Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for Estun ER20C SCARA Series
Summary of Contents for Estun ER20C SCARA Series
- Page 1 ESTUN Robotics ER20C SCARA Robot Body Operation Instructions...
- Page 2 ESTUN Robotics ER20C SCARA Robot Body Operation Instructions E-SR-C-A02...
- 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.
-
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 Please use the robot and controller within the environmental conditions specified in the manuals. The product is designed and manufactured based on typical indoor condition. If used in environments that do not meet the specified conditions, it may not only reduce the product's lifespan but also pose serious safety risks. - Page 6 Instructions for Safe Use Changing the end effector load (12) The vibration at the front end of the robotic arm near the lower or upper end of the J3 axis may increase during specific movements, depending on the combined weight and inertia of the gripper. This occurs due to the extended distance from the axis clamping point to the front end of the axis, resulting in altered inertia.
- Page 7 Instructions for Safe Use Warning and Caution Signs (1) Electric Shock Figure 0.1 Electric shock warning sign Attention should be paid to the danger of high voltage and electric shock at the place where this sign is affixed. (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.
- Page 8 Instructions for Safe Use (4) Robot Reading Warning Figure 0.4 Robot handling and installation warning Prior to handling or installing the robot, it is crucial to carefully review the operation manual and warning labels. Ensure a thorough understanding of the content before proceeding with the robot's installation and operation.
-
Page 9: Preface
Model Name Payload Capacity ER20C-850-SR 20kg 400mm ER20C-1000-SR 20kg 400mm List of Related Manuals: Operation Manual for ESTUN Robotics 20C-SCARA Series Robot Body Operation Manual for ESTUN Robotics ERC3-C1 Series Control Cabinet Operation Manual for ESTUN Robotics ER Series Industrial Robot... -
Page 10: Table Of Contents
CONTENTS CONTENTS Instructions for Safe Use ............................ 1 Preface .................................. 1 CONTENTS ................................1 Product Specifications ..........................1 1.1. Designation ........................... 1 1.2. Components and Outline Dimensions ..................2 1.3. Specifications ..........................4 Environment and Installation ........................5 2.1. Environment ..........................5 2.1.1. -
Page 11: Contents
CONTENTS 5.4. Maintenance of timing belts ..................... 27 5.4.1. Signs of timing belt failure ....................28 5.5. Maintenance of timing belts ..................... 28 5.6. Inspection of oil seepage ......................29 Zero Calibration ............................30 6.1. Introduction ..........................30 6.2. Calibration with instrumentation ....................30 6.3. -
Page 12: Product Specifications
Product Specifications 1. Product Specifications 1.1. Designation HI: High Inertia HI：高惯量 SCARA Application SCARA 应用 Robotic arm length: 850mm 机械臂长度：850mm 缺省：第一代产品 Default: First generation product B：第二代产品 B: Second generation product C：第三代产品 C: Third generation product Payload: 20KG 有效负载：20KG... -
Page 13: Components And Outline Dimensions
Product Specifications 1.2. Components and Outline Dimensions Arm #2 Arm #1 Axis Base Figure 1.1 Component of robot... - Page 14 Product Specifications through through 通 On both sides Reserve space for 90+ cables *Stroke allowance for mechanical stop position Quick coupling for Ø8mm tube (WHITE) Part A details Quick coupling for Ø8mm tube (BLUE) 1mm flat groove Tapered hole Maximum hole diameter Ø18 Ø25 h7 shaft diameter Ø44 mechanical stop diameter Figure 1.2 Outline dimension drawing...
-
Page 15: Specifications
Product Specifications 1.3. Specifications Table 1.1 Robot specifications Item ER20C-850-SR ER20C-1000-SR Arm #1 and #2 (mm) 1000 Arm Length Arm #1 (mm) Arm #2 (mm) Joints #1 and #2 9666 10590 Maximum (mm/s) Operating Joint #3 (mm/s) 1120 Speed Joint #4 (°/s) Joints #1 and #2 ±0.025 (mm) -
Page 16: Environment And Installation
Environment and Installation 2. Environment and Installation 2.1. 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) -
Page 17: 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. 2.2. Stand No stand for anchoring the robot is provided. Customers are responsible for fabricating a stand for securing the robot. -
Page 18: Installing Dimensions Of Robot
Environment and Installation Figure 2.1 Connector sizes Do not detach the M/C cable from the robot body. Table 2.1 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... - Page 19 Environment and Installation Teaching space Maintenance and inspection space (including an area for opening the outer cover during maintenance) Cable space The power cable has a minimum bending radius of 90mm. During installation, consider the distance to obstacles and ensure there's ample space to prevent extreme bending of other cables. Maintain a minimum 100mm width between the maximum area and the safety guard.
-
Page 20: Handling
Environment and Installation Center of Joint 3# ER20C-1000-SR Max. Space Motion Space Space in front of mechanical stop Base mounting surface Figure 2.2 Range of robot motion 2.4. Handling Qualified operators must handle tasks such as lifting, crane operations, and forklift driving during the handling and transportation of the robot. - Page 21 Environment and Installation 2-M8 eyebolt Install the eyebolt at the rear of the first robot arm. Rotate the first mechanical arm to the forward position and lock it in place. Thread the straps through the eyebolts as shown above. When lifting the robot, hold it by hand to ensure balance.
-
Page 22: Installation
Environment and Installation 2.5. Installation When installing the robot system, make sure it doesn't interfere with nearby structures, buildings, or equipment to avoid collisions or the risk of trapping personnel. Vibrations (resonance) may occur during operation depending on the rigidity of the installation base. -
Page 23: Grounding Guidelines
Environment and Installation 2.6. 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 24: Cable Connection
Environment and Installation 2.7. 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. Ensure to perform replacement tasks only after turning off the controller and related device power and unplugging the power plug. -
Page 25: User Wiring And Piping
Environment and Installation 2.8. 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. Ensure that the serial number on the robot body matches that on the control cabinet. -
Page 26: Relocation And Storage
Environment and Installation Subscriber Connector A (male) (9-pin Dsub connector) Subscriber Connector A (male) (15-pin Dsub connector) Joint 3/4 brake release button Quick coupling for Ø6mm Quick coupling for Ø8mm tube (white) tube (other colors) Power cord connector Quick coupling for Ø6mm tube (blue) Quick coupling for Ø8mm Subscriber Connector A... -
Page 27: Relocation
Environment and Installation condensation. Avoid excessive impact or vibration during transport. Engage certified professionals to handle tasks like cable hoisting, crane operations, and forklift driving during relocation. Undertaking these activities without the necessary qualifications may lead to severe injuries or substantial damage, presenting a significant safety risk. - Page 28 Environment and Installation M8 eyebolt Bolt M4*20 Rolling strip Figure 2.9 Arm fixation diagram When transporting or storing the robot for an extended period, pay attention to the maintenance and protection of the screw shaft. Inadequate maintenance and protection measures may result in rusting of the screw shaft.
-
Page 29: Fixture End Setting
Fixture End Setting 3. Fixture End Setting 3.1. 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 30: Equivalent Weight Calculation
Fixture End Setting Self-base mounting surface Figure 3.1 Camera/pneumatic valve installation dimensions 3.2.1. 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 31 Fixture End Setting �� = 5 �� = 450 �� = 560 �� = 5 × 560 /450 = 7.7 �� �� + �� = 10 + 7.2 = 17.7 �� Set the end load weight in the teach pendant parameters to 17.7 kg. Figure 3.2 Example of equivalent weight calculation...
-
Page 32: Motion Space
Motion Space 4. Motion Space DO NOT modify the mechanical brake system, as it may lead to the robot's inability to stop properly. Mechanical stop for 2nd joint (fixed) Do not move the upper limit Mechanical stop for mechanical stop 2nd joint (fixed) Mechanical stop for Mechanical stop for... -
Page 33: Maintenance
Maintenance 5. 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 On (During Operation)
Maintenance √ Bolts/screws around the axis Bolts/screws for motors, gear √ reducers, etc. External connectors on the Check connectors for robot (located on the √ √ √ √ √ looseness. Press or tighten if connector board, etc.) necessary. Robot cable unit √... - Page 35 Maintenance Be cautious to prevent the depletion of lubricant. Running out of lubricant can lead to damage in moving parts, impairing performance. Moreover, repairing such damage can be time-consuming and costly. In harsh operating environments or when the robot is frequently used at small angles or operates continuously at high frequencies for extended periods, consider shortening the lubricant replacement cycle for the respective joints to 3,000 hours.
-
Page 36: Steps To Replace Reducer Grease
Maintenance 5.2.1. Steps to replace reducer grease The following steps are specific to the operation of the ER20C-850/1000-SR-HI robot's J1-axis reducers: a) Teach each joint of the robot at 100% speed for 10-20 minutes to convert the internal grease into a lower viscosity oil; b) Move the robot to the lubrication joint angle and disconnect the power supply;... -
Page 37: Lubrication Of Ball Screw Splines
Maintenance 5.2.3. Lubrication of ball screw splines Please consider covering furniture and peripheral devices to prevent the dropping of lubricating grease from causing any impact. (1) Set the power of the controller to ON. (2) Move the robot arm to the position for a full stroke motion of the Joint 3#. (3) Raise the axis to the upper limit position. -
Page 38: Maintenance Of Timing Belts
Maintenance Bolt Torque Value 2N.m ( 21kgf.cm) 4.3N.m (44kgf.cm) 9N.m (92 kgf.cm) 15N.m (153 kgf.cm) In case of set screws, refer to the following: Set Screw Torque Value 0.9 N·m (9kgf·cm) 2.5 N·m (26 kgf·cm) 5 N·m (51kgf·cm) Fix the bolts around the circumference in a diagonal sequence, as illustrated. When fastening, avoid tightening the bolts all at once;... -
Page 39: Signs Of Timing Belt Failure
Maintenance G5400000659 82.8 Hz～84.6 Hz J3 timing belt G5400000416 J4 timing belt 59.5 Hz～65.7 Hz 5.4.1. Signs of timing belt failure Regular inspections are essential for timing belts. Abnormality Visual Indicators Abnormal Tooth The tooth fabric fibers become fuzzy, the rubber layer Wear (Early) peels off, the color turns pale, and the texture of the tooth fabric becomes less distinct. -
Page 40: Inspection Of Oil Seepage
Maintenance Depending on the operating conditions and the surrounding environment, oil may seep out from ⚫ the outer edge of the oil seal lip. If this oil accumulates to form droplets, it may drip during certain operations. Please wipe the oil from the underside of the oil seal before the robot operates. -
Page 41: Zero Calibration
ESTUN employs robot encoder information to assist in zero-point calibration, following these steps: Manually operate the robot and align the axis with two zero reference marks. -
Page 42: Mechanical Zero Calibration
Zero Calibration Figure 6.1 Quick zero calibration single-turn value information (ERC controller) 6.3. Mechanical zero calibration Illustrate the mechanical zero calibration process for the ER20C-850/1000-SR robot by taking the J1-axis as an example. Perform the zero calibration for the J1-axis following the positions indicated in the diagram below: 1. - Page 43 Zero Calibration J2-axis zero position Figure 6.3 J2-axis zero calibration diagram J4-axis zero position J3-axis zero position Figure 6.4 J3/J4-axis zero calibration diagram...
-
Page 44: Troubleshooting
Troubleshooting 7. Troubleshooting Be sure to read SAFETY PRECAUTIONS in Chapter 1 and understand its contents before any maintenance. Never perform any maintenance unless the power of the robot system is turned off. 7.1. Required tools Troubleshooting tools includes travelling crane, forklift, internal hexagonal wrench, monkey wrench and special tools for removing the bearings. - Page 45 Troubleshooting Symptom Description Cause Solution Check tightness of motor The robot wobbles due Bolts in the robot joint bolt, reducer bolt, and Click to push by hand when loosen due to overload or each connecting bolt. If turn off it. collision.
-
Page 46: Replacement Of Servo Motor Components
7.3. Replacement of servo motor components Contact ESTUN technical service personnel 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 List of Recommended Spare Parts for ER20C (required for one unit/set) Component Material Code Remark Maintenance ● Joint 1# 12J00000091 ● Joint 2# 12J00000087 Servo Motor ● Joint 3# 12J00000083 ● Joint 4# 12J00000081 ● Joint 2# G5400000660 ●... -
Page 48: Revision Record
Revision Record Revision Record Version Date Revision 2024.02 Initial issue. 2024.07 Modify the ER20C model description. - Page 49 ADD: NO.1888, Jiyin Avenue, Jiangning Development Zone, Nanjing TEL: 025-85097068 Post Code: 211102 E-mail: robot@estun.com...
Need help?
Do you have a question about the ER20C SCARA Series and is the answer not in the manual?
Questions and answers