Estun ER45-2200-BD Operation Instructions Manual
  1. Manuals
  2. Brands
  3. Estun Manuals
  4. Robotics
  5. ER45-2200-BD
  6. Operation instructions manual
Estun ER45-2200-BD Operation Instructions Manual

Estun ER45-2200-BD Operation Instructions Manual

Bending series robot body
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Bending Series
Robot Body Operation Instructions
折弯系列本体使用说明书

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ER45-2200-BD and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Estun ER45-2200-BD

Summary of Contents for Estun ER45-2200-BD

  • Page 1 Bending Series Robot Body Operation Instructions 折弯系列本体使用说明书...
  • Page 2 ESTUN Bending Series Robot Body Operation Instructions EBM07101-EN-11...
  • Page 3 Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content. ESTUN endeavor to improve 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: Special Training

    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 help users operating the robot more efficiently. SAFETY OF THE USER (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.
  • 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. WARNING Make sure there is a CO fire extinguisher at hand.
  • Page 7 SAFETY  Be sure that the enable switch is effective at any time.  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.
  • 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 Hold The robot is decelerated until it stops, and servo power remains on. 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.
  • 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)Energy Storage Warning...
  • Page 11 SAFETY Fig 0.6 Energy Storage Warning The balance cylinder is equipped with springs, high-pressure gas or high-pressure liquid. Never disassemble the balance cylinder without permission.
  • Page 12 Load capacity ER45-2200-BD 45kg ER80-2565-BD 80kg ER80B-2565-BD 80kg ER130-2865-BD 130kg Related manuals ESTUN Bending Robot Mechanical Operator’s Manual ESTUN Robot ER Series Cabinet Operator’s Manual ESTUN Integrate Series Cabinet Operator’s Manual ESTUN RCS2 System Operator’s Manual ESTUN CP System Operator’s 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 ..........................9 1.3. INSTALLATION CONDITIONS ....................14 CONNECTION WITH THE CONTROLLER .....................
  • Page 14 APPENDIX ................................59 APPENDIX A BOTL TORQE LIST ......................59 APPENDIX B SPECIFICATION OF BOLT .................... 59 APPENDIX C Part list for ER45-2200-BD ....................59 APPENDIX D Part list for ER80-2565-BD ....................59 APPENDIX E Part list for ER80B-2565-BD .................... 60 APPENDIX F Part list for ER130-2865-BD .....................

  • Page 15: Safety

    Fixed bracket should be mounted before transport the robot and be removed before install the robot. Refer to the following figures when remove the bolts on fixed bracket. Mounting hole M8*20*2 flat washer Mounting hole M8*20*2 flat washer Mounting hole M8*20*1 flat washer Mounting hole M8*20*2 flat washer Fig 1.1 Robot fixed bracket (ER45-2200-BD)
  • Page 16 Mounting hole M12*30*2 Spring washer and flat washer Fig 1.3 Robot fixed bracket (ER130-2865-BD) Refer to theoretical weight of main parts shown below to install, disassemble and transport the robot. Weight (kg) Parts ER45-2200-BD ER80-2565-BD ER80B-2565-BD ER130-2865-BD Robot Big arm casting...

  • Page 17: Transport By A Forklift

    Gas spring assembly INFO Some parts with less weight are not listed. Contact ESTUN if you need the details. Transport by a forklift 1.1.1. The robot described in this manual can be transported by a forklift. Use 8 M12X30 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 Forklift≥1.5T Fig 1.5 Use a forklift to transport the robot(ER80-2565-BD, ER80B-2565-BD, ER130-2865-BD)

  • Page 19: Transport By A Crane

    The robot can also be handled by crane. Before handling, install the lifting eye screws on the robot base and the transfer seat respectively (ER80-2565-BD, ER80B-2565-BD, 3 for ER45-2200-BD, 2 for ER130-2865-BD), and use 3 slings with a tensile force greater than 750kg to fix the lifting eye screws respectively. Before...
  • Page 20 TRANSPORTATION AND INSTALLATION Eyebolt M12*3 Fig 1.6 Use a crane to transport the robot(ER45-2200-BD)
  • Page 21 TRANSPORTATION AND INSTALLATION Eyebolt M12*3 Fig 1.7 Use a crane to transport the robot(ER80-2565-BD, ER80B-2565-BD)
  • Page 22 TRANSPORTATION AND INSTALLATION Fixed plate Screw bolt M12*30*2 Spring washer Eyebolt M12*2 Fig 1.8 Use a crane to transport the robot (ER130-2865-BD)

  • Page 23: 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 24 TRANSPORTATION AND INSTALLATION Fig 1.10 Robot base mounting dimension(ER45-2200-BD) Tab 1.1 Robot fixing components(ER45-2200-BD) Item and model Amount Fixed screw: M20X70 (GB/T 70.1 level 12.9) Spring washer: Spring washer 20 (GB/T 93) Positioning pin: Cylindrical pin 20X60 (GB/T120.2)
  • Page 25 TRANSPORTATION AND INSTALLATION 8-Φ22 through 8-M12 through Fig 1.11 Robot base mounting dimension(ER80-2565-BD,ER80B-2565-BD,ER130-2865-BD) Tab 1.2 Robot fixing components(ER80-2565-BD,ER80B-2565-BD,ER130-2865-BD) Item and model Amount Fixed screw: M20X65 (GB/T 70.1 level 12.9) Spring washer: Spring washer 20 (GB/T 93) Positioning pin: Cylindrical pin 20X60 (GB/T120.2) Positioning pin can minimize the influence on current program caused by re-installation or replacement of the robot.
  • Page 26 The dimensions marked with * in the figure are the recommended sizes. If the user needs to change, he needs to consider the force of the robot on the base and the structure of the base, and can only be changed after strict calculation. Fig 1.12 Robot mounting plate dimension(ER45-2200-BD...
  • Page 27 TRANSPORTATION AND INSTALLATION J1 axis rotation center 8-M20 through 8-Φ22 through Base mounting screws:M20*70 （8） Intensity level：12.9 Chemical bolts：M20*260（8） Tightening torque：187NM Tightening torque：664NM Note：When installing the iron plate on the ground, the robot installation iron plate is fixed to the concrete floor through 8 M20X260 chemical bolts, the concrete thickness is at least 190mm, and the effective area is 1300mmx1300mm.

  • Page 28: Installation Conditions

    (1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids. Potentially these liquids will cause irreversible damage to the rubber parts (such as gaskets, oil seals, O-rings etc.). (As exception to this only liquids tested and approved by ESTUN can be used with the robot).

  • Page 29: 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. Fig 2.1 Cable connection  The serial number of the robot body must match the serial number of the control cabinet.

  • Page 30: Specifications

    Servo motor for J6 axis Wrist joint (servo motor for J5 axis inside Servo motor for J3 axis Servo motor for J4 axis J1 arm J2 arm Servo motor for J2 axis Base Servo motor for J1 axis Rotation base Fig 3.1 Robot Configuration(ER45-2200-BD)
  • Page 31 SPECIFICATIONS Wrist unit Servo motor for J6 axis Casing Servo motor for J3 axis J1 arm Wrist joint (servo motor arm J5 axis inside Servo motor for J4 axis Small arm Big arm Servo motor for J1 axis Nitrogen spring Servo motor for J2 axis Rotation base Base...
  • Page 32 SPECIFICATIONS Tab 3.1 Specifications Model ER45-2200-BD ER80-2565-BD ER80B-2565-BD ER130-2865-BD Type Articulated robot Controlled axis 6 axes(J1，J2，J3，J4，J5，J6) Installation Floor J1-axis ±190° ±180° ±185° ±180° J2-axis -70°~+110° -67°~+150° -67°~+150° -70°~+90° J3-axis Motion -95°~+62° -190°~+66° -190°~+66° -200°~+68° range J4-axis ±200° ±170° ±200° ±200°...

  • Page 33: External Dimensions And Operating Space

    3.2. EXTERNAL DIMENSIONS AND OPERATING SPACE The following figures show the robot operating space, for the reference of robot installation. When install peripheral devices, be careful not to interfere with the robot and its motion range. Point P motion Fig 3.3 Motion range (ER45-2200-BD)
  • Page 34 SPECIFICATIONS Point P motion Fig 3.4 Motion range (ER80-2565-BD)
  • Page 35 SPECIFICATIONS Point P motion Fig 3.5 Motion range (ER80B-2565-BD)
  • Page 36 SPECIFICATIONS Point P motion Fig 3.6 Motion range (ER130-2865-BD)

  • Page 37: Zero Point Position And Motion Limit

    SPECIFICATIONS 3.3. ZERO POINT POSITION AND MOTION LIMIT Zero point and motion range are provided for each controlled axis. Exceeding the software motion limit of a controlled axis is called overtravel (OT). Overtravel is detected at both ends of the motion limit for each axis. The robot cannot exceed the motion range unless there is a loss of zero point position due to abnormalities in servo system or system error.
  • Page 38 J1-axis (fixed part) J1轴机械式制动器 Mechanical stopper of （可动部侧） J1-axis (movable part) J3轴机械式制动器 Mechanical stopper （固定部侧） of J3-axis (fixed part) J2轴机械式制动器 Mechanical stopper of （可动部侧） J2-axis (movable part) J5轴机械式制动器 Mechanical stopper of （可动部侧） J5-axis (movable part) Fig 3.8 Mechanical stoppers (ER45-2200-BD)
  • Page 39 SPECIFICATIONS Mechanical stopper of J4-axis (movable part) Mechanical stopper of J3-axis (fixed part) Mechanical stopper of J2-axis (movable part) Mechanical stopper of J2-axis (fixed part) Mechanical stopper of J1-axis (movable part) Mechanical stopper of Mechanical stopper J3-axis (movable part) of J5-axis (fixed part) Mechanical stopper Mechanical stopper of of J4-axis (fixed part)
  • Page 40 SPECIFICATIONS J3轴机械式制动器 Mechanical stopper （固定部侧） of J3-axis (fixed part) J2轴机械式制动器 Mechanical stopper of （可动部侧） J2-axis (movable part) J2轴机械式制动器 Mechanical stopper （固定部侧） of J2-axis (fixed part) Mechanical stopper of J1轴机械式制动器 J1-axis (movable part) （可动部侧） J3轴机械式制动器 Mechanical stopper of （可动部侧） J3-axis (movable part) J5轴机械式制动器...

  • Page 41: Wrist Load Condition

    SPECIFICATIONS J3轴机械式制动器 Mechanical stopper （固定部侧） of J3-axis (fixed part) J2轴机械式制动器 Mechanical stopper of （可动部侧） J2-axis (movable part) J2轴机械式制动器 Mechanical stopper （固定部侧） of J2-axis (fixed part) J1轴机械式制动器 Mechanical stopper of （可动部侧） J1-axis (movable part) J3轴机械式制动器 Mechanical stopper of （可动部侧） J3-axis (movable part) J5轴机械式制动器...
  • Page 42 CAUTION 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-axis 43.95kg∙m Allowable load inertia at J6-axis 40kg∙m...
  • Page 43 SPECIFICATIONS Notes: Allowable load inertia at J5-axis 43.95kg∙m Allowable load inertia at J6-axis 40kg∙m Fig 3.13 Load capacity at wrist (ER80-2565-BD, ER80B-2565-BD) Notes: Allowable load inertia at J5-axis 111.095kg∙m Allowable load inertia at J6-axis 89.402kg∙m Fig 3.14 Load capacity at wrist (ER130-2865-BD)

  • Page 44: Equipment Installation

    Amount Fixed screw: M10 (GB/T 70.1 level 12.9) Spring washer: spring washer Φ10 (GB/T 93) Positioning pin: cylindrical pin Φ10(GB/T120.2) Fig 4.1 End flange mounting dimension (ER45-2200-BD) Item and model Amount Fixed screw: M10 (GB/T 70.1 level 12.9) Spring washer: spring washer Φ10 (GB/T 93) Positioning pin: cylindrical pin Φ10(GB/T120.2)

  • Page 45: Equipment Mounting Face

    Positioning pin: cylindrical pin Φ10(GB/T120.2) Fig 4.3 End flange mounting dimension (ER130-2865-BD) 4.2. EQUIPMENT MOUNTING FACE As shown in the figures below, tapped holes are provided to install equipment to the robot. 2-M8 through Fig 4.4 Equipment mounting face (ER45-2200-BD)
  • Page 46 EQUIPMENT INSTALLATION TO THE ROBOT Fig 4.5 Equipment mounting face (ER80-2565-BD) Fig 4.6 Equipment mounting face (ER80B-2565-BD)

  • Page 47: Pipes And Tubes

    EQUIPMENT INSTALLATION TO THE ROBOT Fig 4.7 Equipment mounting face (ER130-2865-BD) 4.3. PIPES AND TUBES The robot has inlets and outlets openings to supply air or hydraulic pressure to the end effector. I/O connector Air tube connector 2-φ8 WY24-J19TE Air tube connector 2-φ8 Fig 4.8 (ER80-2565-BD) Pipes and tubes...
  • Page 48 EQUIPMENT INSTALLATION TO THE ROBOT Air tube connector 2-φ8 I/O connector WY24-J19TE Air tube connector 2-φ10 Fig 4.9 (ER80-2565-BD) Pipes and tubes I/O connector WY28-J16TQ1 I/O接口WS28-J16TQ1 Air tube connector 2-φ8 气孔2×φ8 Air tube connector 2-φ8 Fig 4.10 (ER80B-2565-BD) Pipes and tubes...
  • Page 49 EQUIPMENT INSTALLATION TO THE ROBOT Air tube connector 2-φ10 I/O connector WY24-J19TE Air tube connector 2-φ10 Fig 4.11 (ER130-2865-BD) Pipes and tubes...

  • Page 50: 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 51 CHECK AND MAINTENANCE and causes a problem in which the robot will not operate, replace the damaged parts.   Check damages of the Check whether the cable protection sheaths of the mechanical unit Only cable protection cable have holes or tears. If damage is found, replace the cable check sheaths protection sheath.

  • Page 52: Inspection Of Gas Spring

    Replace the gas spring when the pressure is not maintained or when wear occurs on the piston pin. Contact ESTUN for more details about replacing the gas spring. There are two methods to check the gas spring.

  • Page 53: Adjusting The Belt

    CHECK AND MAINTENANCE Screw Cover Fig 5.2 Inspection of gas spring A gas pressure detection device is mounted at the air inlet and specified pressure is listed in the table below. After confirming the air pressure, remove the detection device and reinstall the screw and cover. Tab 5.2 Gas-pressure corresponding to the surface temperature of the gas spring (ER130-2865-BD) Surface temp 0℃...
  • Page 54 CHECK AND MAINTENANCE bolts are tightened on the J4 axis motor mounting plate through the tensioning auxiliary tooling, and the adjustment of the mounting plate (tension adjustment of the timing belt) is realized by adjusting the M6 bolts. 6. Test the tension of the timing belt on the side of the timing belt to make the timing belt tension appropriate (see the following table for the specific range);...
  • Page 55 5-7mm spacing, and uses an Allen wrench to toggle the timing belt for testing. Fig 5.4 Strain the timing belt J5-axis Tab 5.3 Timing belt tense/frequency value of ER45-2200-BD robot Model Range of belt tense Range of frequency new belt 83.8～92.2 N...

  • Page 56: Replacing The Battery

    2．Remove the cover of the battery box. 3．Take out the old battery from the box. 4．Fix the new battery into the battery box. Make sure the direction is correct. 5．Fix the cover of the battery box. Battery box Fig 5.5 Battery replacing(ER45-2200-BD)

  • Page 57: Greasing

    Reduce greasing period when the robot is subject to extreme conditions. Tab 5.4 Replacing the grease periodically Model Position Quantity J1-axis reducer 3565ml J2-axis reducer 1610ml ER45-2200-BD J3-axis reducer 1175ml J5-axis reducer 140ml J6-axis reducer 230ml J1-axis reducer 4100ml ER80-2565-BD...
  • Page 58 CHECK AND MAINTENANCE Model Position Quantity J1-axis reducer 3565ml J2-axis reducer 1610ml ER45-2200-BD J3-axis reducer 1175ml J5-axis reducer 140ml J6-axis reducer 230ml J4-axis reducer 540ml J5-axis reducer 220ml J6-axis reducer 240ml J1-axis reducer 4100ml J2-axis reducer 2700ml J3-axis reducer 1600ml...

  • Page 59: Position Of Oil Inlet/Outlet On Each Axis

    0° +60° 0° J5-axis reducer -90° 0° J6-axis reducer +90° Position of oil inlet/outlet on each axis 5.5.1. Follow the instructions in the safety chapter when greasing the reducer. J1-axis oil outlet J1-axis oil inlet Fig 5.7 J1-axis oil inlet/outlet(ER45-2200-BD)
  • Page 60 CHECK AND MAINTENANCE J1-axis oil inlet J1轴注油口 J1-axis oil outlet J1轴出油口 Fig 5.8 J1-axis oil inlet/outlet(ER80-2565-BD,ER80B-2565-BD,ER130-2865-BD) J2-axis oil outlet J2-axis oil inlet Fig 5.9 J2-axis oil inlet/outlet (ER45-2200-BD)
  • Page 61 CHECK AND MAINTENANCE J2-axis oil inlet J2轴注油口 J2-axis oil outlet J2轴出油口 Fig 5.10 J2-axis oil inlet/outlet(ER80-2565-BD, ER130-2865-BD) J2-axis oil outlet J2-axis oil inlet Fig 5.11 J2-axis oil inlet/outlet(ER80B-2565-BD) J3-axis oil inlet J3-axis oil outlet Fig 5.12 J3-axis oil inlet/outlet (ER45-2200-BD)
  • Page 62 CHECK AND MAINTENANCE J3-axis oil inlet J3-axis oil outlet Fig 5.13 J3-axis oil inlet/outlet (ER80-2565-BD) J3-axis oil inlet J3-axis oil outlet Fig 5.14 J3-axis oil inlet/outlet (ER80B-2565-BD) J3轴注油口 J3-axis oil inlet J3-axis oil outlet J3轴出油口 Fig 5.15 J3-axis oil inlet/outlet (ER130-2865-BD)
  • Page 63 J4-axis oil outlet J4轴出油口 Fig 5.16 J4-axis oil inlet/outlet(ER80-2565-BD, ER130-2865-BD) J4轴注油口 J4-axis oil inlet J4-axis oil outlet J4轴出油口 Fig 5.17 J4-axis oil inlet/outlet(ER80B-2565-BD) J5-axis oil inlet J6-axis oil inlet J6-axis oil outlet J5-axis oil outlet Fig 5.18 J5/6-axis oil inlet/outlet(ER45-2200-BD)

  • Page 64: Procedures Of Greasing

    CHECK AND MAINTENANCE J5-axis oil outlet J5轴出油口 J5轴注油口 J5-axis oil inlet Fig 5.19 J5-axis oil inlet/outlet (ER80-2565-BD, ER80B-2565-BD) J5-axis oil outlet J5轴出油口 J5-axis oil inlet J5轴注油口 Fig 5.20 J5-axis oil inlet/outlet (ER130-2865-BD) J6-axis oil inlet J6轴注油口 J6-axis oil outlet Fig 5.21 J6-axis oil inlet/outlet(ER80-2565-BD, ER80B-2565-BD, ER130-2865-BD) J6轴出油口...

  • Page 65: Procedure For Releasing Remaining Pressure Within The Grease Bath

    CHECK AND MAINTENANCE f) Release the residual pressure in the grease groove according to section 5.5.3. g) Install the screw to oil inlet and outlet with a torque of 13.7N·m. If greasing is not performed properly, the internal pressure inside the grease bath may increase suddenly, which will damage the seal part, resulting in oil leakage and abnormal operation.

  • Page 66: Calibrating

    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. Jog the robot manually to the place where the calibration marks are align.

  • Page 67: Mechanical Zero Position Calibration

    Perform calibration for each axis with procedures recommended above. If calibration for all axes has been performed and recorded, zero position for each axis can be set with teach pendant. Figures in this section are reference for calibration of other axes. J1-axis zero position Fig 6.2 Calibration for J1-axis(ER45-2200-BD)

  • Page 68: J2-Axis Calibration

    CALIBRATING J1-axis zero position J1轴零点校准 Fig 6.3 Calibration for J1-axis(ER80-2565-BD, ER80B-2565-BD ,ER130-2865-BD) J2-axis calibration 6.3.2. J2-axis zero position Fig 6.4 Calibration for J2-axis (ER45-2200-BD) J2-axis zero position J2轴零点校准...

  • Page 69: J3-Axis Calibration

    CALIBRATING Fig 6.5 Calibration for J2-axis (ER80-2565-BD, ER80B-2565-BD ,ER130-2865-BD) J3-axis calibration 6.3.3. J3-axis zero position Fig 6.6 Calibration for J3-axis (ER45-2200-BD) J3-axis zero position Fig 6.7 Calibration for J3-axis (ER80-2565-BD, ER80B-2565-BD ,ER130-2865-BD) J4-axis calibration 6.3.4. J4-axis zero position J4轴零点校准...

  • Page 70: J5/J6 Axis Calibration

    Fig 6.8 Calibration for J4-axis (ER80-2565-BD, ER130-2865-BD) J5/J6 axis calibration 6.3.5. J5-axis zero position J4-axis zero position J6-axis zero position Fig 6.9 Calibration for J5/J6 axis (ER45-2200-BD) J5-axis zero position J6-axis zero position Fig 6.10 Calibration for J5/J6 axis (ER80-2565-BD, ER80B-2565-BD, ER130-2865-BD)

  • Page 71: 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 turned off. 7.1. TOOLS Troubleshooting tools includes travelling crane, forklift, internal hexagonal wrench, monkey wrench and special tools for removing the bearings.

  • Page 72: 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 73: Appendix

    φ24×300 φ28 ≥140KN 75.5 φ30×380 φ35 ≥200KN 121.3 163.7 φ33×420 φ38 ≥260KN APPENDIX C Part list for ER45-2200-BD Name Amount Note Servo motor (J1-axis) 12700000361 Servo motor (J2-axis) 12800000014 Servo motor (J3-axis) 12700000298 Servo motor (J4, J5-axis) 12700000222 Servo motors (J6-axes)

  • Page 74: Appendix E Part List For Er80B-2565-Bd

    APPENDIX 12502232008 Servo motor (J3-axis) 12507132004 Servo motors (J4, J5, J6 axes) G5401000035 Timing belt APPENDIX E Part list for ER80B-2565-BD Name Amount Note 31521100006 ER34615M/2 Lithium battery 12503231001 Servo motor (J1-axis) 12503231002 Servo motor (J2-axis) 12502232008 Servo motor (J3-axis) 12700000063 Servo motors (J4, J6 axes) 12700000078...

  • Page 75: Revision Record

    Revision Date Contents 2019.07 New edition. 2019.01 Add ER80-2565-BD ER80B-2565-BD ER45-2200-BD 2019.04 Modify part list. Modify the error description. Modify the range of action graph. Supplement the robot specification table. 2019.12 Modify the error description. Update the size of the installation iron plate, the schematic diagram of the ground 2020.03...

This manual is also suitable for:

Er80-2565-bdEr80b-2565-bdEr130-2865-bd

Table of Contents