Estun ER20-1780-F Operation Instructions Manual
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Estun ER20-1780-F Operation Instructions Manual

Estun ER20-1780-F Operation Instructions Manual

General small payloads (high protection) series robot body
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  • Page 2 ESTUN General Small Payloads （High Protection）Series Robots Robot Body Operation Instructions EBM02102-EN-05...
  • 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: Instructions For Safe Use

    However, ESTUN would not guarantee that the user will absolutely not be injured even if he follows completely all the safety information given in the Manual.

  • Page 5: Safety Precautions For Users

    A supplementary explanation helps users operating the robot more efficiently. Safety precautions for 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.
  • Page 6 Instructions for Safe Use  Ensure that there is a place to retreat to in case of emergency. Under any circumstances, do not stand under any robot arm to prevent abnormal motion of the robot or connection with other people. A carbon dioxide fire extinguisher needs to be placed on site to prevent the robot system from catching fire.

  • Page 7: Maintenance Personnel

    Instructions for Safe Use  Disconnect the enabling timely when temporarily stopping the robot, programming or testing.  When entering the robot working space, the demonstrator shall bring the teach pendant to avoid other people operating the robot without the programmer is informed. ...
  • Page 8 Instructions for Safe Use must obey the below safety information before adding lubricating oil.  Wear the protective measures (e.g. gloves, etc.) when refueling or draining oil to prevent damage to maintenance personnel caused by high-temperature oil or reducer.  Be cautious when opening the oil chamber cover.
  • Page 9 Instructions for Safe Use program is paused.  The servo power is turned off. 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.

  • Page 10: Electric Shock

    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) High temperature Figure 0.1 High temperature warning sign Be cautious about a section where this label is affixed, as the section generates heat.
  • Page 11 Instructions for Safe Use Do not step on or climb the robot as it may adversely affect the equipment, and cause the bodily injury to operators. (4) Wounding by robot Figure 0.4 Wounding by robot warning sign There is a danger of wounding by robot when working within the motion range of robot. (5) No disassembly Figure 0.3 No disassembly warning sign Users are prohibited from disassembling the part affixed with this sign.
  • Page 12 Instructions for Safe Use Figure 0.4 Handling sign (ER20-1780-F, ER30-1840-F) Figure 0.5 Handling sign (ER30B-1810-F) This symbol describes the robot’s handling angle, precautions, etc.
  • Page 13 Robot type Load capacity ER20-1780-F 20kg ER30-1840-F 30kg ER30B-1810-F 30kg List of relevant instructions ESTUN Robot Body Operation Instructions ESTUN Robot S1F Series Control Panel Operation Manual ESTUN Robot S1E Series Control Panel Operation Manual ESTUN Robot RCS2 System Operation Manual...

  • Page 14: Table Of Contents

    CONTENTS CONTENTS Instructions for Safe Use ............................1 Preface ..................................1 CONTENTS ................................1 Transportation & Installation.......................... 1 1.1. Transportation ..........................1 1.1.1. Transport by a forklift ......................3 1.1.2. Transport by a crane ....................... 4 1.2. Installation ............................6 1.3.
  • Page 15 Appendix B Specifications and technical parameters of chemical bolts ............47 Appendix C List of recommended spare parts for ER20-1780-F (required for one unit/set) ........47 Appendix D List of recommended spare parts for ER30-1840-F (required for one unit/set) ........48 Appendix E List of recommended spare parts for ER30B-1810-F (required for one unit/set) ........

  • Page 16: Instructions For Safe Use

    J6-axis) INFO Some parts with less weight are not listed. Contact ESTUN if you need the details. 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.
  • Page 17 Transportation & Installation M8 screw mounting hole*2 M6 screw mounting hole*2 M10 screw mounting hole*2 M8 screw mounting hole*2 Figure 1.1 Robot fixed bracket (ER20-1780-F) M8 screw mounting hole*2 M6 screw mounting hole*2 M10 screw mounting hole*2 M8 screw mounting hole*2...

  • Page 18: Transport By A Forklift

    The robot described in this manual can be transported by a forklift. Use eight bolts to fix the 4 fixed plates on the forklift to the robot base, use a forklift to heave the robot. Make sure that the fixed bolts of the robot are removed before transportation. Fixed plates Figure 1.2 Use a forklift to transport the robot (ER20-1780-F)

  • Page 19: Transport By A Crane

    Transportation & Installation Fixed plates Figure 1.3 Use a forklift to transport the robot (ER30-1840-F) Fixed plates Figure 1.4 Use a forklift to transport the robot (ER30B-1810-F) The forklift mounting plate and screws are optional and can be selected by the customer. ！...
  • Page 20 Eyebolt and sling should be prepared by customers. ！ Transportation conditions: Crane load capacity above 1000kg. String load capacity CAUTION above 500kg. Rings with specifications conforming ISO 3266:1984. Robot’s center of gravity Figure 1.7 Use a crane to transport the robot (ER20-1780-F、ER30-1840-F)

  • Page 21: 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 22  GB50010-2010 Code for design of concrete structures  ISO 1920:2007 Standard for test method of mechanical properties on ordinary concrete Max. value Name Definition ER20-1780-F ER30-1840-F ER30B-1810-F Max. overturning torque 8575 (N·m) 8575 (N·m) 8575 (N·m) Max. torsional torque 9200 (N·m)
  • Page 23 Transportation & Installation Through hole Through hole Through hole Figure 1.5 Robot base mounting dimension (ER20-1780-F, ER30-1840-F) Through hole Through hole Figure 1.6 Robot base mounting dimension (ER30B-1810-F) Table 1.1 Robot fixing components...
  • Page 24 Transportation & Installation Name & model Qty. Fixed screw: M16X40 (ISO4762 12.9 level) Spring washer: Spring washer 16 (DIN 7880-1987) Positioning pin: Cylindrical pin 12X45 (ISO 8735) Installing positioning pins can greatly minimize the impact on the existing robot's program trajectory caused by reinstalling or replacing the robot.

  • Page 25: Installation Conditions

    The robot body exhibits excellent resistance to chemicals and solvents, as described below: (1) The following liquids may cause aging or corrosion of rubber components (seals, gaskets, O-rings, etc.) on the robot. Please refrain from using them, except for products approved by ESTUN. (a)Organic solvents...

  • Page 26: Connection With The Controller

    (nickel-plated) (nickel-plated) Robot connection cable (Power cable, signal cable, I/O cable, Spring washer 6 Grounding earth wire) (nickel-plated) terminal Figure 2.1 Cable connection (ER20-1780-F, ER30-1840-F) Robot Control cabinet Detail A Flat washers 8 Screw M8*16 Robot connection cable (nickel-plated) (nickel-plated)
  • Page 27 There is a danger of electric shock if the earth wire is not yet connected. 3. Install the ER20-1780-F and ER30-1840-F ground terminals on the right side of the flat washer, and the ER30B-1810-F ground terminal between the flat washer and spring washer.

  • Page 28: Equipment Installation

    Inside J1-axis motor( the enclosure) Swivel base J1-axis Base Figure 3.1 Robot configuration Table 3.1 Robot specifications Model ER20-1780-F ER30-1840-F ER30B-1810-F Type Articulated robot Controlled axis 6 axes (J1, J2, J3, J4, J5, J6) Installation Floor J1-axis ±180°...

  • Page 29: External Dimensions And Operating Space

    Equipment Installation Allowable handling At wrist 20kg 30kg 30kg weight Allowable J4-axis 1.244 kg·m² 3.95 kg·m² 3.95 kg·m² load inertia at J5-axis 1.244 kg·m² 3.95 kg·m² 3.95 kg·m² wrist J6-axis 0.31 kg·m² 1.57 kg·m² 1.57 kg·m² J4-axis 46.5 N·m 101.35 N·m 101.35 N·m Allowable torque at...
  • Page 30 Equipment Installation Point P Range of motion at point P Figure 3.2 Motion range (ER20-1780-F)
  • Page 31 Equipment Installation Point P Range of motion at point P Figure 3.3 Motion range (ER30-1840-F)

  • Page 32: Zero Point Position And Motion Limit

    Equipment Installation Point P Range of motion at point P Figure 3.4 Motion range (ER30B-1810-F) 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 33 Equipment Installation 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. Figure 3.5 Zero point position of robot...
  • Page 34 J2-axis mechanical stopper J2-axis mechanical stopper (movable side) (movable side) J1-axis mechanical stopper (fixed side) J1-axis mechanical stopper (movable side) J4-axis mechanical stopper (fixed side) J3-axis mechanical stopper (movable side) J2-axis mechanical stopper (fixed side) Figure 3.6 Mechanical stopper position (ER20-1780-F, ER30-1840-F)
  • Page 35 Equipment Installation J3-axis mechanical stopper (fixed side) J2-axis mechanical stopper (movable side) J1-axis mechanical stopper (fixed side) J1-axis mechanical stopper (movable side) J3-axis mechanical stopper (movable side) J2-axis mechanical stopper (fixed side) Figure 3.7 Mechanical stopper position (ER30B-1810-F) Refer to system operation manual for more information about setting motion range.

  • Page 36: Wrist Load Condition

    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. Note: Allowable load inertia at J5 axis 1.24 kg.m^2 Allowable load inertia at J6 axis 0.31 kg.m^2...

  • Page 37: Additional Load Conditions

    Equipment Installation Note: Allowable load inertia at J5 axis 3.95 kg.m^2 Allowable load inertia at J6 axis 1.57 kg.m^2 Figure 3.9 Load capacity at wrist (ER30-1840-F, ER30B-1810-F) 3.5. Additional load conditions The robot may have additional loads. Additional load condition is shown as below.
  • Page 38 Equipment Installation W: Loadable weight of the end flange mounting surface W: Loadable weight on motor mount surface Figure 3.10 Additional load condition (ER20-1780-F) W: Loadable weight of the end flange mounting surface W: Loadable weight on motor mount surface...

  • Page 39: Equipment Installation

    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) Figure 4.1 End flange mounting interface (ER20-1780-F)

  • Page 40: Equipment Mounting Face

    Equipment Installation 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) Figure 4.2 End flange mounting interface (ER30-1840-F, ER30B-1810-F) 4.2. Equipment mounting face The figure indicates the locations of the screw holes for equipment installation. The robot has external device mounting threaded holes located on the top of the small arm component.
  • Page 41 Equipment Installation Figure 4.3 Equipment mounting face (ER20-1780-F)
  • Page 42 Equipment Installation Figure 4.4 Equipment mounting face (ER30-1840-F)
  • Page 43 Equipment Installation Figure 4.5 Equipment mounting face (ER30B-1810-F)

  • Page 44: External Pipelines

    4.3. External pipelines This series of robots provides pathways for supplying pneumatic or hydraulic pressure to the end effector mechanism. I/O socket WS28-J24TQ1 2 x φ8 air hose connector Figure 4.6 External pipelines (ER20-1780-F, ER30-1840-F)
  • Page 45 Equipment Installation 2 x φ8 air hose connector I/O socket Figure 4.7 External pipelines (ER30B-1810-F)

  • Page 46: Check And Maintenance

    By following the regular maintenance steps, the robot's optimal performance can be maintained. Users can carry out scheduled inspections and maintenance according to the table below, or they can contact ESTUN's professionals for service. Check and maintenance intervals...
  • Page 47 Check and Maintenance damaged parts. Check whether the cable protection sheaths of the mechanical unit Check damages of the cable have holes or tears. If damage is found, replace the cable  cable protection protection sheath. If the cable protection sheath is damaged due to the sheaths interference with peripheral equipment, eliminate the cause.

  • Page 48: Replacement Of Batteries

    Replace the grease of  Replace the grease of each axis reducer. each axis reducer Replace the Replace the mechanical unit cable. Contact ESTUN representative  mechanical unit cable for information regarding replacing the cable. 5.3. Replacement of batteries The position data of each axis is preserved by the backup batteries. The batteries need to be replaced every 1 year.

  • Page 49: Robot Greasing

    Check and Maintenance Battery box position（Inside the enclosure） Figure 5.2 Battery position (ER30B-1810-F) During the battery replacement process, it is important to keep the control cabinet powered on. If the control cabinet loses power, the robot's position information will be lost, and after replacing the battery, a zero-point calibration will be required.
  • Page 50 Check and Maintenance Table 5.1 Replacing the grease periodically Model Position Quantity J1-axis reducer 750g J2-axis reducer 1150g ER20-1780-F J3-axis reducer 475g J4-axis reducer 270g J5 shaft gear 140g J1-axis reducer 750g J2-axis reducer 1150g ER30-1840-F J3-axis reducer 475g J4-axis reducer...

  • Page 51: Position Of Oil Inlet/Outlet On Each Axis

    Check and Maintenance 5.4.1. Position of oil inlet/outlet on each axis J1-axis oil inlet (Inside the enclosure) J1-axis oil outlet (Inside the enclosure) Figure 5.3 J1-axis oil inlet/outlet J2-axis oil inlet J2-axis oil outlet (Inside the enclosure) Figure 5.4 J2-axis oil inlet/outlet J3-axis oil inlet J3-axis oil outlet (Inside the enclosure) Figure 5.5 J3-axis oil inlet/outlet...

  • Page 52: Oil Leakage Inspection

    (except for cases involving reducer replacement). However, under severe conditions such as high duty cycle, high-speed movements, and heavy loads, regular lubricant replacement is necessary. For inquiries regarding lubricant replacement, please contact ESTUN. 5.5. 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.
  • Page 53 Check and Maintenance J3 Oil seal J6 Oil seal Detail E Detail B J5 Oil seal Detail D J4 Oil seal J2 Oil seal Detail C Detail A Figure 5.8 Inspection area of oil seals Depending on the operating conditions and surrounding environment, oil may leak from the outer lip of ⚫...

  • Page 54: 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 55: Mechanical Zero Calibration

    Perform zero position 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 zero calibration Figure 6.2 Calibration for J1-axis (ER20-1780-F, ER30-1840-F)

  • Page 56: Zero Calibration For J2-Axis

    Troubleshooting J1 zero calibration Figure 6.3 Calibration for J1-axis (ER30B-1810-F) 6.3.2. Zero calibration for J2-axis J2 zero calibration Figure 6.4 Calibration for J2-axis (ER20-1780-F, ER30-1840-F) J2 zero calibration Figure 6.5 Calibration for J2-axis (ER30B-1810-F)

  • Page 57: Zero Calibration For J3-Axis

    Troubleshooting 6.3.3. Zero calibration for J3-axis J3 zero calibration Figure 6.6 Calibration for J3-axis (ER20-1780-F, ER30-1840-F) J3 zero calibration Figure 6.7 Calibration for J3-axis (ER30B-1810-F) 6.3.4. Zero calibration for J4-axis J4 zero calibration Figure 6.8 Calibration for J4-axis (ER20-1780-F, ER30-1840-F)

  • Page 58: Zero Calibration For J5-Axis And J6-Axis

    Figure 6.9 Calibration for J4-axis (ER30B-1810-F) 6.3.5. Zero calibration for J5-axis and J6-axis J5 zero calibration J6 zero calibration Figure 6.10 Calibration for J5-axis and J6-axis (ER20-1780-F) J5 zero calibration J6 zero calibration Figure 6.11 Calibration for J5-axis and J6-axis (ER30-1840-F, ER30B-1810-F)

  • Page 59: 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. Tools Troubleshooting tools includes travelling crane, forklift, internal hexagonal wrench, monkey wrench and special tools for removing the bearings.
  • Page 60 Troubleshooting Symptom Description Cause Solution Check tightness of motor retaining bolt, reducer The robot wobbles due to Bolts in the robot joint retaining bolt, reducer Click push by hand when turn off loosen due to overload or retaining bolt and mounting collision.

  • Page 61: Replacement Of Servo Motor Components

    Troubleshooting 7.3. Replacement of servo motor components Contact ESTUN technical 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 62: Appendix A Screw Tightening Torque List

    φ φ ≥200KN 121.3 163.7 30× 380 φ φ ≥260KN 33× 420 Appendix C List of recommended spare parts for ER20-1780-F (required for one unit/set) Material code Name Qty. Remark 12700000505 Robot servo motor（J1, J2-axis） 12700000483 Robot servo motor（J3-axis） 12700000499 Robot servo motor（J4-axis）...

  • Page 63: Revision Record

    Examination for increased oil seepage. 2022.01 Modify 5.4 Robot lubrication precautions. Added ER30-1840-F and ER30B-1810-F models, updated ER20-1780-F weight 2022.10 and specification table parameters, additional load diagram, and updated the connection with the control device.
  • Page 64 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:

Er30-1840-fEr30b-1810-f

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