounding Flat washer 4 (nickel-plated) Spring washer 4 (nickel-plated) M4*10 (nickel-plated) Figure 2.6 Connection of grounding cable Cable connection Power off the robot system by unplugging the power plug. Ensure to connect the AC power cable to the power plug and not directly to the factory power source. -
Page 22: User Wiring And Piping
Environment and Installation Power cable Signal cable Figure 2.7 Cable connection Robot body serial number must match that of control cabinet. Incorrect matching can lead to robot accuracy deviations. User wiring and piping Wiring operations should be carried out by certified or qualified personnel. Conducting wiring tasks without the necessary knowledge may result in injury or malfunctions. - Page 23 Environment and Installation ！ Do not exceed a current of 1A. DANGER Connectors at both ends of the cable are pre-wired with identical numbered pins. The connector is a standard accessory, and users do not need to provide additional ones. Description D-SUB Male Plug [W9LDBM15P] 15-core...
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Page 24: Relocation And Storage
Environment and Installation Φ8mm air hose (1 pc) Φ6mm air hose (4 pcs) User connector wiring (15-core) Figure 2.8 External interface diagram Relocation and storage Precautions To reassemble the robot into the robot system after long-term storage, conduct a trial run to confirm the proper functioning of the robot. - Page 25 Environment and Installation To prevent fingers from being caught, fold the robot arm before relocation and secure it with cable ties or similar restraints. When disassembling setup bolts, provide support to prevent the robot from toppling over. If setup bolts are removed without support, the robot may topple and could trap hands or feet.
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Page 26: Fixture End Setting
Fixture End Setting 3. Fixture End Setting Mounting fixture end Customers are required to fabricate the fixture end. Please observe the following when mounting the fixture end. When setting the chuck on the fixture end, ensure proper wiring and air piping. Even with the power off, the workpiece should not be released. - Page 27 Fixture End Setting Figure 3.1 Camera/pneumatic valve installation dimensions Equivalent weight calculation When installing components like a camera or pneumatic valve on the robot arm 2#, the weight should be converted into the equivalent weight on the axis and added to the payload weight. The formula for calculating the equivalent weight is as follows: When installed at the base of the robot arm 2#: ��...
- Page 28 Fixture End Setting : Distance from the rotation center of the second joint to the center of gravity of the camera or �� �� similar component Example: Installing a 7kg camera at the top of the ER7-600-SR-SF series robot arm, where the distance from the rotation center of the 22 joint is 660mm, with a load weight W = 1kg.
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Page 29: Motion Space
Motion Space 4. Motion Space Do not modify the mechanical brake, as this may cause the robot to stop improperly. joint mechanical stop (lower limit stop) joint mechanical stop (fixed) joint mechanical stop (fixed) Do not move joint mechanical (upper limit stop) stop (fixed) joint mechanical stop (adjustable) - Page 30 Motion Space J2-axis mechanical limit J1-axis mechanical limit Figure 4.2 Mechanical stop setting Model J1-axis setting angle J2-axis setting angle ER7-600-SR-SF ±115° ±125°...
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Page 31: Zero Calibration
Zero Calibration 5. Zero Calibration Introduction Zero Calibration associates the angle of each robot axis with the pulse count value supplied from the absolute Pulsecoder connected to the corresponding axis motor. To be specific, zero calibration is an operation for obtaining the pulse count value, corresponding to the zero position. “Zero Calibration”... - Page 32 Zero Calibration J2-axis zero calibration Figure 5.2 J2-axis calibration diagram J3-axis zero position Figure 5.3 J3 -axis zero calibration diagram...
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Page 33: Maintenance
Maintenance 6. Maintenance Before performing any maintenance operations, read the Safety Precautions in Chapter 1 carefully. The inspection schedule and contents are outlined below. To prevent malfunctions and ensure safety, inspections must be carried out reliably. Follow the schedule for inspections. DO NOT perform any maintenance works before the robot is powered off. -
Page 34: Inspection When Power Is Off (No Motion)
Maintenance Inspection when power is OFF (no motion) Item Position Daily month months months months Fixture end mounting √ √ √ √ √ bolts √ √ √ √ √ Robot setting bolts Check for loose or wobbly Tightening bolts for each √... -
Page 35: Robot Lubrication
Maintenance check the sound of the electromagnetic brake. If there is no sound, replace the brake. Robot lubrication Regular lubrication is required for the ball screws, splines, and reducers. Please ensure the use of the specified lubricant. If lubricant replacement is needed, contact our technical service personnel. ... -
Page 36: Tightening Of Hexagon Socket Bolts
Maintenance (9) Move the axis up and down several times to ensure the grease is evenly distributed, then wipe off any excess grease. When wiping off excess grease on the axis, please turn off the controller power and remove the top cover of the robot arm. Improper lubrication applications may increase the risk of rusting on the screw shaft. -
Page 37: Maintenance Of Timing Belts
Maintenance Bolt hole Figure 6.1 Diagram of bolt tightening Maintenance of timing belts Over time, the tension of the timing belt may decrease and will need to be re-tightened. When measuring the tension of the timing belt, it is preferable to measure the frequency (Hz). When using the frequency mode for measurement, no parameter setting is required on the tension meter. - Page 38 Maintenance Root Crack Cracks in the roots Root Loss Exposed core wire Abnormal Wear Rounded edges, abnormal wear (core wire exposed). Note: A cut-like cross-section on the side is considered normal. Cracks on the side of the timing belt After the timing belt fails, it needs replacement. Following the replacement of the timing belt, it should be tensioned based on the tension force, and zero recalibration is required.
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Page 39: Appendix
Appendix Appendix Appendix A List of recommended spare parts for ER7-600-SR-SF (required for one unit/set) Component Material code Remarks Service joint 12J00000084 ● Servo motor joint 12J00000084 ● joint 12700000459 ● Timing belt joint G5401000170 ● Battery 51205A00001... -
Page 40: Revision Record
Revision Record Revision Record Version Date Revision 2024.03 Initial issue. 2024.08 Modify Robot lubrication. - Page 41 ADD: NO.1888, Jiyin Avenue, Jiangning Development Zone, Nanjing TEL: 025-85097068 Post Code: 211102 E-mail: robot@estun.com...
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