Estun ER30B-2700-LI Operation Instructions Manual
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Estun ER30B-2700-LI Operation Instructions Manual

Estun ER30B-2700-LI Operation Instructions Manual

General medium payloads series robot body
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Summary of Contents for Estun ER30B-2700-LI

  • Page 2 ESTUN Medium Payloads Robot Mechanical Unit Operator’s Manual EBM03101-EN-11...
  • Page 3 In this manual, all specifications and information are checked on a regular basis. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. ESTUN assumes no responsibility for any direct or indirect losses arising from use of this manual and products described herein.

  • Page 4: Safety

    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. ESTUN robots must be transported, mounted and operated in accordance with national laws, regulations and standards. Appropriate safeguards must be correctly performed to protect the users. Before using (mounting, operating, maintaining, repairing) the robot, be sure to read and understand this manual and its relevant manuals.
  • Page 5 A supplementary explanation helps users operating the robot more efficiently. SAFETY OF USERS (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. (2) Draw an area clearly indicates the safety area. Install a fence or hang a warning board to ensure the safety operation of the robot, and keep unauthorized personnel outside the safety area.
  • Page 6 SAFETY  Ensure that there is a place to retreat to in case of emergency. Never stand beneath the robot in case of unexpected movement or the system be turned on inadvertently. Make sure there is a CO fire extinguisher at hand. SAFETY OF OPERATORS (1) Before operating the robot, check that the SERVO ON indicator goes out when the EMERGENCY STOP button on the right of the front door of the controller and the pendant are pressed.
  • Page 7 SAFETY  Turn off the enable switch when pausing, programming or testing the system.  Teach pendant must be taken with the programmer when teaching in the work space, to avoid inadvertent operation by unauthorized person.  Teach pendant must not be left within the work space of the robot, as injury or damage can occur if the robot comes in contact with the teach pendant.
  • 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: Electric Shock Warning

    SAFETY The following processing is performed at Hold:  The robot operation is decelerated until it stops. Execution of the program is paused. 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.
  • Page 10 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) Handling...
  • Page 11 SAFETY Fig 0.6 Handling sign...

  • Page 12: Preface

    Robot type Load capacity ER20-2300-HI 20kg ER30B-2700-LI 30kg ER50B-2100 50kg ER50B-2700 50kg ER70B-2100-LI 70kg Related manuals ESTUN Robot Mechanical Unit Operator’s Manual ESTUN ER Series Cabinet Operator’s Manual ESTUN ERC Series Cabinet Operator’s Manual ESTUN ER Series Industrial Robot Operation Manual...

  • Page 13: 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 ......................3 1.1.2. Transport by a crane ....................... 5 1.2. INSTALLATION ..........................8 1.3. INSTALLATION CONDITIONS ....................11 CONNECTION WITH THE CONTROLLER .....................

  • Page 14: Contents

    CONTENTS APPENDIX D Part list for ER30B-2700-LI ..................... 54 APPENDIX E Part list for ER50B-2100 ....................55 APPENDIX F Part list for ER70B-2100-LI ....................55 REVISION RECORD ............................55...

  • Page 15: Transportation And Installation

    Wrist INFO Some parts with less weight are not listed. Contact ESTUN if you need the details. When transporting the robot, a fixed bracket needs to be installed. The fixing bracket needs to be removed before installing the robot. The figure below lists the fixing bracket screw holes for easy user removal.
  • Page 16 M8*20 screw mounting hole*1, Flat washer Fig 1.1 Robot fixed bracket (ER20-2300-HI, ER50B-2100, ER70B-2100-LI) M8*20 screw mounting hole*2, Flat washer M8*20 screw mounting hole*2, Flat washer M8*20 screw mounting hole*2, Flat washer M8*20 screw mounting hole*1, Flat washer Fig 1.2 Robot fixed bracket (ER30B-2700-LI)

  • Page 17: Transport By A Forklift

    TRANSPORTATION AND INSTALLATION M8*20 screw mounting hole*2, Flat washer M8*20 screw mounting hole*2, Flat washer M8*20 screw mounting hole*2, Flat washer M8*20 screw mounting hole*1, Flat washer Fig 1.3 Robot fixed bracket (ER50B-2700)） 1.1.1. Transport by a forklift The robot described in this manual can be transported by a forklift. Use eight M12X35 bolts to fix the 4 fixed plates on the forklift to the robot base, use a forklift to heave the robot.
  • Page 18 TRANSPORTATION AND INSTALLATION Fixed plates Fig 1.4 Use a forklift to transport the robot (ER20-2300-HI) Fixed plates Fig 1.5 Use a forklift to transport the robot (ER30B-2700-LI)

  • Page 19: Transport By A Crane

    TRANSPORTATION AND INSTALLATION Fixed plates Fig 1.6 Use a forklift to transport the robot (ER50B-2100, ER70B-2100-LI) Fixed plates Fig 1.7 Use a forklift to transport the robot (ER50B-2700) 1.1.2. Transport by a crane The robot described in this manual can be transported by a crane. Fix the M12 rings on the robot rotation base, use a crane and strings to heave the robot.
  • Page 20 TRANSPORTATION AND INSTALLATION Robot center of gravity Fig 1.8 Use a crane to transport the robot (ER20-2300-HI) Robot center of gravity Fig 1.9 Use a crane to transport the robot (ER30B-2700-LI)
  • Page 21 TRANSPORTATION AND INSTALLATION Robot center of gravity Fig 1.10 Use a crane to transport the robot (ER50B-2100, ER70B-2100-LI) Robot center of gravity Fig 1.11 Use a crane to transport the robot (ER50B-2700)

  • Page 22: Installation

    The following precautions must be fully understood and observed before installing the robot.  Be sure to read and understand SAFETY chapter thoroughly.  ESTUN robots must be transported, mounted and operated by authorized person, and in accordance with the applicable national laws, regulations and standards.
  • Page 23 TRANSPORTATION AND INSTALLATION torque 21250 (N) 22250 (N) 22250 (N) Max. vertical force 28500 (N) 22250（N） Max. horizontal 12000 (N) 11400 (N) 11400（N） 11400 (N) 15000 (N) force Fig 1.12 Robot base force Through Fig 1.13 Robot base mounting dimension Tab 1.1 Robot fixing components Item and mode Amount...
  • Page 24 TRANSPORTATION AND INSTALLATION Base mounting bolt M16×55 (4) Chemical bolt Level:12.9 M16×190 (8) Torque:339NM Torque:150NM Rotation center of J1-axis Through Through Note: When installing the iron plate on the ground, secure the robot mounting plate to the concrete floor using eight M16X190 chemical bolts.

  • Page 25: Installation Conditions

    (1) The robot cannot be used with the following liquids. Potentially these liquids will cause irreversible damage to the rubber parts (such as gaskets, oil seal, O-rings, etc.) (As exception to this only liquids approved by ESTUN can be used with the robot). (a)organic solvents...

  • Page 26: 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. Robot Control cabinet Detail A Flat washers 8 Screw M8*16 (nickel-plated) (nickel-plated) Robot connection cable...

  • Page 27: Specifications

    Motor of J4-axis Motor of J3-axis Big arm J2-axis Motor of J2-axis Motor of J1-axis Swivel base Base J1-axis Fig 3.1 Robot Configuration (ER20-2300-HI, ER30B-2700-LI) Motor of J6-axis J5-axis Wrist joint J6-axis joint Small arm J4-axis Motor base Motor of J5-axis...
  • Page 28 Motor of J3-axis Big arm J2-axis Motor of J2-axis Swivel base Motor of J1-axis Base J1-axis Fig 3.3 Robot Configuration (ER50B-2700) Tab 3.1 Specifications Model ER20-2300-HI ER30B-2700-LI ER50B-2100 ER50B-2700 ER70B-2100-LI Type Articulated robot Controlled axes 6 axes Installation Floor/Top J1-axis ± 180°...

  • Page 29: External Dimensions And Operating Space

    SPECIFICATIONS payload wrist Allowable J4-axis 7.7 kg· m² 3.95 kg· m² 30 kg· m² 30 kg· m² 30 kg· m² load J5-axis 7.7 kg· m² 3.95 kg· m² 30 kg· m² 30 kg· m² 30 kg· m² inertia at J6-axis 5.82 kg·...
  • Page 30 SPECIFICATIONS P point P point motion path Fig 3.4 Motion range (ER20-2300-HI)
  • Page 31 SPECIFICATIONS P point P point motion path Fig 3.5 Motion range (ER30B-2700-LI)
  • Page 32 SPECIFICATIONS P point P point motion path Fig 3.6 Motion range (ER50B-2100, ER70B-2100-LI)
  • Page 33 SPECIFICATIONS P point P point motion path Fig 3.7 Motion range (ER50B-2700)

  • Page 34: Zero Point Position And Motion Limit

    In addition, the motion range limit by a fixed mechanical stopper is also prepared to improve safety. Do not reconstruct the fixed mechanical stopper. There is a possibility that the robot doesn’t stop normally. Fig 3.8 Zero point position (ER20-2300-HI, ER30B-2700-LI)
  • Page 35 SPECIFICATIONS Fig 3.9 Zero point position (ER50B-2100, ER70B-2100-LI) Fig 3.10 Zero point position (ER50B-2700)
  • Page 36 J3-axis (fixed part) Mechanical stopper of J2-axis (movable part) Mechanical stopper of J1-axis (fixed part) Mechanical stopper of J1-axis (movable part) Mechanical stopper of J3-axis (movable part) Mechanical stopper of J2-axis (fixed part) Fig 3.11 J1-axis mechanical stoppers (ER20-2300-HI, ER30B-2700-LI)
  • Page 37 SPECIFICATIONS Mechanical stopper of J5-axis (fixed part) Mechanical stopper of J3-axis (fixed part) Mechanical stopper of J2-axis (movable part) Mechanical stopper of J1-axis (fixed part) Mechanical stopper of J1-axis (movable part) Mechanical stopper of J5-axis (movable part) Mechanical stopper of J3-axis (movable part) Mechanical stopper of J2-axis (fixed part)
  • Page 38 SPECIFICATIONS Mechanical stopper J3-axis (movable part) Mechanical stopper J5-axis (movable part) Mechanical stopper of J2-axis (fixed part) Mechanical stopper of J1-axis (fixed part) Mechanical stopper of J1-axis (movable part) Mechanical stopper of J5-axis (fixed part) Mechanical stopper of J3-axis (fixed part) Mechanical stopper J2-axis (movable part)

  • Page 39: Wrist Load Condition

    Payloads include total weight of tools such as grippers, welding guns, tool 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. Notes: Allowable load inertia at J5-axis7.70kg∙m...
  • Page 40 SPECIFICATIONS Notes: Allowable load inertia at J5-axis 3.95kg∙m Allowable load inertia at J6-axis 1.57kg∙m Fig 3.15 Load capacity at wrist (ER30B-2700-LI) Notes: Allowable load inertia at J5-axis 30kg∙m ER50B-2100, Allowable load inertia at J6-axis 12kg∙m ER50B-2700, Allowable load inertia at J6-axis 22kg∙m...
  • Page 41 SPECIFICATIONS Notes: Allowable load inertia at J5-axis 30kg∙m Allowable load inertia at J6-axis 12kg∙m Fig 3.17 Load capacity at wrist (ER70B-2100-LI)

  • Page 42: Equipment Installation To The Robot

    Antirust measures of screws, grippers, etc., should be considered as well. Item and model Amount Fixed screw: M6 (ISO4762 12.9 level) Spring washer: spring washer Φ6 (DIN 7880-1987) Positioning pin: cylindrical pin Φ6 (ISO 8735) Fig 4.1 End flange mounting dimension (ER20-2300-HI, ER30B-2700-LI) Through-EQS...

  • Page 43: Equipment Mounting Face

    EQUIPMENT INSTALLATION TO THE ROBOT Item and model Amount Fixed screw: M8 (ISO4762 12.9 level) Spring washer: spring washer Φ8 (DIN 7880-1987) Positioning pin: cylindrical pin Φ8 (ISO 8735) Fig 4.2 End flange mounting dimension (ER50B-2100, ER50B-2700, ER70B-2100-LI) 4.2. EQUIPMENT MOUNTING FACE As shown in the figures below, tapped holes are provided to install equipment to the robot.
  • Page 44 EQUIPMENT INSTALLATION TO THE ROBOT Fig 4.3 Equipment mounting face (ER20-2300-HI)
  • Page 45 EQUIPMENT INSTALLATION TO THE ROBOT Fig 4.4 Equipment mounting face (ER30B-2700-LI)
  • Page 46 EQUIPMENT INSTALLATION TO THE ROBOT View A Through Fig 4.5 Equipment mounting face (ER50B-2100, ER70B-2100-LI)
  • Page 47 EQUIPMENT INSTALLATION TO THE ROBOT View A Through Fig 4.6 Equipment mounting face (ER50B-2700) ！ Take precautions to avoid interference between peripheral device and the robot. CAUTION...

  • Page 48: Pipes And Tubes

    EQUIPMENT INSTALLATION TO THE ROBOT 4.3. PIPES AND TUBES The robot has inlets and outlets openings to supply air or hydraulic pressure to the end effector. Air tube connector φ8 Air tube connector φ10 I/O connector WS28-J24TQ1 Fig 4.7 Pipes and tubes...

  • Page 49: 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 50 Replace the mechanical unit battery.  unit battery Replacing the grease of Replace the grease of each axis reducer.  each axis reducer Replacing the mechanical Replace the mechanical unit cable. Contact ESTUN  unit cable representative for information regarding replacing the cable.

  • Page 51: Adjust The Belt

    DANGER the belt lifetime. ER20-2300-HI, ER30B-2700-LI J5 shaft tensioning timing belt steps: 1. Disassemble the hexagonal cylindrical head screw M4× 8 inside the left and right cover plates of the forearm, remove the left and right covers of the forearm and place them in the storage area;...
  • Page 52 Use an internal hexagon wrench to wave the belt when measuring tense. Bolt M4*30 Hex nut M4 Fig 5.1 Strain the timing belt (ER20-2300-HI, ER30B-2700-LI) Tab 5.1 Timing belt tense/frequency value reference (ER20-2300-HI, ER30B-2700-LI) Model Range of belt tense Range of frequency new belt 76～90N...

  • Page 53: Replacing The Battery

    CHECK AND MAINTENANCE J5 axis motor Allen cylindrical head screw M6*25 Allen cylindrical head screw M5*10 connection plate Aim headpin of the straining device to the belt in line at 5-7mm distance. Use an internal hexagon wrench to wave the belt when measuring tense.
  • Page 54 CHECK AND MAINTENANCE Battery box Fig 5.3 Battery replacing (ER20-2300-HI, ER30B-2700-LI) Battery box Battery box support Fig 5.4 Battery replacing (ER50B-2100, ER50B-2700, ER70B-2100-LI) Be sure to keep the power on. If the power is cut off during battery replacing, the...

  • Page 55: Greasing

    620g ER70B-2100-LI ER50B-2100 J5-axis reducer 120g ER50B-2700 J6-axis reducer 200g ER70B-2100-LI Recommend greasing gesture is list below. Tab 5.3 Robot joint greasing angle (ER20-2300-HI, ER30B-2700-LI) Orientation Location J1-axis reducer J2-axis reducer J3-axis reducer 0° 0° J4-axis reducer 0° Tab 5.4 Robot joint greasing angle (ER50B-2100, ER50B-2700, ER70B-2100-LI)

  • Page 56: Inlet/Outlet Of Each Axis

    CHECK AND MAINTENANCE 5.5.1. Inlet/outlet of each axis Follow the instructions in the safety chapter when greasing the reducer. J1-axis oil inlet J1-axis oil outlet Fig 5.5 J1-axis oil inlet/outlet J2-axis oil inlet J2-axis oil outlet Fig 5.6 J2-axis oil inlet/outlet...
  • Page 57 CHECK AND MAINTENANCE J3-axis oil inlet J3-axis oil outlet Fig 5.7 J3-axis oil inlet/outlet J4-axis oil outlet J4-axis oil inlet Fig 5.8 J4-axis oil inlet/outlet...

  • Page 58: Procedure Of Greasing

    CHECK AND MAINTENANCE J6-axis oil outlet J5-axis oil inlet J6-axis oil inlet J5-axis oil outlet Fig 5.9 J5, J6 axis oil inlet/outlet (ER50B-2100, ER50B-2700, ER70B-2100-LI) 5.5.2. Procedure of greasing The grease replacement procedure of each shaft reducer is as follows: a) All joints of the teaching robot run at 100% speed for 10-20min, so that the internal grease becomes a lower viscosity oil;...

  • Page 59: Procedure For Releasing Remaining Pressure Within The Grease Bath

    CHECK AND MAINTENANCE 5.5.3. Procedure for releasing remaining pressure within the grease bath Release remaining pressure with the following procedures. Attach bags under the oil outlet to prevent spilled oil/grease from splattering. a) Power the robot, and operate at a 100% speed with full load for 4 hours continuously. b) Stop the running program of the robot at zero position, turn off the servo power with the teach pendant.

  • Page 60: Troubleshooting

    TROUBLESHOOTING 5.6. Oil leakage inspection Maintenance Area Insert a cloth or similar material into the gaps of each joint to check for any oil leakage from the oil seals. If oil leakage is observed, please wipe it clean. ⚫ Depending on the operating conditions and surrounding environment, oil may leak from the outer lip of the oil seals.

  • Page 61: Mechanical Zero Position Calibration

    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. a) Jog the robot manually to the place where the calibration marks are align.
  • Page 62 TROUBLESHOOTING J1-axis zero position Fig 6.3 Calibration for J1-axis J2-axis zero position Fig 6.4 Calibration for J2-axis...
  • Page 63 TROUBLESHOOTING J3-axis zero position Fig 6.5 Calibration for J3-axis J4-axis zero position Fig 6.6 Calibration for J4 -axis (ER20-2300-HI, ER30B-2700-LI, ER50B-2100, ER70B-2100-LI)
  • Page 64 J4-axis zero position Fig 6.7 Calibration for J4 -axis (ER50B-2700) J5-axis zero position J6-axis zero position Fig 6.8 Calibration for J5, J6 -axis (ER20-2300-HI, ER30B-2700-LI) J5-axis zero position J6-axis zero position Fig 6.9 Calibration for J5, J6 -axis (ER50B-2100, ER70B-2100-LI)

  • Page 65: 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 cut off. 7.1. TOOLS Troubleshooting tools includes travelling crane, forklift, internal hexagonal wrench, monkey wrench and special tools for removing the bearings.

  • Page 66: 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 67: Appendix

    APPENDIX APPENDIX APPENDIX A BOTL TORQE LIST Bolt Models (ISO4762) Tightening 9.01 15.6 37.2 73.5 Torque/N.m (Level ±0.49 ±0.78 ±1.86 ±3.43 ±6.37 ±10.2 ±15.9 ±22 12.9) APPENDIX B SPECIFICATION OF BOLT Designed Designed Anti-pull Nominal Screw Drill Anchor Max. anchor pulling shearing force...

  • Page 68: Appendix C Part List For Er20-2300-Hi

    12700000059 Servo motor (J6-axis) 26100001698 Wrist unit Lithium battery ER34615M (Wire with XT30U-M) 51200000073 with socket G5400000523 Timing Belt APPENDIX D Part list for ER30B-2700-LI Name Amount Note 12700000506 Servo motor (J1-axis) 12800000087 Servo motor (J2-axis) 12700000505 Servo motor (J3-axis)
  • Page 69 REVISION RECORD APPENDIX E Part list for ER50B-2100 Name Amount Note 12700000506 Servo motor (J1-axis) 12800000080 Servo motor (J2-axis) 12700000505 Servo motor (J3-axis) 12700000500 Servo motors (J4, J6 axis) 12700000501 Servo motors (J5-axis) 31521100006 Lithium battery ER34615M/2 G5400000472 Wrist unit APPENDIX F Part list for ER70B-2100-LI Name Amount...

  • Page 70: Revision Record

    Modify the 5.5 robot lubrication precautions, and periodically replace the amount 2022.01 of grease used. 2022.07 Add ER70B-2100-LI. 2022.09 Update 1.2 Installation Note the connection between Update 2 and the appliance. Updated ER20-2300-HI model related materials; The ER30B-2700-LI model 2023.12 was added. Add Oil Leakage Inspection. 2024.07 Add ER50B-2700.
  • Page 71 ADD: No.1888, Ji Yin Avenue, Jiangning Area, Nanjing, China TEL: 025-85097068 Post Code: 211102 E-mail: robot@estun.com...

This manual is also suitable for:

Er50b-2100Er50b-2700Er70b-2100-liEr20-2300-hi

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