Estun ER50B-2100-F Operation Instructions Manual
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Estun ER50B-2100-F Operation Instructions Manual

Estun ER50B-2100-F Operation Instructions Manual

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Summary of Contents for Estun ER50B-2100-F

  • Page 2 ESTUN General Medium Payloads （High Protection）Series Robot Body Operation Instructions EBM03102-EN-06...
  • 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 Preface ！ Under any circumstances, do not stand under any robot arm to prevent abnormal motion of the robot or connection with other people. DANGER ！ A carbon dioxide fire extinguisher needs to be placed on site to prevent the robot system from catching fire.

  • Page 7: Maintenance Personnel

    Preface  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.  The teach pendant must not be placed within the working space of the robot to prevent abnormal actions in case of collision between the robot and the teach pendant.
  • Page 8 Preface maintenance personnel caused by high-temperature oil or reducer.  Be cautious when opening the oil chamber cover. Keep away from the opening as there may be pressure in the oil chamber to cause splashing.  Oil filling shall be made according to the fuel gauge, which shall be not too full. Check the oil indicator port after oil filling.
  • Page 9 Preface 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

    Preface 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 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. Disassembly shall be carried out by professionals using professional tools. (6) Handling Figure 0.6 Handling sign (ER50B-2100-F)
  • Page 12 This manual is applicable to the following robot type. Robot type Load capacity ER50B-2100-F 50kg List of relevant instructions ESTUN Robot Body Operation Instructions ESTUN Robot S2F Series Control Panel Operation Manual ESTUN Robot S2E Series Control Panel Operation Manual ESTUN RCS2 System Operation Manual...

  • Page 13: Table Of Contents

    CONTENTS CONTENTS Instructions for Safe Use ............................1 Preface ..................................9 CONTENTS ................................1 Transportation & Installation.......................... 1 1.1. Transportation ..........................1 1.1.1. Transport by a forklift ......................1 1.1.2. Transport by a crane ....................... 2 1.2. Installation ............................3 1.3.
  • Page 14 CONTENTS Appendix C List of recommended spare parts for ER50B-2100-F (required for one unit/set) ........36 Revision Record ..............................37...

  • Page 15: Instructions For Safe Use

    J5&J6-axis) Wrist Some parts with less weight are not listed. Contact ESTUN if you need the details. 1.1.1. 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.

  • Page 16: Transport By A Crane

    Transportation & Installation Fixed plates Figure 1.1 Use a forklift to transport the robot (ER50B-2100-F) 1.1.2. Transport by a crane This series of robots can also be transported using a crane. Install lifting eye bolts on the robot's base and use slings to lift it.

  • Page 17: 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 18 Transportation & Installation When mounting the robot base, consider its structure and the force upon it. Concrete on the base may not have any crack and conform to the specified codes. The bearing capacity and compaction of the concrete foundation should be in accordance with the ！...
  • Page 19 Transportation & Installation Through hole Figure 1.4 Robot base mounting dimension (ER50B-2100-F) Table 1.1 Robot fixing components Name & model Qty. Fixed screw: M16X55 (ISO4762 12.9 level) Spring washer: Spring washer 16 (DIN 7880-1987) Positioning pin: Cylindrical pin 12X50 (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 20: Installation Conditions

    Transportation & Installation J1-axis rotation center Through 4-M6 Through Through Base mounting screws 底座安装螺钉 Chemical bolts 化学螺栓 M16X55(4) 强度等级 12.9级 M16X190(8) Level: 12.9 拧紧力矩 150NM Tightening torque: 339NM 拧紧力矩 339NM Tightening torque: 150NM Note: When installing the iron plate on the ground, secure the robot mounting plate to the concrete floor using eight M16X190 chemical bolts.
  • Page 21 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 22: 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 Robot connection cable (nickel-plated) (nickel-plated)

  • Page 23: Equipment Installation

    Equipment Installation 3. Specification 3.1. Robot configuration Wrist J5, J6-axis motor (Inside the enclosure) J4-axis motor (Inside the enclosure) Small arm Motor base Inside the J3-axis motor ( enclosure) Inside the enclosure) J1、J2-axis motor( Big arm Swivel base Base Aviation shield...
  • Page 24 Equipment Installation J5-axis J6-axis J4-axis J3-axis J2-axis J1-axis Figure 3.1 Robot configuration (ER50B-2100-F)
  • Page 25 Equipment Installation Table 3.1 Robot specifications Model ER50B-2100-F Type Articulated robot Controlled axis 6 axes Installation Floor J1-axis ±180° J2-axis -90°~ +135° J3-axis -185°~ +80° Motion range J4-axis ±200° J5-axis ±130° J6-axis ±360° J1-axis 172°/s J2-axis 119°/s Max. speed J3-axis 186°/s...

  • Page 26: External Dimensions And Operating Space

    When installing peripheral devices, it is important to ensure they do not interfere with the main body of the robot and its range of motion. Point P Range of motion at point P Figure 3.2 Motion range (ER50B-2100-F)

  • Page 27: 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. CAUTION ER50B-2100-F Figure 3.3 Zero point position of robot (...
  • Page 28 Equipment Installation J1-axis mechanical stopper (fixed side) J1-axis mechanical stopper (movable side) Figure 3.4 J1 Mechanical stopper position (ER50B-2100-F)
  • Page 29 Equipment Installation J2-axis mechanical stopper (fixed side) J2-axis mechanical stopper (movable side) Figure 3.5 J2 Mechanical stopper position (ER50B-2100-F)
  • Page 30 Equipment Installation J3-axis mechanical stopper (fixed side) J3-axis mechanical stopper (movable side) Figure 3.6 J3 Mechanical stopper position (ER50B-2100-F) J5-axis mechanical stopper (fixed side) J5-axis mechanical stopper (movable side) Figure 3.7 J3 Mechanical stopper position (ER50B-2100-F)

  • Page 31: 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 30 kg.m^2 Allowable load inertia at J6 axis 12 kg.m^2...

  • Page 32: Equipment Mounting Face

    Spring washer: spring washer Φ8 (DIN 7880-1987) Positioning pin: cylindrical pin Φ8 (ISO 8735) Figure 4.1 End flange mounting interface (ER50B-2100-F) 4.2. Equipment mounting face The figure indicates the locations of the screw holes for equipment installation. The robot has external device...

  • Page 33: External Pipelines

    Equipment Installation View A Same up and down Figure 4.2 Equipment mounting face (ER50B-2100-F) ！ When installing external equipment, it is important to ensure that there is no interference with the robot body to prevent any accidents. CAUTION 4.3. External pipelines This series of robots provides pathways for supplying pneumatic or hydraulic pressure to the end effector mechanism.
  • Page 34 Equipment Installation air hose connector φ air hose connector φ10 I/O socket Figure 4.3 External pipelines (ER50B-2100-F)

  • Page 35: Troubleshooting

    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 36 Troubleshooting 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 Only protection sheath. If the cable protection sheath is damaged due to the 1st chec sheaths interference with peripheral equipment, eliminate the cause.

  • Page 37: 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 for  mechanical unit cable 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 38 Troubleshooting shown in the table below. When the robot operates in harsh environments, experiences frequent small-angle movements, or runs continuously at high frequencies for extended periods, it is ！ recommended to shorten the lubricant replacement interval for the corresponding joints CAUTION to 3000 hours.

  • Page 39: Position Of Oil Inlet/Outlet On Each Axis

    700 ml The following table provides the recommended azimuth angles for lubricant replacement or replenishment operations. Please note that users should not attempt to replace the lubricant at the robot wrist themselves. Table 5.2 Robot joint greasing angle (ER50B-2100-F) Azimuth Position...
  • Page 40 Troubleshooting J1-axis oil inlet J1-axis oil outlet Figure 5.2 J1-axis oil inlet/outlet (ER50B-2100-F) J2-axis oil inlet J2-axis oil outlet Figure 5.3 J2-axis oil inlet/outlet (ER50B-2100-F)
  • Page 41 Troubleshooting J3-axis oil inlet J3-axis oil outlet Figure 5.4 J3-axis oil inlet/outlet (ER50B-2100-F)
  • Page 42 Troubleshooting J4-axis oil inlet J4-axis oil outlet J4-axis oil outlet Figure 5.5 J4-axis oil inlet/outlet (ER50B-2100-F) Wrist oil inlet Wrist oil outlet Figure 5.6 Wrist oil inlet/outlet (ER50B-2100-F)

  • Page 43: Grease Replacement Procedure

    Troubleshooting 5.4.2. Grease Replacement Procedure The following procedures are only used for the operation of J1, J2, J3 and J4 shaft reducers, 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 44: Oil Leakage Inspection

    Troubleshooting 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. 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 ⚫...

  • Page 45: Mechanical 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 46 Troubleshooting section are reference for calibration of other axes. J1 zero calibration Figure 6.3 Calibration for J1-axis (ER50B-2100-F) J2 zero calibration Figure 6.4 Calibration for J2-axis (ER50B-2100-F)

  • Page 47: Troubleshooting

    Troubleshooting J3 zero calibration Figure 6.5 Calibration for J3-axis (ER50B-2100-F) J5 zero calibration J6 zero calibration J4 zero calibration Figure 6.6 Calibration for J4/J5/J6-axis (ER50B-2100-F) 7. Troubleshooting Be sure to read SAFETY PRECAUTIONS in Chapter 1 and understand its contents before any maintenance.

  • Page 48: Troubleshooting

    Troubleshooting 7.2. Troubleshooting Symptom Description Cause Solution Frequent vibration due to Unfirm connection between Reinforce connection robot operation causes base and floor. between robot base and floor. unfirm connection. It is likely caused by a loose bolt, or lack of bolt fastening Re-mount and re-fasten the Joint connection is loose.

  • Page 49: Replacement Of Servo Motor Components

    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 50: Appendix

    φ φ ≥200KN 121.3 163.7 30× 380 φ φ ≥260KN 33× 420 Appendix C List of recommended spare parts for ER50B-2100-F (required for one unit/set) Material code Name Qty. Remark 12700000361 Robot servo motor (J1-axis) 12800000014 Robot servo motor (J2-axis)

  • Page 51: Revision Record

    Revision Record Revision Record Revision Date Contents 2020.08 New edition. 2020.10 Modify the zero-point proofing diagram. 2022.01 Modify 5.4 Robot lubrication precautions Add ER50-2100-F model; Update 1.2 Installation Notes, Update 2 Connection to the 2022.10 Control Unit. 2023.12 Add oil leakage inspection 2024.07 Delete model ER50-2100-DC.
  • Page 52 ADD: No.1888, Ji Yin Avenue, Jiangning Area, Nanjing, China TEL: 025-85097068 Post Code: 211102 E-mail: robot@estun.com...

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