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Summary of Contents for Estun ER50 SCARA
- Page 1 ESTUN Robotics ER50 SCARA Robot Body Operation Instructions...
- Page 2 ESTUN Robotics ER50 SCARA Robot Body Operation Instructions M-0605EN-04...
- 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 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 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.
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Page 9: Preface
Model Name Payload Capacity Z-axis travel ER50-1200-SR 50kg 400mm List of Related Manuals: User Manual of ESTUN Robotics SCARA Series Robot Bodies User Manual of ESTUN Robotics ERC Series Compact Control Cabinets Operation Manual of ESTUN Robotics ER Series Industrial Robots... -
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 ..................... 29 5.4.1. Signs of timing belt failure ....................30 5.5. Maintenance of timing belts ..................... 30 5.6. Inspection of oil seepage ......................31 Zero Calibration ............................32 6.1. Introduction ..........................32 6.2. Calibration with instrumentation ....................32 6.3. -
Page 12: Product Specifications
Product Specifications 1. Product Specifications 1.1. Designation Application Arm Length Effective Payload... -
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 通 通 通 On both sides Reserve space for 90+ cables *Stroke allowance for mechanical stop position Quick coupling for Quick coupling for Ø8mm tube Ø8mm tube (WHITE) (GREEN) Quick coupling for Subscriber Connector (female) (15 Pin Ø8mm tube (BLUE) Dsub Connector) Subscriber Connector (female) (15 Pin...
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Page 15: Specifications
Product Specifications 1.3. Specifications Table 1.1 Robot specifications Item ER50-1200-SR Arm #1 and #2 (mm) 1200 Arm Length Arm #1 (mm) Arm #2 (mm) Joints #1 and #2 9608 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 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 specifications, potentially leading to cable breakage. -
Page 19: Handling
Environment and Installation Max. Space Motion Space 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. Performing ！ these tasks without the necessary qualifications may lead to severe injuries or significant damage, and pose a high risk. - Page 20 Environment and Installation 2 mounting holes for M12 screws 2 mounting holes for M12 screws 2 mounting holes for M12 screws Figure 2.3 Schematic of robot support bracket This model of robot is handled using a crane. Set the robot in a lifting posture, attach M12 lifting eye bolts (2) to the upper end of the main arm, and lift it with slings.
- Page 21 Environment and Installation 2-M12 Eyebolt Handling Bracket 1 Handling Bracket 2 Note: Handling conditions: 1. Crane Lifting Capacity: 200kg; 2. Sling Lifting Capacity: 200kg Figure 2.4 Handling illustration When installing, dismantling, or lifting the robot, use your hands to support and ensure balance to prevent tipping and potential dangers.
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Page 22: Installation
Environment and Installation The weights of some lighter components are not listed here; please contact our company if needed. 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. -
Page 23: Grounding Guidelines
Environment and Installation Spring washer 12 Flat washer 12 Screw holes (more than 20mm deep) Figure 2.5 Stand installation diagram 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 Cable for body grounding Flat washer 4 (nickel-plated) Spring washer 4 (nickel-plated) M4*10 (nickel-plated) Figure 2.7 Connection of grounding cable 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. -
Page 25: User Wiring And Piping
Environment and Installation Power cable Signal cable Figure 2.8 Cable connection Robot body serial number must match that of control cabinet. Incorrect matching can lead to robot accuracy deviations. 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. -
Page 26: Wiring (Cables)
Environment and Installation 2.8.1. Wiring (cables) Number of Wires Nominal Allowable Rated Voltage Cross-Sectional Remark Current Area AC/DC 30V 0.211mm Twisted Pair Do not exceed a current of 1A. 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. -
Page 27: Relocation And Storage
Environment and Installation Quick coupling for Ø8mm Quick coupling for Ø8mm Subscriber Connector B tube (GREEN) tube (WHITE) (male) (15-pin Dsub Subscriber Connector A connector) (male) (15-pin Dsub connector) Subscriber Connector C (male) (15 pin Dsub connector) Power cord connector Quick coupling for Ø8mm tube (WHITE) Encoder... -
Page 28: Relocation
Environment and Installation 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. To prevent fingers from being caught, fold the robot arm before relocation and secure it with cable ties or similar restraints. - Page 29 Environment and Installation 2-M12 eyebolt Handling bracket 1 Handling bracket 2 Figure 2.10 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.
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Page 30: 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 31: Equivalent Weight Calculation
Fixture End Setting 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 32 Fixture End Setting �� = 550 �� = 660 �� = 5 × 660 /550 = 7.2 �� �� + �� = 40 + 7.2 = 47.2 �� Set the end load weight in the teach pendant parameters to 47.2 kg. Figure 3.2 Example of equivalent weight calculation...
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Page 33: 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 mechanical stop for 2nd joint (fixed) Mechanical stop Mechanical stop for 1st joint (fixed) -
Page 34: 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 35: Inspection When Power Is Off (No Motion)
Maintenance 5.1.1. Inspection when power is OFF (no motion) Item Position Daily month month months month √ √ √ √ √ Fixture end mounting bolts √ √ √ √ √ Robot setting bolts Check for loose or wobbly Tightening bolts for each √... -
Page 36: Robot Lubrication
Maintenance Open and then close the brake release switch to check the sound of the Brake √ √ √ √ √ electromagnetic brake. If there is no sound, replace the brake. 5.2. Robot lubrication Regular lubrication is required for the ball screws, splines, and reducers. Please ensure the use of the specified lubricant. -
Page 37: Steps To Replace Reducer Grease
Maintenance J2-axis oil outlet J1-axis oil inlet J1-axis oil outlet J2-axis oil outlet Figrue 5.1 Oil inlet/outlets for J1 and J2-axis 5.2.1. Steps to replace reducer grease The following steps are specific to the operation of the ER50-1200-SR robot's J1 and J2 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;... -
Page 38: Steps To Release Residual Pressure In The Grease Chamber
Maintenance (including that discharged after warm-up). f) Release residual pressure from the grease chamber following the steps outlined in 5.5.3; g) Install and tighten the plugs on the grease injection and oil drain ports with a torque of 13.7N·m. If lubrication is not performed correctly, the internal pressure of the lubrication chamber may suddenly increase, potentially damaging sealing parts and leading to grease leakage and abnormal operation. -
Page 39: Tightening Of Hexagon Socket Bolts
Maintenance (5) Wipe off the old lubricating grease on the upper part of the axis, then apply new grease. Directly apply it with a clean brush or similar tool to completely cover the chamber on the upper part of the axis, and wipe off excess grease. (6) Set the power of the controller to ON. -
Page 40: Maintenance Of Timing Belts
Maintenance 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; instead, use a hex wrench to tighten them in 2 or 3 turns, then use a torque wrench to tighten them to the torque values shown in the table above. -
Page 41: Signs Of Timing Belt Failure
Maintenance 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 42: Inspection Of Oil Seepage
Maintenance operates. ⚫ Additionally, if the operating temperature is too high, the pressure inside the joint cavity may increase. In such cases, please open the oil filler port once after operation to restore internal pressure. (DO NOT open or close the oil filler port when the machine is cold.) ⚫... -
Page 43: 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 44: 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 ER50-1200-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 45 Zero Calibration J2-axis zero position Figure 6.3 J2-axis zero calibration diagram J3-axis zero position J4-axis zero position Figure 6.4 J3/J4-axis zero calibration diagram...
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Page 46: 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 47 Troubleshooting Symptom Description Cause Solution Check tightness of motor The robot wobbles due to Bolts in the robot joint bolt, reducer bolt, and Click push by hand when turn loosen due to overload or each connecting bolt. If off it. collision.
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Page 48: 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 49: Appendix
Appendix Appendix Appendix A List of Recommended Spare Parts for ER50-1200-SR (required for one unit/set) Component Material Code Remark Maintenance ● Joint 1# 12J00000334 ● Joint 2# 12700000966 Servo Motor ● Joint 3# 12700000507 ● Joint 4# 12J00000085 ● Joint 3# G5400000383 Timing belt ●... -
Page 50: Revision Record
Revision Record Revision Record Version Date Revision 2022.01 Initial issue. Add grounding instructions; update environmental temperature in the 2022.09 specifications table; remove the lubricating grease row from the spare parts list. 2024.04 Update specifications and parameters. 2024.07 Update specifications and parameters. - Page 51 ADD: NO.1888, Jiyin Avenue, Jiangning Development Zone, Nanjing TEL: 025-85097068 Post Code: 211102 E-mail: robot@estun.com...
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