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Electrical Operation and Maintenance Manual for ER15-1400 Industrial Robot

CAN Port Specification

maximum frequency

maximum frequency 1.0MHz

length,

type,

signal

specification

follow the SPEC.ISO11898 specification

connection terminal

DSUB female 9-pin connector

3.2.2 Local IO definition and extension

、

Definition of Local IO Module of the Controller

The robot uses two 16-channel inputs and two 16-channel outputs, with input/output 24VDC,
500mA, high level effective.

Motion Controller System of IO Port

Table 3-7 OUTPUT Port Definition Table

Table 3-8 INPUT Definition Table of Input

PIN Position

Definition

Description

DO0

system occupied

DO1

system occupied

DO2

servo confirmation

status

DO3

system occupied

DO4

system occupied

DO5

system occupied

DO6

alarm

DO7

user-defined

PIN Position

Definition

Description

DI0

emergency stop

alarm 1

DI1

servo enable

DI2

servo confirmation

status

DI3

teach pendant hot

swap

DI4

high temperature

alarm

DI5

emergency stop

alarm 2

DI6

safety door 1

DI7

safety door 2

Summary of Contents for ER15-1400

Page 1: ...ER15 1400 Electrical Operation and Maintenance Manual for Industrial Robot EFORT Intelligent Equipment Co Ltd Service Hotline Tel 400 0528877 ...

Page 2: ...f surrounding properties This statement and manual are the latest version until this batch of products leave the factory Please visit the official website www efort com cn to obtain up to date information in the future This manual is only used as a normal operation guide EFORT company will not be liable for personal injury and property loss caused by other reasons except product defects Therefore ...

Page 3: ...nment for Robot 14 2 2 4 Operation Environment for Robot 14 2 2 5 Start Robot in Cold Environment 15 2 2 6 Placement of Control Cabinet 15 2 3 Installation on Site 17 2 3 1 Transporting Precautions 17 2 3 2 Transporting of Control Cabinet 17 2 4 Electrical Connection 17 2 4 1 Robot Power 18 2 4 2 Robot power signal and grounding cables 19 2 4 3 The IO cable of the robot body base 20 2 4 4 The IO c...

Page 4: ...uction 51 4 2 Specific Safety Rules 51 4 3 Maintenance Plans 52 4 4 Check Activities 53 4 4 1 Check the Sealing of Electric Cabinet 53 4 4 2 Check the Wiring Harness 53 4 4 3 Check the Working Condition of Main Electrical Components 54 4 4 4 Check the Emergency Stop Switch 54 4 5 Change Replacement Activities 55 4 5 1 Replace the Controller 55 4 5 2 Replace Safety Relay 56 4 5 3 Replace the Servo ...

Page 5: ...400 Industrial Robot 5 5 4 Drive Fault Handling 71 5 5 Program Running Fault Handling 72 Chapter Six Deactivation 73 6 1 Overview 73 6 2 Environmental Information 73 6 3 Discard the Robot 73 Chapter Seven Schematic Diagram 75 Appendix 1 Spare Parts List 76 ...

Page 6: ...rs whereas operators must familiarize themselves with the following documents detailing operation and handling of industrial robots Operation Manual for EFORT Industrial Robot Electrical Operation and Maintenance Manual for ER15 1400 Industrial Robot Mechanical Operation and Maintenance Manual for ER15 1400 Industrial Robot This manual covers all safe instructions in product manuals for robot and ...

Page 7: ...fore starting robot 2 All operators must receive training on operation and maintenance of industrial robot 3 The foreman shall continuously monitor the normal operation of all programs and ensure the correct application of safety protective programs 4 Maintenance is required to be performed in accordance with the maintenance manual to keep the industrial robot clean and tidy 5 Appropriate toolboxe...

Page 8: ...ed height during robot transportation Only allow qualified personnel to operate forklifts and cranes and to move transport robot body control cabinet etc Never approach or walk under the lifted robot body or control cabinet during transportation Never stay on the robot body or control cabinet during transportation or touch and support them manually 3 Hook the wire rope to the ring according to the...

Page 9: ...006 1 Please read and understand all manuals specifications and other relevant documents provided by EFORT before operation In addition completely understand procedures of operation teaching and maintenance Meanwhile make sure all safety measures are effective in place 2 Make sure install control cabinet operation panel and other control devices outside the protective equipment fence to monitor th...

Page 10: ... operate the procedures The design of safety functions should comply with Robot Safety Requirements GB11291 1 2011 ISO10218 1 2006 Before starting robot please confirm the emergency stop switch works properly 1 Please read and understand all manuals specifications and other relevant documents provided by EFORT before operation In addition completely understand procedures of operation teaching and ...

Page 11: ...stalled Protective devices and interlock function properly operators are required to receive safety training and hold work license Environmental conditions temperature humidity light noise dust etc meet the requirements In other words they do not exceed the specifications set for the system and the robot 1 3 4 Safety in Robot Test Run Danger Errors concerning design teaching and working may exist ...

Page 12: ...l to prevent accidental switch of the control cabinet to automatic mode Once the robot makes any abnormal movement the emergency stop switch must be immediately pressed and robot exits the work area from the preset evacuation route 5 Please install an emergency stop switch which enables the supervisor to monitor the overall robot movement outside the fence Once the robot makes incorrect movement t...

Page 13: ... Manual for the setting 1 3 6 Safety in Automatic Operation Danger Because teaching program repeats fast please strictly follow the precautions below and refer to national international standards The design of safety functions should comply with Robot Safety Requirements GB11291 1 2011 ISO10218 1 2006 Please confirm all switches function properly before repair 1 Please read and understand all manu...

Page 14: ...ply with Robot Safety Requirements GB11291 1 2011 ISO10218 1 2006 Please confirm all switches function properly before repair 1 Please read and understand all manuals specifications and other relevant documents provided by EFORT before operation In addition completely understand procedures of operation teaching and maintenance Meanwhile make sure all safety measures are effective in place 2 Please...

Page 15: ...rming the output voltage of the power supply is 0V Please be aware do not touch any part to prevent electric shock or burns 12 If compressed air or water is supplied please cut off the supply source and release the remaining pressure in pipelines before repair 13 Make sure the emergency stop signal of the auxiliary axis and the emergency stop circuit of the control cabinet are concatenated when au...

Page 16: ...art the manual operation outside the safety fence The operator and the supervisor must be specially trained and qualified personnel 8 Before entering the safety fence the operator must turn the teaching switch on the teach pendant to manual to prevent accidental switch on of the control cabinet to automatic mode Once the robot makes any abnormal movement the emergency stop switch must be immediate...

Page 17: ... liable for any change or modification without authorization 19 Numerous back up batteries are built in the robot arm and control cabinet Misuse will cause burn overheat explosion eruption leak etc Therefore the following protocols must be strictly followed Only use batteries specified by EFORT Do not recharge dismantle change or heat batteries Do not throw batteries in water or fire Never use sur...

Page 18: ...h the order If you find missing or wrong parts please contact the supplier in time Table 2 1 Robot Unpacking List Robot Unpacking List Number Name Standard configuration Number Unit Remarks 1 Robot body Standard configuration 1 SET 2 Robot control cabinet Standard configuration 1 SET 3 Control cabinet robot body connecting cables Power cable 1 SET Standard length 8m cable optional length 16m 4 Enc...

Page 19: ...s in accordance with requirements 5 Before transporting the robot to the installation site be sure the ground is suitable for installation 6 Please check the stability of the robot before moving it 7 After the above conditions are met move the robot to site and install it according to instructions below 2 2 3 Storage Environment for Robot The following table shows storage requirements for robot Ta...

Page 20: ...eed adjustment method Table 2 5 Work Cycle of Starting Robot in Cold Environment Work Cycle Speed Rate 3 cycles 20 5 cycles 50 5 cycles 80 5 cycles 100 2 2 6 Placement of Control Cabinet Dimensions of ER15 1400 Robot control cabinet size in mm Fig 2 1 Dimension of Control Cabinet Please do not block the vents of the control cabinet during placement so as not to affect dissipation Please reserve a ...

Page 21: ...If it is possible to collide with other objects the workspace can be restricted by adjusting the limit stop of the hardware and the safety workspace limit of the software Please refer to the following for details of robot workspace limit Mechanical Operation and Maintenance Manual for ER15 1400 Industrial Robot Operation Manual for EFORT Industrial Robot air intake air outlet wind direction wind d...

Page 22: ...roughout the working area Moving the arm shifts the center of gravity which could cause the robot to tip over The packing and loading posture of the robot is the most stable position Do not change the robot s attitude until it is fixed to its base 2 3 2 Transporting of Control Cabinet The control cabinet of this model is a small control cabinet which can be moved by one person in a close distance ...

Page 23: ...tion range 10 If using the leakage protector the leakage current of the leakage protection needs to be greater than 30mA 2 With a standard 4M power cable power L phase is connected to the live wire of 220V power supply N line is connected to the neutral wire of power supply and PE is connected to ground wire When wiring please strictly distinguish the voltage level and do not misconnect so as to a...

Page 24: ... delivery includes finished robot power cables encoder cables IO cables and grounding cables and the robot body is ready to be connected and used with the control cabinet Control cabinet port Body Port Power cable encoder cable ground wire ground bolt M4 teach pendant cable brake release cable IO cable Power cable encoder cable air pipe ...

Page 25: ...he left side of the control cabinet is equipped with an M25 1 5 cable lock which has been sealed with sealing plug before delivery Users must ensure its sealing when using otherwise the overall sealing of the control cabinet will be damaged 2 4 3 The IO cable of the robot body base The IO cable of the robot body base is the signal cable inside the body the external input of the harness is DB25 cor...

Page 26: ...4 The IO cable of the robot body arm 4 5 5 5 The IO cable of the robot body arm 5 6 6 6 The IO cable of the robot body arm 6 7 7 7 The IO cable of the robot body arm 7 8 8 8 The IO cable of the robot body arm 8 11 11 11 The IO cable of the robot body arm 11 12 12 12 The IO cable of the robot body arm 12 13 13 13 valve 1 user reserved 14 14 14 valve 2 user reserved 15 15 15 valve 3 user reserved 16...

Page 27: ...the body Users can choose this cable according to their needs Prefabricated IO user 12 core cable Material No 10900025769 Fig 2 7 Diagram of the IO cable connection at the arm of robot body The IO wire harness on the arm side has 12 cores The following figure shows the pin definition of the IO wire harness The small arm Cable identification M12 plug 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 ...

Page 28: ...other than the manual brake release circuit are disconnected from the robot You must perform the restore steps i e reset the emergency stop button and clear the alarm to restore normal operation The following effects can be achieved through system configuration E stop type 0 Stop the current operation immediately through cutting off the motor power E stop type 1 Stop the current operation without ...

Page 29: ...nterface press the external emergency stop cable harness to be connected and insert it into the corresponding port EMG AP EMG AM and EMG BP EMG BM are a pair of dual circuit external emergency stop channels The safety signal of the robot can be output to peripheral devices through X13 external safety signal terminal The EMGO AP and EMGO AM EMGO BP and EMGO BM are a pair of emergency stop dual circ...

Page 30: ...STOP1 BP STOP1 BM can be connected to the controller through the X13 external safety signal terminal block Recommended wire diameter 0 3mm or more the connection method is shown in the figure below Fig 2 10 X13 Security Door Lock Wiring Diagram Security door lock channel 1 Security door lock channel 2 Output contacts for emergency stop status Emergency stop input signal Safety door lock signal ...

Page 31: ...ers of Control Cabinet model of control cabinet EC S6 IP grade IP20 digital IO 24 digital inputs 24 digital outputs support expansion means of communication standard TCP IP Modbus TCP CAN open EtherCAT means of communication optional Profibus DP CCLINK Profinet power supply Single phase 220V 10 50 60Hz size W483mm D467mm H247mm weight 25kg 3 1 2 Electrical interface distribution Front 1 2 3 4 5 6 ...

Page 32: ...ace 2 X3 LAN interface 3 X4 WAN interface 4 X6 Power brake cable aerial plug interface 5 X7 Encoder aerial plug interface 6 X11 Brake release unit interface 7 X13 External security interface 8 X5 Power interface 3 2 Motion Control Unit This section aims to introduce the functions and interface definitions of the motion controller RP2 in the ER15 1400 robot control cabinet 3 4 1Motion Controller 1 ...

Page 33: ...ort Fig 3 3 Definition of Power Port and Connection Circuit Diagram Table 3 3 Parameters of Power Port 24VDC Power Supply Specification voltage range 22V 28V power 15W baud rate 10 100Mbit s the voltage threshold at which a power failure signal occurs 18V connection terminal FK MCP1 5 7 STF 3 81 Phoenix 2 Ethernet Interface ...

Page 34: ... 3 5 Definition of Ports and Connection Circuit Diagram Table 3 4 Parameters of Ports ETH1 ETH2 Specification signal specification comply with the signal specification of the Ethernet specification IEEE 802 3u 100 10 BASE T cable length comply with Ethernet specification IEEE 802 3u 100 10 BASE T baud rate 10 100Mbit s ...

Page 35: ...isted pair follow IEEE 802 3 specification connection terminal RJ45 8 pin connector 3 SER1 Port RS232 Fig 3 6 Location of SER1 Port Fig 3 7 Definition of SER1 Port and Connection Circuit Diagram Table 3 5 Parameters of SER1 Port SER1 Specification RS232 signal follow the EIA RS232 E specification ...

Page 36: ... 20 meters for longer cables please contact EFORT baud rate 115200 bits sec maximum cable type multi pole cable 0 22mm2 WITH shielding coverage is higher than 90 Connector DSUB female 9 pin connector 4 CAN Port Fig 3 8 Location of CAN Port Fig 3 9 Definition of CAN Port and Connection Circuit Diagram Table 3 6 Parameters of CAN Port ...

Page 37: ...with input output 24VDC 500mA high level effective Motion Controller System of IO Port Table 3 7 OUTPUT Port Definition Table Table 3 8 INPUT Definition Table of Input PIN Position Definition Description 0 DO0 system occupied 1 DO1 system occupied 2 DO2 servo confirmation status 3 DO3 system occupied 4 DO4 system occupied 5 DO5 system occupied 6 DO6 alarm 7 DO7 user defined PIN Position Definition...

Page 38: ... DI28 13 DI13 5 DI21 13 DI29 14 DI14 6 DI22 14 DI30 15 DI15 7 DI23 15 DI31 Output Modul e 1 Slot 2 Pin position Addres s Output Module 1 Slot 4 Pin positio n Addres s Slot 4 Pin positio n Addre ss Description 8 DO8 0 DO16 8 DO24 Output IO Module User defined 9 DO9 1 DO17 9 DO25 10 DO10 2 DO18 10 DO26 11 DO11 3 DO19 11 DO27 12 DO12 4 DO20 12 DO28 13 DO13 5 DO21 13 DO29 14 DO14 6 DO22 14 DO30 15 DO1...

Page 39: ...d to store machine data 2 Be sure to use the motion control card recommended by EFORT Other motion control cards not recommended by EFORT cannot guarantee the normal operation of the controller functions 3 Please do not use brute force when inserting the card The memory card slot has an error proof design and the card can only be inserted into the card slot from one direction The card can be inser...

Page 40: ...s 3 motor Axis 2 motor Axis 1 motor Axis 4 motor Axis 5 motor Axis 6 motor Upper system Description 1 For single phase 220V power supply input connect R and T terminals 2 When connected to single phase 220V power supply it is necessary to derate to 57 of rated power braker Drive control power supply Axis 3 motor brake Axis 3 encoder Axis 2 motor brake Axis 2 encoder Axis 1 motor brake Axis 1 encod...

Page 41: ...4 6 axis encoder 6 Brake port 4 6 axis brake 7 IO port IO signal port 8 EtherCAT IN Network port 9 EtherCAT OUT Network port 10 RS485 Debug port Drive debug port 11 Axis 1 motor port Power output 21 Axis 2 motor port 31 Axis 3 motor port 41 Axis 4 motor port 51 Axis 4 motor port 61 Axis 4 motor port 13 Brake resistance port Connecting brake resistance Axis 3 encoder Axis 2 encoder Axis 1 encoder A...

Page 42: ...der Axis 4 encoder Shielded Twisted Shielded Twisted Shielded Twisted Note 1 The total maximum output current of B1 and B2 ports is 0 4A 2 The maximum output current of B3 port is 0 1a 3 B3 port is the output port and the low level is valid 4 STO1 and STO2 must be connected as required Fan optional STO internal 24V power supply STO external 24V power supply controller external power supply externa...

Page 43: ...e it will be dangerous Pin Definition Prohibit connection otherwise it will be dangerous Prohibit connection otherwise it will be dangerous Hanging without connection RS485 Signal RS485 Signal Hanging without connection Hanging without connection Signal Ground Pin Number Description Technical parameters Receive data Send data Send data Send data Module control I O port connector 10P Encoder port c...

Page 44: ...ht on Indicator light on Indicator light off Indicator light off Indicator Alternating red and green flashing quickly Red light flashes quickly Red light flashes slowly Green light is always on Green light flashes quickly The system is in the servo enable state The system is in the servo enable state and a warning appears The system is in a fault state and the fault is not resettable The system is...

Page 45: ...takes into account both hardware and software In terms of hardware the safety relay output controls the servo drive STO When an emergency stop is photographed the STO signal is directly cut off an emergency stop instruction is issued to make the robot stop urgently and the motor brake is closed at the same time The stopping mode adopted by this robot product is to stop category 1 3 4 2 Software In...

Page 46: ...inet Fig 3 21 Power supply on the Front Panel of the Cabinet The following table describes the functions of each button and switch Table 3 13 Electric Cabinet Front Panel Button Function Description Teaching pendant Interface Connection interface of the teaching pendant RJ45 Interface LAN WAN Interface Servo confirmation button This button is required to confirm before the robot runs manually at h...

Page 47: ...l cabinet turn the main power switch to OFF and cut off the main power supply as the built in capacitor in the control cabinet will store energy 3 5 3 Emergency stop button As shown in Fig 3 20 the function of the emergency stop button is to cut off the power supply of the robot motor and make the robot stop moving immediately Turn this button clockwise to release the emergency stop button Note If...

Page 48: ... control of robot movement programming control of robot movement IO interaction signal settings and so on Fig 3 22 EFFORT Teaching Pendant 1 Functional areas and interfaces Fig 3 23 Function Definition of Teach Pendant Table 3 14 Functions of Each Part of the Teach Pendant Number Name Description 1 film panel 3 company LOGO color painting 2 touch screen used for operating robots 3 LCD used for hum...

Page 49: ...t 5 axis 1 movement 15 axis 6 movement 6 axis 2 movement 16 step back 7 axis 2 movement 17 step forward 8 axis 3 movement 18 hotkey 1 9 axis 3 movement 19 hotkey 2 10 axis 4 movement Fig 3 25 Buttons on the Lower Side Table 3 16 Buttons on the Lower Side Number Name Number Name 6 mode knob three stage mode knob 7 film panel 1 contains 18 buttons and 1 red yellow and green LED 8 USB 2 0USB used to ...

Page 50: ...9 speed 5 turn page 10 servo power up 2 How to hold the teach pendant Hold the teach pendant with your left hand When you jog the robot your left finger needs to press the hand pressure switch to make the robot in the servo on state The specific method is shown in the figure below Fig 3 26 How to Hold the Teach Pendant Note When the screen of the teaching pendant is not sensitive please recalibrat...

Page 51: ...ease function in an emergency or abnormal situation one person can release the motor brakes of each axis of the robot and move each axis of the robot 3 7 2 Location of Brake Release Unit As shown in the figure the brake release unit is located at the bottom of the control cabinet panel Please read the brake release unit and its operation steps carefully before using it Fig 3 28 Cable Connections o...

Page 52: ...nt is required to ensure that the lifting of the robot does not cause secondary injuries due to gravity Make sure proper equipment is ready before releasing brake The motor brakes of each axis of the robot body should be manually released when the power X1 PIN Position Cable identification Function 1 1BK 1 6 axis brake power supply positive 2 2BK 3 3BK 4 4BK 5 5BK 6 6BK 7 1BK 1 6 axis brake power ...

Page 53: ...fore releasing the motor holding brake How will the robotic arm move What is the impact on the robot workspace It must be ensured that no one is near or below the robot arm If necessary use cranes forklifts or similar equipment to protect the robot arms 2 The brake release unit is a single axis release method one button corresponds to one axis and the button of which axis needs to be released is p...

Page 54: ...1 Keep holding down the hot swap button 2 Pull out the hot swap button short connector 3 Inserting the teach pendant 3 8 3 Common Problems 1 Under what circumstances can hot swap operations be performed The robot can be hot swapped in any running state and the hot swap operation will not generate any alarm and change the current running state of the robot 2 What will happen if the mode switch of t...

Page 55: ...unplugged in automatic mode Remote control is still supported when the robot is unplugged in automatic mode provided that the corresponding signals are configured in the interface before unplugging the teach pendant 5 Does the hot swap of the teach pendant affect the robot running status and program execution status during the program running in the automatic mode Hot plugging and unplugging the t...

Page 56: ...rious risks and serious possibilities Mandatory Measures 1 Only personnel who have received proper training and carefully read the instruction manual or skilled operation professionals can carry out all maintenance repair adjustment and cleaning etc 2 Only use suitable tools for maintenance and repair work When working on electrical components only insulated reactance tools can be used 3 Only prof...

Page 57: ...s article When your planned work or modified work is not within the scope of the above content please seek the assistance of an EFORT engineer 2 Unauthorized or unqualified personnel are not allowed to carry out maintenance work 3 Temporary repair work with the help of joints or conveyor belts is not allowed 4 If the equipment has become aging or malfunctioning for some reason do not use an open f...

Page 58: ...Number Description 1 Check whether the top panel of the control cabinet fits closely with the top of the side panel around without abnormal warping 2 Check whether the reserved port cable waterproof plug on the left of the control cabinet is properly sealed 4 4 2 Check the Wiring Harness Visual check Table 4 3 Wiring Harness Check 3 drive 1 check the damage and rupture 2 whether the connector is l...

Page 59: ...her the switching power supply is working normally 5 whether the drive is working normally 6 whether the teach pendant is working normally 4 4 4 Check the Emergency Stop Switch Manual check Table 4 3 Emergency Stop Switch Check Number Description 1 whether the emergency stop of the electric control cabinet can be pressed and restored normally 2 whether the emergency stop of the teach pendant can b...

Page 60: ... to replace the controller Table 4 6 Steps to Replace the Controller Number Steps 1 Disconnect the power supply of the control cabinet 2 Disconnect all terminals on the front of the controller and network cables 3 Use a flat blade screwdriver to pick up the upper and lower snaps as shown in the Fig 4 1 and pry the controller out of the mounting rail 4 Take out the controller directly 5 Take out th...

Page 61: ... the control cabinet 2 Disconnect the top and bottom wiring terminals of the safety relay These terminals need to be marked with relevant numbers to ensure that they will not be connected incorrectly when reconnected 3 Removal of the safety relay from the mounting rail by direct downward pressure on the safety relay 4 Replace with a new safety relay 5 Set the safety relay parameters the three knob...

Page 62: ...or 10 minutes before proceeding to the next operation 3 Disconnect the wiring terminals on the top and bottom of the drive These terminals need to be marked with relevant numbers to ensure that they will not be connected incorrectly when reconnected 4 Use a screwdriver to remove the four M5 Phillips screws that connect the drive to the bottom 5 Remove the drive from the main back panel of the cont...

Page 63: ...et 2 Remove the protective cover of the switching power supply and disconnect the wiring terminals on the right side of the switching power supply These terminals need to be marked with relevant numbers to ensure that they will not be connected incorrectly when reconnected 3 Use a screwdriver to remove the 4 M3 Phillips screws on the upper and lower sides of the switch 4 Remove the switching power...

Page 64: ...ng rail fuse core inside the fuse base 3 Replace the fuses and fuse cores of the same specification 4 Connect the cables restore the control cabinet and power on Mandatory Measures When replacing the fuse cores please keep the new ones the same as the factory specifications so as to prevent the device from failing to disconnect normally when there is a short circuit or overcurrent which may damage...

Page 65: ...d confirm whether the home position is missing 2 Replace the encoder battery when the robot is powered off adjust the robot to run to the mechanical zero position the robot cannot run to the mechanical zero position but the robot can run to a safe position and record the robot position power off and close the fixture that is connected to the robot the hydraulic source and air pressure source After...

Page 66: ...eplaces the encoder battery or replaces the motor the robot needs to clear the multi turn value Before the replacement the robot needs to return to the home position After the replacement clear the multi turn value power off and restart When the robot runs to the mechanical home position record the current position as the home position Please refer to Efort Industrial Robot Operation Manual and ER...

Page 67: ...ach shaft is the same as the data recorded in the standard file the standard file data comes with the factory If modification is required click the Modify button to modify If not skip step 3 3 Modifies the encoder single loop value Enter the modified data directly into the edit box Then click the Save button Note that after saving the encoder single loop values the encoder multi loop data will be ...

Page 68: ... feedback will be given when the calculation is successful the LED will be lit up and the result will be displayed 5 Click the Next button to enter the recovery page Click the Restore button and the robot will move automatically according to the calculated results When the movement is complete the status will be feedback and the LED light will be lit To perform this step switch the operation mode ...

Page 69: ...set further manually re align the axis and repeat the first 3 steps until the mechanical mark lines on all the axes are aligned 7 Click the Next button to enter the reset page Click Reset home position button click Yes in the pop up box and the robot will automatically reset all home positions A successful reset will give status feedback and the LED light will be turned on 8 Click the Confirm butt...

Page 70: ... can be used Warning Be sure to confirm the protection type of the robot before cleaning 4 8 2 Precautions This section describes some precautions of cleaning the robot Attention 1 Before cleaning be sure to check whether all protective covers have been installed on the robot 2 Never aim the cleaning water column at the connectors contacts seals or gaskets 3 Never use compressed air to clean the r...

Page 71: ... service professionals if the fault still exists Replace the core or glass fuse with those of the same parameters E stop alarm occurs after the control cabinet boots 1 Check and reset the E stop button on the control cabinet 2 Check whether the teach pendant is successfully connected and if its E stop button has been reset 3 Check whether the E stop button on the user defined control panel has bee...

Page 72: ...n is working or not 2 Check if the electric relay K1 is working or not 3 Check if the short circuit plug of teach pendant is properly connected and locked 4 Please contact the service professionals if the fault still exists It is strongly recommended that an operator should strictly follow the Electrical Operation and Maintenance Manual when handling with hot swap The brake component cannot be rel...

Page 73: ... different event types the area displays different events For example if you check the alarm option the value in the information display area displays all the alarms that were recorded 4 Operating area It includes viewing details saving logs and clearing logs By clicking on the Details button you can show or hide the event description area Fig 5 3 Event Log Details Interface By clicking on the Exp...

Page 74: ...ult Light Display on the Controller Table 5 1 explains the meanings that the different states of the LED lights in Figure 5 5 stand for Fig 5 5 Controller Table 5 1 Description of LED Light Information The Meaning that LED Stands for Name Color The Meaning that It Stands for AXIO D Green light is always on Running status ...

Page 75: ...mmunication error or initial configuration error from COC0 CFG File diagnosed with the command REPORT S Whether the cable is disconnected or improperly connected Red light and green light flickers alternately every 200ms The nodes mapped in the COC0 cfg file are checked and configured during this period Red light and green light flickers alternately every 500ms Instantaneous phase at each system s...

Page 76: ...I channel connection activity MODE LED for program signal operation flicker stop off ALM Alarm indicators low priority and high priority flickering differently SDA Active signal indicator on the microSD card WD Watchdog relay status light connector pins 4 5 6 7 It must always be on PS Green 24VDC power LED 5 3 3 Controller Fault Handling The fault handling method of the controller can be dealt wit...

Page 77: ...ce Manual for ER15 1400 Industrial Robot 72 Fig 5 6 Drive Monitoring Interface 5 5 Program Running Fault Handling The program running alarm can be viewed in the log on the program editing interface Fig 5 7 Program Running Log Interface ...

Page 78: ...c rubber cables connectors etc battery nickel cadmium or lithium drive circuit board encoder battery 6 3 Discard the Robot Attention 1 If possible recycle lubricating oil and grease Dispose it by authorized personnel contractors in accordance with local regulations 2 Do not dispose of lubricating oil and grease near lakes ponds ditches and sewers or discharge them into the soil 3 Incineration must...

Page 79: ...Electrical Operation and Maintenance Manual for ER15 1400 Industrial Robot 74 ...

Page 80: ...Electrical Operation and Maintenance Manual for ER15 1400 Industrial Robot 75 Chapter Seven Schematic Diagram ...

Page 81: ...tion and Maintenance Manual for ER15 1400 Industrial Robot 76 Appendix 1 Spare Parts List Item Material Code Number for Each Robot Remarks FU1 fuse core 10900017878 1 10A Hot swap short connector 10900021952 1 Optional ...

Page 82: ...ations and external dimensions of this product are subject to change without notice if they need to be improved The technical data and illustrations are for reference only and the right to change is reserved EFORT INTELLIGENT EQUIPMENT CO LTD No 96 Wanchun Road Jiujiang Economic Development Zone Wuhu Anhui China http www efort com cn ...

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