Estun ERC3-C1 Series Operation Manual
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Estun ERC3-C1 Series Operation Manual

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ESTUN Robot ERC3-C1 Series Control Cabinet
Operation Manual
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  • Page 1 ESTUN Robot ERC3-C1 Series Control Cabinet Operation Manual...
  • Page 2 ESTUN Robot ERC3-C1 Series Control Cabinet Operation Manual E-A04...
  • 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: Foreword

    Foreword This manual explains the usage of the ERC3-C1 control cabinet. The ERC3-C1 is a compact control cabinet. The compatible robot types for this control cabinet are as follows: Cabinet Model Compatible Models ER3-400-SR ER3-500-SR ER6-500-SR ER6-600-SR ER6-700-SR ER10-500-SR ERC3-C1-X1A4 ER10-600-SR ER10-600-SR/LI ER10-700-SR...

  • Page 5: Revision History

    Revision History Revision Date Content 2023.07 Initial release. 2023.10 Updated technical specifications and spare parts list; added new model ER10B-900-MI/HI. Updated warning and caution labels; revised Safety IO interface definitions; added method 2024.04 for installing expansion cards; added optional Ethernet port adapter expansion card; added ABZ expansion card port specifications;...

  • Page 6: Safety Precautions

    We will not assume any legal liability for personal safety incidents or property losses resulting from improper product operation. Companies or individuals using ESTUN Robots should familiarize themselves with the standards and laws in their respective regions or countries. Additionally, appropriate safety measures should be installed to protect personnel using the robot.

  • Page 7: Safety Precautions

    Do not install if the received product does not match the model, quantity, or name listed on the product list! ⚫ If any of these or other issues are found, do not attempt to install the product yourself! Please contact ESTUN staff promptly. 搬运时注意事项：...
  • Page 8 When using professional equipment for handling, ensure no personnel are beneath the equipment to avoid injury from falling objects. ⚫ Follow ESTUN's recommended methods for handling and installing the robot. Incorrect methods may cause the robot to topple, and lead to accidents. Installation precautions ⚫...
  • Page 9 ⚫ After powering on, check all E-stop switches. If any are not functioning properly, stop using the equipment immediately and contact ESTUN support. ⚫ It is strictly prohibited to replace or dismantle any equipment components while the power is on, as there is a risk of electric shock.

  • Page 10: Warning And Caution Signs

    Other safety precautions: ⚫ All operators, maintenance personnel, and users must receive professional training and strictly follow product usage guidelines and safety precautions. ⚫ Appropriate safety gear, such as helmets, safety shoes, and suitable work clothing, must be worn by all users and operators. ⚫...

  • Page 11: Way To Stop Robots

    Symbol Description Power Off Warning Label This label indicates that the equipment must be powered down before opening the control cabinet. Before restoring power, close the control cabinet and wait at least 15 minutes before reopening it. Injury Prevention Warning Label This label indicates that personal protective equipment (PPE) must be worn when opening the control cabinet or its covers.

  • Page 12: Table Of Contents

    CONTENTS Foreword ..................................4 Revision History ................................. 5 Safety Precautions ..............................6 Definition of users .............................. 6 Safety Symbols ..............................6 Safety Precautions............................... 7 Warning and Caution Signs..........................10 Way to Stop Robots ............................11 CONTENTS ................................12 Chapter 1 Product Information ..........................15 1.1 Information on Nameplate ..........................
  • Page 13 3.7 Encoder wiring ............................38 3.7.1 Connection diagram ......................... 39 3.7.2 Encoder interface explanation ......................39 3.8 Teach pendant wiring ..........................40 3.8.1 Precautions for using teach pendant ....................40 3.8.2 Teach pendant interface description ....................41 3.8.3 Teach pendant specifications ......................42 3.8.4 Appearance of teach pendant ......................
  • Page 14 4.3.3 Installation dimensions ........................68 4.3.4 Definition of NPN type digital output expansion card terminal............68 4.3.5 Definitions of PNP type digital Output expansion card terminals ........... 70 4.4 ABZ Expansion Card ..........................72 4.4.1 Expansion card information ......................72 4.4.2 Installation dimensions ........................

  • Page 15: Chapter 1 Product Information

    Ensure that the "Control Cabinet Model" and "Product S/N" on the packaging match those on the nameplate. ⚫ If there is any discrepancy, contact ESTUN support for verification. Control cabinet model Control cabinet weight Input specifications...

  • Page 16: Designation

    1.2 Designation Design Sequence Series Name Specification CPU Model Driver Specification Drive ESTUN Robot Generation Compact/Standard CPU model Identifier Identifier Identifier Identifier specifications 3 Electric Cabinet Low power 4-axis Compact C1 X86 bare version version Medium power 4- No controller version...

  • Page 17: Components

    1.4 Components External interface Figure 1-5 External interface Interface name Power line interface Cooling air inlet Mode selector switch Teach pendant interface Expansion card slot (optional) Power switch Encoder interface RJ45 interface Standard IO interface USB interface Safety IO interface Power interface...

  • Page 18: Technical Parameters

    1.5 Technical Parameters Table 1-1 Basic parameters list of control cabinet Dimensions(mm) Reference Rated energy Self-weight power Model Applicable model consumption (kg) （kVA） (L*W*H) (kW.h) ER3-400-SR ER3-500-SR ER6-500-SR ER6-600-SR ER6-700-SR ER10-500-SR ERC3-C1-X1A4 440*330*102 ER10-600-SR ER10-600-SR/LI ER10-700-SR ER10-700-SR/LI ER10-800-SR ER20-800-SR ER20-800-SR ER20-1000-SR ER20-1000-SR ER20-800-SR/LI...
  • Page 19 ER15-1430-MI 0.81 ERC3-C1-X1C6 440*330*102 ER20-1200-MI 0.88 [Note] The dimensions given in the table include the rubber foot height of 13mm. Table 1-2 Control Cabinet Technical Specifications Item Spec. Control cabinet installation environment Ventilated, not airtight Minimum installation range 520*410*182 (mm， L*W*H Number of control axes (way...

  • Page 20: Chapter 2 Transportation & Installation

    Chapter 2 Transportation & Installation 2.1 Handling Procedures You can manually handle the control cabinet. Ensure to wear safety shoes and gloves before handling. Be aware of your surroundings to avoid any unsafe conditions and prevent falls or injuries. Figure 2-1 Handling Diagram 2.2 Installation requirements Environmental requirements: ...

  • Page 21: Installation Methods

    Air Outlet Air Intlet Figure 2-2 Installation Space Requirements 2.3 Installation Methods The control cabinet supports three installation methods: horizontal, vertical, and stacking up to three units. The required tools for each method are listed below: Installation Tools Required Description Method Horizontal Phillips screwdriver and rubber foot...

  • Page 22: Vertical Installation

    Horizontal mounting surface Figure 2-3 Single Unit Horizontal Installation Diagram Step 3 (Optional) In severe environments (e.g. prone to vibration), use the included L-shaped brackets and screws to secure the cabinet. Install the brackets on both sides of the cabinet and fix them with screws to the mounting surface.
  • Page 23 Remove all rubber feet with a screwdriver Step 2 Install the flat brackets on the side without the nameplate, as shown below. Step 3 Rotate the cabinet toward the side with the installed brackets and place it steadily on a flat surface. Rotate the cabinet toward the side with the installed brackets and place it steadily on the mounting surface Install the flat brackets on the side...

  • Page 24: Stacking Installation

    Bracket Bracket Horizontal mounting surface Figure 2-4 Vertical Installation Diagram Installation Dimensions Figure 2-5 Vertical Installation Dimensions 2.3.3 Stacking installation For stacking multiple units, ensure the surface is flat and not deformed. Stacking allows for efficient use of space. It supports up to three control cabinets. Horizontal mounting surface...
  • Page 25 Installing Steps Take stacking of 2 machines as an example, and the installing steps are detailed below: Step 1 Use a screwdriver to remove the screws from the four rubber feet of the first unit and store the feet and screws properly.
  • Page 26 Figure 2-7 Stacking Installation Dimensions...

  • Page 27: Chapter 3 Wiring

    Chapter 3 Wiring 3.1 Wiring Precautions Installation, wiring, maintenance, and inspection of the product should only be carried out by personnel who have received training in electrical equipment, possess sufficient electrical knowledge, and are familiar with electrical safety protocols. ⚫ Perform the wiring or inspection only by professional technicians. ⚫...

  • Page 28: Selection Of Circuit Breaker/Air Switch

    Single-phase power supply 单相电源 AC200V~240V AC200V～240V Leakage/air switch circuit breaker 漏电/空开断路器 Surge protector (user-supplied) 浪涌保护器（用户自配） Figure 3-1 Single Control Cabinet Power Wiring Diagram Single-phase power supply 单相电源 AC200V~240V AC200V～240V Leakage/air switch circuit breaker 漏电/空开断路器 Surge protector (user-supplied) 浪涌保护器（用户自配） Figure 3-2 Two Control Cabinets Connected in Parallel to One Circuit Breaker 3.1.1 Selection of circuit breaker/air switch The robot's motion trajectory involves a repetitive acceleration-deceleration process.

  • Page 29: Power Cable Selection

    3.1.2 Power Cable Selection ESTUN control cabinets are not equipped with input power cables. Users need to provide their wiring or purchase from ESTUN. When choosing cables, comply with the relevant safety standards. The recommended cable specifications are as follows.
  • Page 30 Name Description Expansion card interfaces Users can select and install different types of expansion cards according to their needs. The types of expansion cards include:  16-channel digital input expansion card  16-channel NPN type digital output expansion card Expansion card slots 1, 2, 3 ...

  • Page 31: Connection Diagram

    3.3 Connection Diagram Expansion card Power wiring Handheld teach pendant power cable 4-axis or 6-axis robots Reserved Servo drive Controller data transfer or connection Virtual teach pendant Controller debugging of peripherals, e.g. USB stick, mouse, interface keyboard, etc. Servo motor Expansion of external servo axes or other I/O modules Figure 3-4 Connection Diagram...

  • Page 32: Led Explanation

    Step 2 Insert the three wires of the power line into the input terminal according to the terminal markings (from left to right: L/PE/N), and tighten securely. Step 3 After completing the power line connection, insert the input terminals into the power input terminal on the control cabinet.

  • Page 33: Power Wiring

    3.6 Power Wiring Figure 3-7 Power Wiring Interface Diagram 3.6.1 Power line interface explanation The encoder and power cables connecting the mechanical body and the controller have connection markings. Please connect the cables according to the markings of Axis1&6, Axis2&5, Axis3&4 (or Axis1&3, Axis2&4), and do not connect them incorrectly, as this may cause damage, which may prevent the robot system from working properly, and may also cause serious safety problems.
  • Page 34 Interface Illustration Definition Description Definition Description Axis-J2 motor Axis-J4 motor power line power line Not defined Not defined Protective ground Body LED wire 24V brake Axis-J2 Brake power supply BK_+2 wire positive 24V_BK positive terminal terminal Brake power Axis-J4 Brake supply/ brake BK_+4 wire positive...
  • Page 35 Interface Illustration Definition Description Definition Description Not defined Axis-J2 motor Not defined power line Not defined Not defined Not defined Protective Body LED ground wire 24V brake Axis-J2 Brake power supply BK_+2 wire positive 24V_BK positive terminal terminal Brake power supply/ brake Not defined / GND_BK...
  • Page 36 Interface Illustration Definition Description Definition Description Axis-J1 motor Axis-J6 motor power line power line Not defined Not defined Protective Body LED ground wire brake Axis-J1 Brake power supply BK_+1 wire positive 24V_BK positive terminal terminal Brake power Axis-J6 brake supply/ brake BK_+6 wire positive...
  • Page 37 ERC3-C1-X1C6 High-Power 6-Axis Power Interface Figure 3-11 ERC3-C1-X1B6 power interface Interface Illustration Definition Description Definition Description Axis-J1 motor Axis-J6 motor power line power line Not defined Not defined Protective Body LED ground wire 24V brake Axis-J1 Brake power supply BK_+1 wire positive 24V_BK positive...

  • Page 38: Power Line Wiring

    Interface Illustration Definition Description Definition Description Axis-J3 motor Axis-J4 motor power line power line Not defined Not defined Protective Body LED ground wire 24V brake Axis-J3 brake power supply BK_+3 wire positive 24V_BK positive terminal terminal Brake power Axis-J4 brake supply/ brake BK_+4 wire positive...

  • Page 39: Connection Diagram

    Figure 3-14 Encoder Interface 3.7.1 Connection diagram Figure 3-15 Encoder Wiring Diagram 3.7.2 Encoder interface explanation Figure 3-16 Encoder Interface Explanation Definition Description Definition Description S1＋ S4＋ S1﹣ S4﹣ VCC_ENC_J1 VCC_ENC_J4 J1-axis motor encoder J4-axis motor encoder wiring wiring GND_ENC_J1 GND_ENC_J4 CLK1+ CLK4+...

  • Page 40: Teach Pendant Wiring

    Definition Description Definition Description CLK6+ CLK5+ CLK6- CLK5- S3＋ S2＋ S3﹣ S2﹣ VCC_ENC_J3 VCC_ENC_J2 J3-axis motor encoder J2-axis motor encoder wiring wiring GND_ENC_J3 GND_ENC_J2 CLK3+ CLK2+ CLK3- CLK2- 37-42 3.8 Teach pendant wiring Figure 3-17 Teach Pendant Wiring Diagram 3.8.1 Precautions for using teach pendant 1.

  • Page 41: Teach Pendant Interface Description

    13. The ERC3-C1 control cabinet is only compatible with the T76 model of teach pendant and cannot be paired with the T72 model. 14. To release the E-stop, lift the E-stop button upward or rotate the button to release it. Avoid excessive rotation or pausing during rotation, as this may cause abnormal dual-channel detection of the system, and trigger alarm codes A112/A113.

  • Page 42: Teach Pendant Specifications

    Definition Description Definition Description TP_EN1+ Teach pendant enable 1+ TP_RX- Teach pendant EtherNet transfer data- TP_EN1- Teach pendant enable 1- TP_EN2- Teach pendant enable 2- 24V-IO 24V power supply pin 3.8.3 Teach pendant specifications Details Name Processor A40I Quad-core 1.2GHz, DDRIII 512M Memory/storage EMMC 8G LCD screen...

  • Page 43: Io Wiring

    Table 3-2 Exterior of Teach Pendant Description Display E-stop Button Mode Selector Switch 4a, 4b, 4c Global Function Button Status LED Enable Switch Suspension Handle Cable Access Area USB Slot Stylus Pen 3.9 IO Wiring This section provides an overview of the DI/DO interfaces of the standard control cabinet, which includes 20 DIs and 20 DOs by default.

  • Page 44: Di Wiring

    3.9.1 DI wiring System occupied input: X0~X5 User-defined inputs: X6~X19 Row X: Input DI interface Figure 3-21 DI Interface DI Port Specifications Item Spec. 20 channels (standard) Number of input channels System occupied inputs: 6 channels, X0~X5 User-defined inputs: 14 channels, X6~X19 Input connection method Crimp type terminal Input voltage range...
  • Page 45 Definition Teach Pendant Label Description Remarks high-level trigger Reset robot alarm on Special pin: Alarm reset Teach Pendant DI7 DI_remoteResetErr rising edge in remote mode Run robot program on Special pin: Run Teach Pendant DI6 DI_remoteStart rising edge in remote mode Reserved, not available Special pin: Spare...
  • Page 46 Wiring Diagram  When the upper device is open collector output: (1) Common cathode method (upper device with NPN type output) Correct connection of Example of incorrect connection of internal 24V internal 24V (24V) (24V) (24V) Upper device Xx (DIx) 4.7K 4.7K 4.7K...
  • Page 47 Figure 3-25 Using the external 24V power supply (PNP type output for the upper device)  When the upper device is of relay output (24V) (24V) 4.7K 4.7K Xx (DIx) Xx (DIx) Upper device Upper device relay relay (0V) (0V) (0V_E) (0V_E) Connection to...

  • Page 48: Do Wiring

    3.9.2 DO wiring System occupied inputs: Y0~Y6 User-defined inputs: Y7~Y19 Row Y: Output DO interface Figure 3-28 DO interface DO Port Definitions Item Specifications 20 channels (standard) Number of output channels System occupied inputs: 7 channels, Y0~Y6 User-defined inputs: 13 channels, Y7~Y19 Output connection method Crimp type terminal Output voltage range...
  • Page 49 Definition Teach Pendant Label Description Remarks Output signal when Special pin: Enable Teach Pendant DO4 DO_robotMot enabling is completed Output signal for Special pin: Program run Teach Pendant DO1 DO_progRun program running Special pin: Safety door Special pin: External E-stop Special pin: Teach pendant E-stop Special pin: Controller spare...
  • Page 50 Correct connection of Correct connection of internal 24V external 24V External+24V (Load) (Load)  When the load is a relay Example of incorrect Correct connection of connection of internal 24V internal 24V 24V not 24V_E not connected connected (24V_E) (24V_E) (24V_E) (24V_E) (24V)

  • Page 51: Communication Connection

    3.10 Communication Connection Figure 3-31 Communication Interface 3.10.1 Communication signal description  EtherNet1 is used to connect to the virtual teach pendant;  EtherNet2 is a reserved communication interface;  EtherNet3 is used for controller debugging.  EtherCat is used to connect external servo axes or other I/O modules. The definitions for EtherCAT and EtherNet interfaces are as follows: Definition Description...

  • Page 52: Usb Interface

    It is recommended to use connectors with metal shielding Incorrect use of PNP connection when the standard DO of the cabinet is NPN. use shielded/double-shielde d twisted-pair cables (CAT5e SF/UTP) 3.10.3 USB interface The USB interface on the controller is used for data transfer or connecting peripherals such as USB drives, mice, keyboards, etc.
  • Page 53 SAFETY IO Plug Terminal, Shorting Jumper Insertion Status Figure 3-34 SAFETY IO Shorting Jumper Insertion Diagram The input and output signals related to safety stop and their functions are described below: Definitio Function Name Channels Activation Mode Function Description Start In Auto mode, after pressing the start confirmation Auto Confirmation...

  • Page 54: Safety Interface Description

    3.11.1 SAFETY Interface Description Figure 3-35 SAFETY IO Interface Definition Explanation Definition Explanation Channel 1 start confirmation Channel 1 start confirmation CSB1+ CSB1- signal + signal - 24V-SAFETY 24V power supply GND-SAFETY Power ground Channel 2 start confirmation Channel 2 start confirmation CSB2+ CSB2- signal +...

  • Page 55: Start Confirmation Wiring Method

    3.11.2 Start confirmation wiring method When using the start confirmation function, connect the CSB- and CSB+ to a self-resetting NO switch externally. The main power of the control cabinet will only be turned on after pressing the start confirmation button. Its wiring method is as follows: Electrical cabinet Safety IO terminal External safety door...

  • Page 56: External E-Stop Wiring Method

    Safety IO terminal Figure 3-38 Wiring Method for Not Using Start Confirmation 3.11.3 External E-stop wiring method  Emergency stops are designated for handling urgent situations and should only be used to halt a robot in emergencies during its normal operation. ...

  • Page 57: Limit Switch Wiring Method

    Figure 3-40 Not Using External E-stop Connection 3.11.4 Limit switch wiring method Safety IO terminal Limit switch Limit 1+ Limit 1- Limit 2+ Limit 2- Figure 3-41 Using External Limit Switch Ensure that the dual-channel wiring is normal when using this function. When not using the limit switch function, short-circuit using a jumper, with the specific wiring method as follows: Control cabinet terminal...
  • Page 58 Electrical cabinet Safety IO terminal External safety door External 24V switch Figure 3-43 External Safety Door Connection (using external 24V power supply connection) Electrical cabinet Safety IO terminal External safety door switch Internal 24V-SAFETY Internal GND-SAFETY Figure 3-44 External Safety Door Connection (using internal 24V power supply connection) Ensure that the dual-channel wiring is normal when using this function.

  • Page 59: Auto Protection Stop Wiring Method

    3.11.6 Auto protection stop wiring method The wiring method for safety doors and safety light curtains in Auto mode is shown in the following figures: Electrical cabinet Safety IO terminal External safety door External 24V switch Self-reset button Figure 3-46 Auto Protection Stop Connection (Using external 24V power supply) Electrical cabinet Safety IO terminal External safety door...

  • Page 60: E-Stop Output Wiring Method

    Ensure that the dual-channel wiring is normal when using this function. Figure 3-48 Not Using Autom Protection Stop Connection 3.11.7 E-stop output wiring method (1) Wiring method with relay as the load External +24V Electrical cabinet Relay load (ES1_OUT+) (ES1_OUT-) (ES2_OUT+) (ES2_OUT-) External 0V...

  • Page 61: Chapter 4 (Optional) Expansion Cards

    DI/DO expansion cards require an external power supply;  No underlying configuration is required for the installation of expansion cards. If you have any questions, please contact ESTUN technical support to avoid damage due to incompatibility or improper operation. Figure 4-1 Expansion Slots...

  • Page 62: Installing Steps

    Ethernet port adapter expansion ERC3-C1-ECZJ-V100B0 For user ECAT signal adapter card 4.2 Installing Steps Step 1 Use a screwdriver to remove the two captive screws at the back of the control cabinet's top cover. Step 2 Push the control cabinet cover backward horizontally with both hands. Step 3 Open the control cabinet cover as shown in the figure below.
  • Page 63 Step 6 Insert the expansion card into the corresponding slot in the control cabinet, see “4.1 Expansion Slot Description” for correspondence. Step 7 Secure the expansion card with screws. Step 8 Tighten the previously loosended screws. Step 9 Close the control cabinet cover and push it forward horizontally with both hands.

  • Page 64: Di Expansion Card

    Step 10 Tighten the two screws at the back of the control cabinet's top cover with a screwdriver. Step 11 Install the plug. 4.3 DI Expansion Card 4.3.1 Expansion card information Expansion Card Name Model Function 16-channel digital input expansion card ERC3-DI-CB-A-V100B1 For user input signal expansion...

  • Page 65: Installation Dimensions

    4.3.2 Installation dimensions Figure 4-2 DI Expansion Card Installation Dimensions 4.3.3 Terminal definitions Figure 4-3 DI Expansion Card Terminals Definition Description Definition Description Expansion input 0 Expansion input 1 Expansion input 2 Expansion input 3 Expansion input 4 Expansion input 5 Expansion input 6 Expansion input 7 COM1...

  • Page 66: Port Specifications

    Definition Description Definition Description COM2 Common terminal for DI8-DI15 Not defined Grounding point for Grounding point for shielding shielding cable cable grounding grounding 4.3.4 Port specifications Item Specification Number of input channels Input connection method Crimp type terminal Input voltage range 19.2~28.8V DC Input type Digital, selectable NPN or PNP type inputs via common terminal...

  • Page 67: Do Expansion Card

    Figure 4-4 Using the External 24V Power Supply (NPN type output for the upper device) (PNP output for upper device) Common anode wiring method Correct connection of external 24V (recommended for use) External +24V External +24V External +24V Use of an external power supply Upper device Upper device...

  • Page 68: Installation Dimensions

    4.4.3 Installation dimensions Figure 4-7 DO Expansion Card Installation Dimensions 4.4.4 Definition of NPN type digital output expansion card terminal Figure 4-8 DO Expansion Card Terminals Definition Description Definition Description Expansion output 0 Expansion output 8 Expansion output 1 Expansion output 9 Expansion output 2 D010 Expansion output 10...
  • Page 69 Definition Description Definition Description 24V_E External power input 0V_E External ground Grounding point for Grounding point for shielding cable grounding shielding cable grounding Port Specifications Item Specification Number of output channels Output connection method Crimp type terminal Output type Digital, NPN type output Input voltage range 19.2~28.8V DC Max.

  • Page 70: Definitions Of Pnp Type Digital Output Expansion Card Terminals

    Prohibit access to internal External +24V External +24V 24V on standard IO ports (24V) 24V_E 24V_E Incorrect use of PNP connection when 24V_E the standard DO of the cabinet is NPN. Opto-coupler Opto-coupler load load Opto-coupler load 0V_E 0V_E 0V_E External 0V External 0V External 0V...
  • Page 71 Port Specifications Item Specification Number of output channels Output connection method Crimp type terminal Output type Digital, PNP type output Input voltage range 19.2~28.8V DC Max. drive current per channel (typical 24V DC) 250mA Isolation method Opto-coupler isolation DO External Wiring Diagram (PNP Type) The following diagram illustrates external wiring for loads such as opto-couplers or relays.

  • Page 72: Abz Expansion Card

    Incorrect use of PNP connection when the standard DO of the cabinet is NPN. Prohibit access to External +24V External +24V internal 24V on standard IO ports (24V) 24V_E Upper device 24V_E Upper device 24V_E Upper device Opto-coupler load Opto-coupler 0V_E Opto-coupler load...

  • Page 73: Terminal Definitions

    Encoder B-phase pulse differential Encoder A-phase pulse positive differential positive 5V power supply Users may make a matching DB9 male cable according to the ESTUN encoder interface definition. If there are any issues, please contact our technical personnel. Port Specifications Item Specification...

  • Page 74: Wiring Method

    Isolation method Non-isolated 4.5.4 Wiring Method The wiring of the ABZ expansion card is shown in the following figure. Incremental encoder Example of wrong Prohibition of 24V ABZ expansion card (confirm connection as (differential output) connection connection required) Incremental encoder ABZ expansion card (differential output) Shielded ground...

  • Page 75: Terminal Definitions

    Figure 4-17 Ethernet Adapter Card Installation Dimensions 4.6.3 Terminal definitions The ECAT1 interface definition is as follows: Definition Description Data transmit + Data transmit - Data receive + Data receive - Casing Shielding 4.6.4 Recommended communication cables Please use a Cat 5e shielded/dual-shielded twisted-pair cable (CAT5e SF/UTP). It is recommended to use connectors with metal shielding layers to prevent signal interference.
  • Page 76 PN IN PN gateway Figure 4-19 Ethernet Port Adapter Expansion Card Connection Diagram Note: See supporting documentation for controller software configuration “Configuration Manual for Communication Gateway EC2PN-GW-A of ER Series Industrial Robots RCS2” For using ESTUN's PN gateway, please contact ESTUN.

  • Page 77: Chapter 5 Servo Parameter Settings

    Chapter 5 Servo Parameter Settings 5.1 Check before Power-on Before powering up the control cabinet, please check and confirm the following items and make necessary adjustments. Content Check the internal and external appearance of the control cabinet. Check if the fixing screws are securely connected. Confirm the status of connectors and the installation positions of various units in the control cabinet.
  • Page 78 Step 4 Select the "Set Pn Parameters" tab. When the Teach Pendant displays the "Set Pn Parameters" screen, choose the drive axis you want to modify (e.g., Axis 1), then click the "Set" button. Step 5 Set the desired parameters in the parameter dialog box that appears. Please note that only a subset of Pn parameters can be set using the teach pendant.

  • Page 79: Introduction To Servo Parameters

    5.3 Introduction to Servo Parameters 5.3.1 Instructions for use When indicating a parameter change, the effective time of the change is as follows: "Restart": The change takes effect only after the power is restored. "Immediately": The change takes effect immediately after the parameter settings are confirmed. Factory When to take Name...
  • Page 80 Pn000.3: Reserved Basic function settings － 0000-1111 0000 Restart Pn001.0: CCW, CW selection CCW, counterclockwise rotation for positive direction. Pn001 CW, clockwise rotation for positive direction. Pn001.1: Reserved Pn001.2: Reserved Pn000.3: Reserved Application function － 0000～1111 0000 Restart settings 2 Pn002.0: Actual position calculation selection after homing The multi-turn encoder is not involved in calculation.
  • Page 81 Application function － 0x0000~0xFF25 0x0000 Restart settings 4 Pn004.0: Stop method when GR2 alarm occurs DB brake stop, and remain free state after stopping. DB brake stop, and remain DB state after stopping. Free stop, and remain free state after stopping. Reverse connection brake stop, and remain DB state after stopping.
  • Page 82 Pn007.0: Reserved Pn007.1: Main power supply method Single-phase AC Three-phase AC Pn007.2: Undervoltage torque Limitation Enable Invalid undervoltage torque limitation Undervoltage torque limitation enabled Pn007.3: AC power supply frequency 50Hz 60Hz Startup panel display － 0～9999 9999 Restart selection Pn008 This value sets the Un number displayed on the panel at startup.
  • Page 83 the smaller the position deviation. Setting the value too high can cause overshoot and oscillation. Effective when Pn005.3 = 0. Internal speed 0～640 feedforward filter time 0.1ms Immediately constant Pn113 This value smooths the mechanical impact caused by speed feedforward. Setting it too large may cause excessive delay in speed feedforward and induce oscillation.
  • Page 84 Triggers overspeed alarm A.03 when motor speed exceeds this set value. Forward internal torque 0~400 Immediately limit Pn401 Forward internal torque limit Reverse internal torque 0~400 Immediately limit Pn402 Reverse internal torque limit Speed limit during 0~6000 1500 Immediately torque control Pn408 Speed limit during torque control Deviation counter...
  • Page 85 Bleeder resistor － Ω 20~300 Immediately resistance value Pn535 Bleeder resistor resistance value Bleeder resistor power 10~37500 Immediately Pn536 Bleeder resistor power － － Bleeder resistor heat 20~100 Immediately transfer coefficient Pn537 Bleeder resistor heat transfer coefficient...

  • Page 86: Chapter 6 View Servo Alarms And Handling

    Chapter 6 View Servo Alarms and Handling 6.1 View Alarms Using Teach Pendant When a robot encounters an alarm during its operation, it immediately halts its motion. The teach pendant will display an alarm icon, to allow users to access the "Log Management" interface to view detailed information about the alarm.

  • Page 87: Log

    6.2 Log Step 1 Click on the "Log" button in the "System Log" interface to switch to the logging interface. Step 2 Users can view the contents of the log on the controller or demonstrator side as appropriate. 6.3 Help On the Log management screen, you can check whether there are any alarm details on the Help screen.
  • Page 88 Step 2 Click "Search box", enter "Alarm number" or "Keyword" and click "Confirm". "Press the "Search" button to find out the detailed information of the alarm.

  • Page 89: Alarm List

    6.4 Alarm List Name Cause of fault Solution Storage parameter Try performing a factory reset; if the A.01 Storage parameter check exception check exception alarm persists, return to the factory. 1. Check the setting value of Pn323 The motor speed calculated in the program A.03 Overspeed exceeds 1,000 rpm or exceeds the speed...
  • Page 90 Name Cause of fault Solution Fan failure alarm, fan failure time exceeds 30 A.1C Fan failure alarm Return to the factory seconds A.1D NTC disconnected Temperature sensor disconnected Return to the factory Mains charging circuit A.1E Charging resistor is faulty Return to the factory fault Ground short circuit fault in the motor power...
  • Page 91 Name Cause of fault Solution Empty or incorrect Information for encoder motor body in Zone 2 A.59 information for encoder is empty or incorrect, or motor parameter Try replacing the motor motor body in Zone 2 version is incorrect Position difference given by IP or CSP is too Check if the controller's trajectory A.65 Position overflow alarm...
  • Page 92 Name Cause of fault Solution Channel 2 limit switch is disconnected or External E-stop 1. Check cable and terminal connections; A.110 E-stop button is pressed; channel 1 status is abnormality 2. Return to the factory abnormal, and system alarm is triggered Channel 1 limit switch is disconnected or External E-stop 1.
  • Page 93 Name Cause of fault Solution Hardware failure of Channel 1's Class 0 A.132 Class 0 signal 1 fault Return to the factory E-stop circuitry Hardware failure of Channel 2's Class 0 A.133 Class 0 signal 2 fault Return to the factory E-stop circuitry Enable 1 failure of Hardware fault in Channel 1's teach pendant...
  • Page 94 Name Cause of fault Solution STO state machine State machine jump error when exception 1. Power off and restart; A.158 jump error goes to state 7 2. Return to the factory STO state machine State machine jump error when exception 1.
  • Page 95 Name Cause of fault Solution 1. Check the number of expansion cards; Abnormal number of The number of encoder expansion cards is A.186 2. Return to the factory。 encoder expansion card more than 2 1. Check the encoder 1 cable and A.187 terminal;...

  • Page 96: Chapter 7 Maintenance

    Chapter 7 Maintenance 7.1 Maintenance precautions Before performing maintenance, please carefully read the following content and ensure a thorough understanding of the methods for safe maintenance.  Maintenance of the robot system must be carried out by personnel who have received safety training.

  • Page 97: Regular Inspection

    To ensure the proper functioning of the product and prevent damage, daily confirmation should be made for the following items: Item Content Solution Check the control cabinet and Installation Verify if the installation brackets are vibrating. surrounding cables for environment Check for loose or corroded connections at cable terminals.

  • Page 98: Program Backup And Loading

    control table, enable the switch E-stop buttons and enable control cabinet switches can effectively cut operation panel off the servo power during operation. Visual check. Cable set, teach Tighten. pendant cable, Make sure there is no  ● ● If the cable is damaged, other external damage, broken, loose joints replace it.

  • Page 99: List Of Spare Parts

    Step 2 Click to enter the project management interface. Step 3 Click "Management" on the right-side menu to access the interface shown in Figure 7-1. Figure 7-2 Explanation of the Project Program Import and Export Interface Engineering Files PC Files Root USB Path Step 4 Click the "USB Path"...

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