Page 1 EC2-S SCARA 通用控制柜电气使用维护手册 Electrical Operation and Maintenance Manual for EC2-M Control Cabinet...
Page 2 Statement Thank you for choosing EFORT Robot. To ensure proper set-up of products, please read this manual carefully before operation. This statement and manual cover contents related to your personal and property safety. Failure to follow or operate in accordance with the instructions and warnings in the manual may result in personal injury to you and those around you, or property damage to the robot or other items.
Page 3 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Content 1 Safety ................................1 1.1 Safety Statement ........................... 1 1.1.1 Limitations of Liability ......................1 1.1.2 Requirements for personnel .......................1 1.2 Safety Instructions ..........................2 1.3 Safety Criteria ............................4 1.4 Robot Installation and Connection .......................
Page 4 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.3 Controller ..........................64 4.4.4 System IO ..........................66 4.4.5 Expansion IO Module ......................72 4.4.6 Capacitor pack .........................82 4.5 Safety Functional Unit ........................82 4.5.1 Electrical Hardware Component ..................... 83 4.5.2 Electrical Software Component ....................84 4.5.3 Safety function ........................
Page 5 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 7.1 Overview ............................126 7.2 Environmental Information ......................126 7.3 Discard the Robot ..........................126 Appendix 1 Spare parts list ..........................127 Appendix 2 List of optional accessories ......................129...
Page 6 The installation and/or use of non-original spare parts and equipment can negatively impact the safety, functionality, performance, and structural integrity of the robot. EFORT will not be held liable for any losses resulting from the use of non-original spare parts and equipment.
Page 7 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 1.2 Safety Instructions Safety Precautions This section describes the safety instructions related to operating the robot and the associated risk levels used in the user manual, including: Prohibited Actions, Mandatory Measures, Warnings, Dangers, etc.
Page 8 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet following: “Electrical Operation and Maintenance Manual for EC2- M Control Cabinet”. This manual contains all the safety instructions included in the product manual of the robot and control cabinet. The robot system should be designed and manufactured to allow safe access to all necessary areas during operation, adjustment, and maintenance.
Page 9 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 1.3 Safety Criteria Prohibited Actions 1. Do not arbitrarily modify or remove the protective and safety devices of industrial robot. 2. Do not touch robot on condition of water-logging. Cut off all powers and drain the site at first time.
Page 10 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Mandatory Measures 1. Ensure nobody is within the danger area before starting robot. 2. Professional training is required for the operation and maintenance. Mandatory 3. Operators shall continuously monitor the normal operation of...
Page 11 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet and protective measures. This is a Partly Completed Machine to be integrated with suitab le safety devices according to the measures defined in the final risk asse ssment (e.g. fences) 1.4 Robot Installation and Connection...
Page 12 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet the installation location before transporting robot. 6. Please fasten the control cabinet to prevent tipping over if it is transported by a forklift. 7. Please protect robot from collisions and impacts because it is composed of sophisticated components.
Page 13 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 1.5 Robot Start-up Safety Safety Before Starting Robot Strictly follow precautions below refer national/international standards before starting robot. The design of safety functions should comply with Robot Safety Requirements (GB 11291.1-2011/ISO 10218-1:2006) and Industrial Robots Technical...
Page 14 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 8. A supervisor who should have completed relevant training offered by EFORT must be assigned for operation monitor. 9. The system must be equipped with monitor instruments to automatically detect abnormalities in water and gas supply in time for application items (water, compressed air, protective gas, etc.).
Page 15 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 3. Do not enter the safety fence unless the power supply is disconnected. Meanwhile, confirm the protective devices function properly before starting the robot. 4. If several operators work together in the robot operation system, make sure all of them and relevant personnel are aware that robot should be activated before start.
Page 16 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet fences or alarm devices and interlocking signals, are installed.  Please confirm the function of safety protection device and interlock is normal, requiring the operator to receive safety training and hold work certificate.
Page 17 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 1.6 Robot Operation Mode Robot Test Run Errors concerning design, teaching, and working may exist in teaching program, clamps, logic controllers, and other parts in robot test run. Therefore, safety awareness must be further enhanced during test runs.
Page 18 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet and maintenance. Meanwhile, make sure all safety measures are effective in place. 2. Please confirm all protective devices (safety fences) work properly before starting the robot. 3. Teaching should be administered by one operator and one supervisor, who bears the responsibility of safety supervision.
Page 19 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet are around the robot or within the safety fence. 9. During teaching, please confirm the motion range of the robot. Approaching the underside of the robot is prohibited and may pose risks causing accidents.
Page 20 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 2. In automatic operation, any part of the body should never enter the safety fence. Please confirm no humans or obstacles left are within the safety fence before starting operation.
Page 21 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 1.7 Robot Maintenance and Repair Robot Equipment Check and Maintenance Please strictly follow the precautions below and refer to relevant national/international standards for robot clean, check, maintenance, and replacement of parts to prevent system faults.
Page 22 Reinstall the safety fence and confirm all safety measures, functions remain the same when check and maintenance are completed. 11. Only use parts supplied by EFORT for replacement. Be sure to use teaching mode and move the robot as slow as possible in check and maintenance.
Page 23 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet output voltage of the power supply is 0V. The heat sink or regenerative generator may main hot right after the stop of the movement. Therefore, please be cautious do not touch any hot part.For the components clearly posted with fever signs please do not touch them with your body during maintenance to prevent scald.
Page 24 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet be short circuited. • Do not use metals, such as wires, to short-circuit the positive and negative terminals of the battery. Do not discard used batteries in ground garbage that will be incinerated, landfilled, or dumped. Please pack them in a bag for disposal to prevent them from being in contact with other metals.
Page 25 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4. Please switch off the control power supply to the main power supply before entering the safety fence. Meanwhile, place a clear sign displaying shutdown and repair in progress and lock or clamp the main power switch to prevent mistakenly turning on power.
Page 26 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet output voltage of the power supply is 0V. Please be aware do not touch any part to prevent electric shock or burns. 13. If compressed air or water is supplied, please cut off the supply source and release the remaining pressure in pipelines before repair.
Page 27 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Other criteria followed in the design Standards Description Safety of machinery - Electrical equipment of machines - Part 1: General IEC 60204 requirements，Normative reference from ISO 10218-1 Electromagnetic compatibility (EMC) – Part 6-2: Generic standards –...
Page 28 The basic parameters and technical specifications of the electrical control cabinet are presented in the form of a table. All components of the EC2-M control cabinet are housed in a small cabinet. Figure 2.1.1 Schematic Diagram of EC2-M Control Cabinet...
Page 29 2: second generation; 3: third generation Control Cabinet Application Models The EC2-M control cabinet applies to many models. Including some medium loads and all large loads, the difference between the four and six axes is only different in the drive. Warnings:...
Page 30 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 2.2 Information and dimensions of each component 2.2.1 Component Information Figure 2.2.1 Component Information Number Name Function Description Power socket Main power input port Power aerial plug Motor power wire connection interface...
Page 31 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Left plate of the anterior cavity Main backplane Figure 2.2.2 Internal Component Number Name Function Description Circuit breaker QF1 Main power circuit breaker Filter C1 Main power filter Provide the 24V power supply of the...
Page 32 2.2.2 External Dimension Dimension The following diagram shows the required installation dimensions for the EC2-M control cabinet. Figure 2.2.3 Required Installation Dimensions for EC2-M Control Cabinet Do not block the vents when placing the control cabinet, which will affect the heat dissipation of the control cabinet;...
Page 33 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet The following figure shows the external dimensions of the EC2-M control cabinet. Figure 2.2.4 External Dimensions of Robot EC2-M Control Cabinet Figure 2.2.5 External dimensions of robot EC2-M control cabinet (including additional cabinet) ...
Page 34 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 2.3 Technical Specification Project Specification EC2-M6: 6(Robot axis) Maximum ER35-2700/ER50-2100/ER70-2100/ER50-2700/ER70-1900/ number of ER150-3200/ER210-2700/ER150-2700/ER230-3100/ER300-2700/ER40 control axes 0-3100 Installation Vertical installation Method Standard: Digital IO: 16DI16DO (PNP type/NPN type) Optional: IO Interface...
Page 35 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Operating Environmental Temperature: 0~45 ℃ Humidity: ≤RH 80 % , no condensation Conditions Altitude ≤1000m Control cabinet Length 577mm×Width 700mm×Height 1045mm dimensions Control cabinet 125kg quality Dimensions of additional axis Length 550mm×Width 700mm×Height 300mm...
Page 36 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 2.4 Partial control cabinet model description Project Model and Configuration Model: EC2-M6-C22P1-C 6 Robot axis Configuration: 6-axis main driver + autonomous security lO module Model: EC2-M6-C22P1-C1 6 Robot axis Configuration: 6-axis main driver + autonomous security lO module...
Page 37 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet +1 additional Configuration: 6-axis main drive + single-axis additional shaft drive axis AC35 + autonomous security lO module Model: EC2-M7-C38P1-C1 6 Robot axis Configuration: 6-axis main drive + single-axis additional shaft drive...
Page 38 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet +2 additional Configuration: 6-axis main drive + single-axis additional shaft drive axis AC18 + single-axis additional shaft drive AC18 + autonomous lO module + capacitor package + safety PLC + ordinary control 24V output...
Page 39 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 3 Environment and Installation 3.1 Overview Overview This chapter includes installation instructions and information on installing the robot in workplace. It is vitally important to read all the safety information before any installation. Please be sure...
Page 40 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 2. Forklift handling method In the absence of lifting equipment that makes it impossible to lift, a forklift is used for transportation. The transportation diagram is shown in Figure 3.2.2. The fork is inserted between the two brackets at the bottom of the control cabinet, ensuring stable and reliable support at all positions between the fork and the control cabinet.
Page 41 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 3.3 Basics Description 3.3.1 Packing List Cautions 1. Before unpacking, please confirm whether the outer packaging of the product is intact. 2. After unpacking, please confirm whether all parts of the robot are complete and whether the model is consistent with the order.
Page 42 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 3.3.2 Preparation Before Unpacking This section includes information required for unpacking, initial installation, and reinstallation of the robot. The following steps need to be checked before installation: Table 3.3.2 Installation Precautions...
Page 43 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 3.3.5 Protection Level of Control Cabinet The control cabinet is divided into two cavities, the electrical components are mainly concentrated in the upper cavity. Control cabinets can be applied to various IP54 required...
Page 44 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 3.3.2 Schematic diagram of the thermal circulation of the control cabinet with additional shaft When the control cabinet contains additional axes, do not block the vents of the control cabinet to affect the heat dissipation of the control cabinet.
Page 45 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 3.4 Installation on Site 3.4.1 Environment and space requirements Please set up the robot system in an environment that meets the following conditions in order to perform and maintain the performance of the machine and operate safely.
Page 46 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 3.4.1 Environmental Conditions Items Requirements Operating environmental Temperature: 0~45℃ Humidity: ≤80%RH (no condensation) temperature Sinusoidal vibration: Comply with "JB/T 8896-1999 Industrial Robot Acceptance Rules", 5~25Hz vibration displacement is 0.75mm, 25~55Hz vibration displacement is 0.15mm, each resonance point continues to...
Page 47 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4 Electrical Connection 4.1 Overview Overview The connecting cables between the control cabinet and the body include power cable, encoder cable and grounding wire. Before connecting, the control cabinet and the body must be fixed, and then the cables are connected to aerial plugs socket side at the bottom of the control cabinet and the connector part on the back of the base of the robot body.
Page 48 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.2 Robot Power Supply Requirements for input power and cable of control cabinet The power supply for the control cabinet is three-phase 380V power supply. Before connecting the power supply, please carefully confirm the power specifications. Please connect the power wires based on the phase and ground, otherwise the electrical components would be damaged.
Page 49 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.2.1 Input power supply X10 interface and location view Terminal PIN bit Function Description PE (grounding) Main power supply connecting needs a protection switch, this switch can be circuit breaker or...
Page 50 Special warnings and precautions Disconnecting switch on-off note: The operation of the isolation switch is explicitly prohibited by Efort. If the operator needs to operate the isolation switch live and switch, the rear circuit of the disconnecting switch; if the operator needs Warnings to operate the isolation switch live switch, the robot operation must be stopped first.
Page 51 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.3 Connecting Cables between the Control Cabinet and the Body The external interface of the control cabinet is mainly located on the control cabinet panel, including the teach pendant cable interface, power input cable interface, robot power cable interface, encoder cable interface, Ethercat interface , etc.
Page 52 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Power and encoder cable connection mode: Fig. 4.3.1 Schematic diagram of power line, encoder line and ground line connection Definition of power aerial plug: Fig.4.3.2 Schematic diagram of the power aviation plug-in interface Table 4.3.1 Definition table of power aerial plug...
Page 53 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet axis 1 motor output axis 6 motor output phase W phase W axis 1~3 motor ground wire axis 2 motor output 5BK+ axis 5 brake positive signal phase U axis 2 motor output...
Page 54 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.3.2 Definition table of aerial plug of encoder cable Definition Description Definition Description 1ES+ 4ES+ axis 1 encoder signal + axis 4 encoder signal + 1ES- 4ES- axis 1 encoder signal -...
Page 55 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.3.2 Teach Pendant Connection The teach pendant cable is used to connect the teach pendant to the control cabinet. Fig. 4.3.4 Diagram of teach pendant cable connection Fig. 4.3.5 Diagram of teach pendant plug Table 4.3.3 Definition description of teach pendant plug...
Page 56 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet When plugging in the wiring harness of the demonstrator, please be careful to follow the picture above. Insert the cabinet-side connector after aligning the triangles on the cabinet-side connector with the illustrator-side connector triangles, so that the connector pins are not...
Page 57 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4 Main Components inside the Cabinet 4.4.1 Drive There are two types of servo drive configurations for EC2-M control cabinet: type A and type B. 4.4.1.1A-type servo drive A-type 6-axis robot servo drive: Fig.
Page 58 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet encoder axis 2 motor axis 2 power axis 2encoder interface interface interface output encoder axis 3 motor axis 3 power axis 3 encoder interface interface interface output encoder axis 4 motor...
Page 59 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Ethernet DI signal DI signal debugging interface port interface interface encoder axis 1 motor axis 1 power axis 1 encoder interface interface interface output encoder axis 2 motor axis 2 power...
Page 60 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.4 Definition and Wiring Table of Class A Driver Motor Interface Function Port Name Connector Diagram Pin Symbol Description connecting the three-phase U,V,W motor output ports power line of the...
Page 61 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet shielding wire motor encoder Drive Fig. 4.4.5 Wiring diagram of asynchronous serial encoder Table 4.4.5 Class A Drive STO Port Definition Table Signal Port Name Function Symbol Name Public end...
Page 62 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig. 4.4.6 Wiring diagram of Class A driver STO interface When not using the STO safety function NC1 and NC2 can be short circuited.
Page 63 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.1.2 B-type servo drive Figure 4.4.7 Wiring diagram of Class B 6-axis servo drive Table 4.4.6 Port Description of B-Class 6-Axis Servo Drive Plug Interface Function Plug Interface Function Power...
Page 64 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet encoder axis 1/2/3 encoder STO interface safe torque off interface interface encoder axis 4/5/6 encoder STO interface safe torque off interface interface Definition and wiring diagram of power interface Table 4.4.7 Wiring Instructions for Class B Servo Drive Power Supply...
Page 65 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.8 Definition and Wiring Table of B-class Driver Motor Interface Function Port Name Connector Diagram Pin Symbol Description connecting the three-phase power motor output U, V, W line of the servo...
Page 66 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet DA4+ Data+Axis 4 DA4- Data-Axis 4 Power supply Power supply VCC5 GND5 Encoder Port +Axis 5 -Axis 5 (X15) DA5+ Data+Axis 5 DA5- Data-Axis 5 Power supply Power supply VCC6...
Page 67 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.4.12 Wiring diagram of STO interface for Class B driver Explanation: Simply connect X9 and X10 to achieve the function.
Page 68 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.2 Power Distribution Board The power distribution board serves as a transfer station for control signals and 24V power supply inside the cabinet. The signals are distributed and combined through this, and the signal names on each terminal on the distribution board are the same as the wiring harness names.
Page 69 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.3 Controller The controller is the core motion control unit, and the industrial robot controller mainly controls the robot’s motion position, posture, trajectory, operation sequence, and action time in the workspace.
Page 70 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet used for welding machine communication, applicable CAN interface to CANopen, DeviceNet communication card used to install SD memory cards interface SER2 serial port 2 reserved, not open power supply signal...
Page 71 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.4 System IO The system IO module uses the EC2-IO module, this IO module integrates IO functions and safety functions. The IO module has 16 digital inputs and 16 digital outputs for user reserved signal points.
Page 72 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.4.1 IO Part The control cabinet uses one EC2- IO module as the standard configuration. The standard configuration can be PNP or NPN input/output according to customer demand. The digital output port has a single rated output of 500mA, and the maximum total output of 16 channels is 4A.
Page 73 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet hot swap digital input servo status indicator digital output, 40mA light fault alarm indicator digital output, 40mA light reserved DI 2 digital inputs reserved DO 2 digital outputs others communication bus EtherCAT Table 4.4.16 Definition table of controller system IO input and output module address...
Page 74 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.17 Standard IO Definition table input Function PIN bit Address PIN bit Address Description DI10 DI11 DI12 DI13 DI14 DI15 user-defined DI16 DI17 DI18 DI19 DI20 DI21 DI22 DI23...
Page 75 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig 4.4.18 Diagram of standard IO PNP and NPN wiring (The 24V power supply is powered by the panel DC power supply terminal)
Page 76 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.4.2 Safety Function Part When using the EC2- IO safety module, please refer to chapter 4.6.3 for the circuit wiring method of the safety function. Table 4.4.19 Security parameters Item...
Page 77 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.5 Expansion IO Module If the standard IO quantity cannot meet the use requirements, EC2- IO can achieve local free expansion of the control cabinet, and expansion IO module can be used by inserting it into the expansion slot of the control cabinet.
Page 78 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig. 4.4.16 Diagram of expansion IO module...
Page 79 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet The optional expansion IO models are shown in the table below: Table 4.4.22 Purchase material numbers of expansion IO input and module material output material description note category number points...
Page 80 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.23 Definition table of expansion IO 1 input PIN bit Address PIN bit Address Description DI24 DI25 DI26 DI27 DI28 DI29 DI30 DI31 user-defined DI32 DI33 DI34 DI35 DI36...
Page 81 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.24 Definition table of expansion IO 2 input PIN bit Address PIN bit Address Description DI40 DI41 DI42 DI43 DI44 DI45 DI46 DI47 user-defined DI48 DI49 DI50 DI51 DI52...
Page 82 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.25 Definition table of expansion IO 3 input PIN bit address PIN bit address description DI56 DI57 DI58 DI59 DI60 DI61 DI62 DI63 user-defined DI64 DI65 DI66 DI67 DI68...
Page 83 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.26 Definition table of expansion IO 4 input PIN bit address PIN bit address description DI72 DI73 DI74 DI75 DI76 DI77 DI78 DI79 user-defined DI80 DI81 DI82 DI83 DI84...
Page 84 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.4.27 Diagram of expansion IO wiring Internal power supply form: short circuit S24VG to E24VG, and S24VP to E24VP; (factory default configuration) digital input signal load digital input signal load...
Page 85 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet External power supply form: E24VG is connected to the negative external power supply, and E24VP is connected to the positive external power supply; S24VG and S24VP are not connected. digital input signal load...
Page 86 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet E0510, E7510. 3. Wiring method 1). A single strand of hard wire. After stripping the corresponding length of wire, press down the button of the connector jack and insert the single strand of wire.
Page 87 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.4.6 Capacitor pack(Optional) The function of the capacitor pack is to provide power to the controller and IO module in the event of a power outage in the control cabinet. Its function is to maintain operating data, so that it can continue to work after being powered on.This capacitor pack is an optional...
Page 88 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.5 Safety Functional Unit This safety circuit includes controller WD signal, external emergency stop, teach pendant emergency stop, and servo drive STO function. The EC2-IO safety module is used as the main safety control unit, and the safety relay function is integrated, which can carry out dual channel synchronous state detection for the emergency stop circuit.
Page 89 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet After shooting the emergency stop button, cut off the STO signal of the servo driver when the delay time arrives. The stop mode adopted by this robot product is stop category 1.
Page 90 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.6 Human-computer Interaction Unit The human-computer interaction unit is the main interface between the control cabinet and the external connection, including the front panel port, network interface, digital input interface, digital output interface, hot swap interface, safety function interface, operation function interface, and teach pendant interface.
Page 91 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.6.2 Hot-plug interface The definition of the hot-plug function is to plug in or unplug the teach pendant during operation, and the robot continues to run in the same state as before without generating an alarm.
Page 92 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table.4.6.2 Instructions for plugging in the teaching pendant Step Operation Continuously press and hold the hot swap button Pull out the emergency stop short connector Plugging in the teaching pendant connector 4.6.3 Safety function interface...
Page 93 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet will cause all controlled hazards to stop, disconnect the drive torque signal, cut the drive output, remain in effect until reset, and can only be reset by manual operation. An emergency stop condition means disconnecting all power from the robot except for the manual brake release circuit.
Page 94 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.6.4 Wiring diagram of emergency stop function of power distribution board Table 4.6.4 Definition of external emergency stop interface Terminal number Number Wire identification Function description (XT1) EMG-AP Emergency stop input...
Page 95 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.6.5 Wiring diagram of emergency stop output function of power distribution board Table 4.6.5 Definition of emergency stop output interface Terminal number Number Wire identification Function description (XT1) EMGO-BM...
Page 96 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig. 4.6.6 Wiring diagram of security door lock during power distribution board Table 4.6.6 Definition of security door lock interface Terminal number Number Wire identification Function description (XT1) STOP1-AP Security door lock...
Page 97 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.6.4 Teach pendant (enable/hand press) The teach pendant is a device for the operator to interact with the robot. With the teach pendant, the operator can complete all the functions of controlling the robot. For example, manual control of robot movement, programming control of robot movement, setting IO interactive signals and so on.
Page 98 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Mode Knob Three-step mode knob Thin Film Panel 1 18 keys and 1 red, yellow and green LED 2.0 USB for importing and exporting files and updating the teach pendant...
Page 99 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.6.9 Buttons on the Lower Side Number Name Number Name multifunction key F1, coordinate system switch tentative: recall the current alarm content multifunction key F2 back to homepage multifunction key F3...
Page 100 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.7 Power supply unit The EC2-M control cabinet shall use a 3-phase AC380V power supply. Use the transformer internally to reduce the AC380V voltage to AC220V for the use of the control cabinet itself.
Page 101 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Transformer wiring: the transformer PE terminal is directly connected to the PE terminal row of the electric cabinet. Figure 4.7.2 Transformer wiring diagram 4.7.2 Switching power supply Switching power Name...
Page 102 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.8 Brake Release Unit 4.8.1 Overview The brake release function is designed for motion without a drive source, so that each axis of the robot can move without a drive source in an emergency or abnormal situation, and one person can move each axis of the robot and release the dangerous state by moving each axis in a good safety condition.
Page 103 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Table 4.8.1 List of control box connectors for brake release unit X1 PIN bit Wire Marker Function 1BK+ 2BK+ 3BK+ 1-6 axis brake power supply positive 4BK+ 5BK+ 6BK+ 1BK-...
Page 104 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Warnings: If the robot control cabinet is powered off, there is no power supply in the lock release button box, then the lock release button cannot be used to release the motor lock. In this case, the external 24V power...
Page 105 EC2-MA additional cabinet are shown below. Figure 4.9.1 External dimensions of robot EC2-MA additional cabinet Each EC2-M control cabinet can be configured with up to 3 additional axes. At least 2 EC2-MA additional shaft control cabinets should be installed for 3 additional shafts.
Page 106 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.9.3 Schematic diagram of the additional shaft control cabinet Table 4.9.1 Functional description of the components in the additional cabinet Number Name Function declaration Additional shaft control cabinet Additional shaft element installation...
Page 107 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig. 4.9.4 Wiring diagram of EC2-MA additional shaft control cabinet and EC 2-M main cabinet...
Page 108 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Additional axis driver Fig. 4.9.5Diagram of axis 4 drive wiring Table 4.9.2 Port description of Additional axis driver Plug Plug Interface Function Interface Function Number Number drive power power supply and...
Page 109 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Definition and wiring diagram of power interface Table 4.9.3 Description table of power wiring for Additional axis drive Power supply input and regenerative braking port (X1) Control power port (X2) Fig.
Page 110 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig. 4.9.7 Wiring diagram of motor shielding wire motor encoder Fig. 4.9.8 Wiring diagram of asynchronous serial encoder Table 4.9.5 Definition table of STO port Port Name Pin Symbol Signal Name...
Page 111 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Fig. 4.9.9 Diagram of STO port wiring for drive When not using the STO safety function NC1 and NC2 can be short circuited.
Page 112 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 4.10 Profisafe system(Optional) The EFORT industrial robot equipped with PROFlsafe aims to achieve basic industrial robot functions with forced emergency stop function, as well as PROFlsafe protocol communication with customer product line safety PLCs to achieve safety functions with external safety inputs and industrial robot safety feedback.
Page 113 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.10.2 from ER (EC2-MX-CXXP1-P1)
Page 114 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.10.3 from external PLC (EC2-MX-CXXP1-P2) The safety PLC system of Profisafe system is different from the control line part of the general control cabinet. The safety signals of the electrical cabinet need to be connected to the...
Page 115 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Figure 4.10.4 Safety PLC Wiring Diagram...
Page 116 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5 Maintenance 5.1 Introduction This chapter describes all maintenance activities performed on the electrical section, and it is based on the maintenance plan introduced at the beginning of this chapter. This plan contains information on required maintenance activities (including maintenance intervals) and refers to the operating procedures for these activities.
Page 117 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5.2 Specific safety rules Warnings: Various risks and serious possibilities Warnings Compulsory measures: 1. Only personnel who have been fully trained and have read the instruction manual carefully or professionals who are skilled in operation can perform all maintenance, repair, adjustment, cleaning, etc.
Page 118 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Prohibited: 1. Do not perform any work other than that described herein. When you plan operations or alterations that are not covered above, please seek the assistance of an Efort engineer.
Page 119 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5.3 Maintenance Plan The robot must be regularly maintained to ensure its proper functioning. The maintenance activities and time intervals are specified in the table below. Unpredictable conditions can also lead to inspections of the robot.
Page 120 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5.4 Check Activity Warnings: When you need to carry out inspection during the robot running, please Warnings be sure to close all the following sources connected to the robot: 1. Power 2.
Page 121 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5.4.3 Check the Working Condition of Main Electrical Components Visual Inspection Table 5.4.3 Components Check Number Description Whether the drive is working normally Whether the controller is working normally Whether the working state of EC2-IO security module is normol...
Page 122 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5.5 Change/Replacement Activities 5.5.1 Replace the Controller This chapter describes the replacement repair work and maintenance activities for the main components of the robot control cabinet. It consists of separate operating procedures, each of which describes specific maintenance activities.
Page 123 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 5.5.2 Replace the Fan DC Fan DC Fan Figure 5.5.2 the DC fan diagram shows Attach the DC fan on the fan mounting support with M4 * 45 bolt, face the fan air outlet (nameplate) up, and then install the mounting support on the control cabinet panel with M4 * 15 bolt.
Page 124 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 6 Common faults and handling 6.1 Robot alarm display Alarm display When the robot fails, it will generally display alarms on the controller, teach pendant, and drive. When there is an alarm, both the controller error message and the drive error message will be displayed on the teach pendant interface.
Page 125 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 6.2 Common hardware troubles Common hardware troubleshooting Table 6.2.1 Common hardware troubleshooting Fault Troubleshooting Method Remarks Description Check 1: Whether the power supply is working or not. Check 2: Whether the wiring sequence of the control The control cabinet power supply plug is correct;...
Page 126 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet teach pendant Check 2: Whether the hot plug button and terminal an operator should is disabled. harness work normally; strictly follow the Check 3: whether the short plug of the device is Electrical installed normally and locked;...
Page 127 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 6.3 Controller Troubleshooting 6.3.1 Fault Light Display on the Controller Controller LED light information Controller LED light Figure 6.3.1 Controller LED lights Table 6.3.1 LED light information description The Meaning that LED Stands for...
Page 128 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet light goes out This is the HW communication error or COC0.CFG Green light goes initial configuration error file (use the " REPORT -S " out and red light is command to diagnose)
Page 129 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet alarm light (flashing is different for low priority and high priority) running signal indicator light on microSD card watchdog relay status light (pin 4, 5, 6, 7 connector). It must always be ON.
Page 130 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet 6.4 Drive Fault Handling Drive Fault Handling Click on the "Drive" button under the "Monitor" menu in the taskbar to enter the drive monitoring interface. In this interface, it shows the drive status of each axis, alarms, and the description of the alarm.
Page 131 7.2 Environmental Information The Efort robot contains different material components. During disposal, all materials should be disassembled, recycled or reused according to phase and industry standards. Machine parts that can be reused or upcycled help reduce the use of natural resources.
Page 132 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Appendix 1 Spare parts list Unit Name Material code Remarks quantity Controller 10900019952 Teach pedant 11700010510 TPU-13-E-65, Standard with 8m Teaching pendant 10910003299 line Motion control 10900022897 512M card 10910002821...
Page 133 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Robot wiring Control cabinet- -the power line of 10910002999 harness the robot body Robot wiring 10910003728 Encoder wire inside the cabinet harness Robot wiring Power brake release wire inside the...
Page 134 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet Appendix 2 List of optional accessories Unit Name Material code Remarks quantit Manual release the 11410000560 brake Teach pedant short 10900021952 joint 10900026506 10910001970 Teach pedant line 10900026507 10900026508 Inter disc line Assembly \ Medium...
Page 135 Electrical Operation and Maintenance Manual for EC2-M General Control Cabinet the Expand integrated IO 11410002347 Module group-NPN Position follow 11410000515 module Ethercat to Profibus 11400010948 slaves Ethercat to Profibus 11400010949 master EtherCAT slave to 11400010950 EtherCAT slave EtherCat and Cclink...
Page 136 Service hotline: +86-400-052-8877 The rated power, specifications and external dimensions of this product are subject to change without prior notice. The technical data and illustrations are for reference only, and we reserve the right to change them.

EFORT EC2-M Operation And Maintenance Manual

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