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Quick Operation Manual for ER210-2700 Industrial Robot

ER210-2700 Quick Operation Manual

for Industrial Robot

EFORT Intelligent Equipment Co., Ltd.

Service Line

（

Tel

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+86-400-0528877

Summary of Contents for ER210-2700

Page 1: ...Quick Operation Manual for ER210 2700 Industrial Robot ER210 2700 Quick Operation Manual for Industrial Robot EFORT Intelligent Equipment Co Ltd Service Line Tel 86 400 0528877 ...

Page 2: ...lt in physical damage or property loss The statement and instruction manual is the latest version for ER210 2700 series More updates can be found at www efort com cn This manual only serves as the operation guide for ER210 2700 industrial robots EFFORT will not be responsible for any physical damage or property loss that is not caused by the defect of the product It is strongly recommended that op...

Page 3: ... 2 1 Unpacking 3 2 2 2 Preparatory Work before Installation 4 2 2 3 Storage Environment 4 2 2 4 Operation Environment 4 2 2 5 Starting the Robot in a Low Temperature 4 2 2 6 Robot Performance Parameters 5 2 2 7 Robot Motion Space 6 2 2 8 Control Cabinet Position 7 2 3 Handling the Robot 7 2 3 1 Precautions 7 2 3 2 Handling the Robot Body 8 2 3 3 Handling the Control Cabinet 9 2 4 Installing the Ro...

Page 4: ... Supply 19 3 2 Connection between the Robot and the Control Cabinet 20 3 3 Definition of Controller Local IO 20 3 4 IO Module Expansion 22 3 4 1 Local IO Module Expansion 22 3 4 2 Remote IO Module Expansion 23 3 5 IO Configuration 25 3 5 1 IO Module Update 25 3 5 2 Remote IO Configuration 26 3 5 3 Function IO Configuration 28 3 5 4 Analog IO Configuration 36 3 6 Introduction to Emergency Stop 37 3...

Page 5: ...About the Teach Pendant 40 4 1 2 Function Keys and Interfaces 41 4 1 3 How to Hold a Teach Pendant 43 4 2 Power On 43 4 3 Jogging 43 4 3 1 What is Jogging 43 4 3 2 Precautions for Jogging 44 4 3 3 Start Jogging 44 4 3 4 Joint Coordinate System Jogging 45 4 4 Power Off 46 Chapter Five Common Faults and Recommended Solutions 47 ...

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Page 7: ...ary safety protection equipment is reasonably designed and correctly installed An operator should get familiarized with the operation procedures described in the following documents ER Series Robot Safety Manual ER Series Robot Operation Manual Electrical Operation and Maintenance Manual for ER210 2700 Industrial Robot Mechanical Operation and Maintenance Manual for ER50 2100 Industrial Robot Quic...

Page 8: ...angerous areas before booting the robot 2 Ensure that all the operators have received some professional training in operating industrial robots 3 A supervisor should constantly monitor the status of the running programs and to make sure that the safety protection program is effective 4 Maintain the robot as instructed in the manual and keep the robot clean and tidy 5 Pack the cleaning and maintain...

Page 9: ...the model information on the order list Contact the supplier if the accessories are not the same as ordered Table 2 1 Standard Accessories Packing List Name Model Quantit y Unit Remarks Robot body ER210 2700 1 PC Control cabinet EC1 M 02 1 PC Teach pendant and connection cable 11700010509 1 PC Control cabinet robot power cable 10900017168 1 SET Standard Length 8 m Customized Length 12 m 16 m 20 m ...

Page 10: ...t 7 Handle the robot to the installation cite if the checklist is completed 2 2 3 Storage Environment The following table describes the permitted storage environment for the robot Table 2 3 Robot Storage Environment Parameters Value The lowest environment temperature 10 The highest environment temperature 55 Maximum Humidity 93 RH Dewing Free 40 2 2 4 Operation Environment The following table desc...

Page 11: ...pe EC1 M 02 IP Rate IP43 Digital IO Ports 24 digital input ports and 24 digital output ports Expansion Supported Model ER210 2700 Motion Type Joints Control Axes 6Axes Maximum Motion Speed Axis J1 100 sec Axis J2 90 sec Axis J3 95 sec Axis J4 110 sec Axis J5 105 sec Axis J6 200 sec Maximum Motion Rage Axis J1 180 Axis J2 80 60 Axis J3 83 90 Axis J4 360 Axis J5 120 Axis J6 360 Maximum Operation Rad...

Page 12: ... 3 380V 10 50 60Hz Size W850mm D480mm H890mm 2 2 7 Robot Motion Space Fig 2 1 Motion Space of ER210 2700 Robot Note Fig 2 1 shows the theoretical maximum motion space of ER210 2700 robot which might be affected by the way the robot is installed ...

Page 13: ...guaranteed in order to maximize the heating radiator efficiency Ensure that the robot can move freely within operation space Limit the robot operation space by means of adjustable stopper or software control if there is any risk of collision 2 3 Handling the Robot 2 3 1 Precautions Please read the following precautions carefully before handling the robot Caution The handling must be performed by a...

Page 14: ...Please protect the cables when handling the robot and the control cabinet Besides the cables should be covered by a shield to prevent from accidental damage 2 3 2 Handling the Robot Body The angle of each joint is shown in table 2 8 when the robot is handled Table 2 8 Joint Angles Position J1 J2 J3 J4 J5 J6 Joint angles 0 55 75 0 70 0 Handle the robot with a forklift is a lifting device is not ava...

Page 15: ...n in fig 2 5 and lift it with 2 soft cables attached to 2 M10 ring screws on the upper part of the control cabinet The recommended length of the cables should be no shorter than 2 meters and rubber hoses should be placed on the cables to prevent from direct contact with the robot body Ensure the control cabinet is well balanced and not stacked upon in the process of transportation Handle the contr...

Page 16: ...d to be installed to a ceiling or a wall and the relevant emergency countermeasures should be well planned Otherwise accidents such as flipping physical injury or property damage might occur 2 4 1 Setting up a Safety Fence The user of the robot should set up a safety fence according to the National Standards of the People s Republic of China on Robots and robotic devices Safety requirements for in...

Page 17: ...an 160 mm Fix the base on the floor with eight M20 type socket cap screws whose strength rate is 12 9 and with eight HRC 35 type plain washers whose thickness should be greater than 4 5 cm The M20 type cylindrical pins with internal thread are installed on the socket cap screws enhance the stability The tightening torque should be 560 30N m If the concrete thickness is less than 160 mm foundation ...

Page 18: ...td 12 Fig 2 7 Robot Body Installation Dimensions 2 4 4 Installation Surface Precision Requirement Please strictly follow the precautions described below when installing the robot boy to prevent from the deformation of the rotating base ...

Page 19: ...lation Surface Precision Requirement 3 Ensure to adjust the fixing screws to the positions where all the four screws can evenly touch the base plates if any of the first two requirements is not met Fig 2 9 Fixing Screw Adjustment 1 Position the robot on the base plates and weld the external sides of these four plates 2 Remove the robot and weld the internal sides of these four plates Four base pla...

Page 20: ...environment full of dust cutting oil and strong vibration 2 4 6 Integrated Connection Interface 1 Wrist Interface Dimensions Please refer to fig 2 10 for the installation of an end effector Attention The depth of M10 fixing screws of an end effector must be less than the depth of the fixing threads otherwise the screws might lead to damage to the wrist Robot Environment Requirement Description Con...

Page 21: ...bolt holes whose pitch center diameter is 160 if the installation weight is greater than 166kg Fig 2 10 End Effector Installation Surface 2 Interface Dimensions for Robot s First Arm Additional equipment can be installed on the interface of the robot s first arm Robot Model ER210 2700 ...

Page 22: ...EFFORT Intelligent Equipment Co Ltd 16 Fig 2 11 Interface Dimensions for Robot s First Arm 3 Dimensions of Application Cables and Pipes for the Robot s First Arm ...

Page 23: ...Quick Operation Manual for ER210 2700 Industrial Robot 17 Fig 2 12 Dimension Description of Application Cables and Pipes 1 Fig 2 13 Dimension Description of Application Cables and Pipes 2 ...

Page 24: ...er cables and signal cables have the error proof plug design and make sure to place the plug in the right direction Warning Warning 1 Cable connections can only be performed when the power is turned off 2 Do not coil the cables in a circle when the excess part is longer than 10 meters otherwise the cable temperature might increase dramatically when the robot is performing a certain task which migh...

Page 25: ... cord must be a shielded 3 cord cable whose cross section is larger than 4 mm2 3 A disconnecting switch must be placed in between the electric wires and the control cabinet to ensure the physical safety of maintenance professionals Fig 3 2 Pin Location of 380 V Input Power Circular Socke Table 3 1 Input Power X10 Interface Description Terminal PIN Location Remarks 1 L1 2 L2 3 L3 4 PE Ground Wire W...

Page 26: ...nection between the Robot and the Control Cabinet Table 3 2 Cable Description No Cable Type Description 1 Power supply Power supply of 380V AC 2 Robot power cable Transfer the driving power from the driving device in the control cabinet to the robot motor 3 Robot brake cable Supply electric force for the robot electric motor brake 4 Robot encoder cable Transfer the data from the encoder to the ser...

Page 27: ...warning 21 DI5 E stop 2 30 DI6 Safe door 1 31 DI7 Safe door 2 All the input ports are defined and occupied by the system except for those labeled by User defined Users can expand the local or remote IO ports when in need by consulting the EFORT service team Pins 30 31 can be used as the input signal for safety door and safety grating After the signal is triggered the robot alarms and stops in an e...

Page 28: ...This section explains how to expand the local IO modules of the controller There are 4 expandable 16DI 16DO type of modules in local IO of which both the input DC voltage and output voltage is 24 V and the output current is 500 mA Table 3 6 Expandable Local IO Modules List Type Demonstration Quantity Remarks Bus coupler 1 Bus basic module n Expand when in need No more than 4 bus basic modules are ...

Page 29: ...coupler and mount the I O module on the bus basic module 4 Connect the a1 a2 pins of I O module to the 24 voltage positive source and connect the b1 b2 pins of I O to the 24 voltage negative source 3 4 2 Remote IO Module Expansion The remote IO module expansion complies with the EtherCAT bus communication protocols The RJ45 type interfaces can be directly connected through an Ethernet cable withou...

Page 30: ...EFFORT Intelligent Equipment Co Ltd 24 Controller EtherCAT Remote IO Module Coupler EtherCA T Ethe rCAT ...

Page 31: ...group IO configuration 3 5 1 IO Module Update Table 3 9 IO Module Update Procedures Procedures Demonstration Remarks 1 The teach pendant pops up an alarm message if the controller s IO number does not match the preset number 988 Bad RHW CFG code 2IO 9200 PFB int Configuration Error 1 Click on to hide the alarm message and update the IO module to clear the alarm 2 Click on Update in IO setting page...

Page 32: ...he teach pendent cannot be used before the controller is fully rebooted 3 5 2 Remote IO Configuration Table 3 10 Remote IO Configuration Procedures Procedures Demonstration Remarks 1 Enter the Remote IO Configuration page Click on IO setting on the teach pendant and choose Adapt to remote IO configuration ...

Page 33: ...save the configuration to file Instructions for Remote IO Configuration Module Number Each module within the set number needs to be configured otherwise the configuration information cannot be successfully saved to file Type There are six module types namely DI 16 bit DI 32 bit DO 16 bit DO 32 bit and AI and AO respectively Address The address ranges from 300 500 The length for each address varies...

Page 34: ...hannel types of AD modules and 6 of DA modules Enable Tick on Enable and load the remote IO configuration changes 3 5 3 Function IO Configuration Function IO configuration includes IO input and IO output Users can define the IO type IO address and the valid value and the filter time in the configuration page Table 3 11 Function IO Configuration Procedures Procedures Demonstration Remarks 1 Enter I...

Page 35: ...liary axis Advanced pallet Punch Arc welding and Program reserve respectively Users can choose on one of the seven options and enter the corresponding configuration page 4 Enter Common Function configuration page Choose the first option and check the previous configuration details in this page Instructions for Function IO Configuration Input Interface 1 Input Description ...

Page 36: ...to mode 7 Global speed 5 Increase or decrease the robot global speed 5 Pulse Effective in Manual Auto mode 8 Restart Return to the 1st line of the current program Pulse Effective in Auto mode 9 Loader Load the programs by the sequence number The sequence number of programs 1 to 4 is calculated by the signal status which is signified by binary numbers Pulse Effective in Auto mode 10 Programs 1to 4 ...

Page 37: ...nput A2 occupied input A3 occupied input A4 occupied input Area occupied input signals for areas 1 4 The robot stops immediately upon receiving an area occupied input signal from a non shared area and waits until the occupation signal is cleared off High and low level Effective in Manual Auto mode Auxiliary Axes No Description Remarks Signal Type Operation Mode 1 Positive movement for auxiliary ax...

Page 38: ...tive in Auto mode 9 Single punching mode Detect if the current punching mode is single or not High and low level Effective in Auto mode 10 Waiting for palletizing Waiting for the execution of palletizing High and low level Effective in Auto mode 11 Waiting for depalletizing Waiting for the execution of depalletizing High and low level Effective in Auto mode 12 Work piece on the conveyor belt detec...

Page 39: ... Effective in Auto Manual mode 2 Ready to place the arriving work piece Stack 1 2 3 4 is ready to place the arriving work piece High and low level Effective in Auto Manual mode 3 Feedback on the gripper release in a stack Sending a signal to the robot indicating that the gripper in the corresponding stack is released High and low level Effective in Auto Manual mode 4 Feedback on the gripper closur...

Page 40: ...evel Effective in Manual Auto mode 5 Emg status The emergency stop is in process high and low level Effective in Manual Auto mode 6 Program loaded Send the signal to the robot that a program is successfully loaded and the signal is reset once the robot starts to run the program high and low level Effective in Manual Auto mode Safety Monitor No Description Remarks Signal Type Operation Mode 1 A1occ...

Page 41: ... released in vacuum sucker 2 Vacuum sucker pressure is released high and low level Effective in Auto mode 9 Palletizing completed Signal indicating the palletizing is completed high and low level Effective in Auto mode 10 Depalletizing completed Signal indicating that depalletizing is completed high and low level Effective in Auto mode 11 Tool fixture enabled disabled Enable or disable a tool fixt...

Page 42: ...remote module address value follows the local actual maximum address value For example if there are 16 local input ports the first port address of the remote module is 17 3 Valid value 0 stands for the trailing edge of a pulse signal or a low level signal 1 stands for the rising edge of a pulse signal or a high level signal 3 5 4 Analog IO Configuration Table 3 12 Analog IO Configuration Procedure...

Page 43: ...he switch clockwise to release the E stop status The emergency stop is designed to eliminate the operation risk of any kind through cutting off the power supply It takes precedence over any other robot operations and will remain effective until it is reset manually The following effects can be achieved through system configuration E stop type 0 Stop the current operation immediately through cuttin...

Page 44: ...h into the series circuit as shown in Fig 3 5 The recommended wire cross section should be larger than 0 5 mm Fig 3 5 Wiring of External Emergency Stop Switch 3 6 2 Dry Contact of E stop Output The external device needs to detect whether the emergency stop signal of the robot is triggered or not K3 and K4 placed in the EC L4 type control cabinet are the output relays The normal open contacts of K3...

Page 45: ...The safety door contacts are disconnected in default setting and the robot can jog in manual slow speed mode Users should connect the contacts to the safety door on cite if the robot is operating in manual full speed or automatic mode Short circuit contacts 1 and 2 or contacts 3 and 4 if the user does not want to use a safety door bridge ware ...

Page 46: ...ough the teach pendant such as manual jogging programed jogging and IO configuration etc Fig 4 1 Teach Pendant Table 4 1 Parameters of Teach Pendant No Item Parameters 1 Display size TFT 8 inch LCD 2 Display resolution 1024 768 3 Touch screen Yes 4 Function keys E stop Mode Switch Manual S Manual F Auto 28 keys 5 Mode switch Manual S Manual F Auto 6 USB 1 USB 2 0 Interface 7 Power DV24V 8 Dust Wat...

Page 47: ...FORT LOGO 2 Touch Screen Used for robot control 2 LCD Display Used for interactive operations 4 Membrane panel 2 Equipped with 10 keys 5 E stop Double circuit E stop switch 6 Mode Switch Three section mode switch 7 Membrane pannel1 Equipped with18 keys and 1three colored LEDs 8 USB 2 0USB for file transfer 9 Three stage Enabling Key Press to turn on servo in Manual S mode Fig 4 3 Right Side Keys ...

Page 48: ... 17 Step FWD 8 J3 Movement 18 User defined key 1 Slow speed switch 9 J3 Movement 19 User defined key 2 Step length switch 10 J4 Movement Fig 4 4 Bottom Keys Table 4 4 Bottom Keys Description No Item No Item 1 F1 Multifunctional Key Check the alarm message 6 Coordinate System Switch 2 F2 Multifunctional Key Screenshot by a double click 7 HOME 3 F3 Multifunctional Key Program mode Continuous Step IN...

Page 49: ...ging page Please check and handle the alarm messages according the Alarm Instruction Manual 4 3 Jogging 4 3 1 What is Jogging Jogging is performed under the Manual S mode through the function keys or on the right side of the teach pendant When the servo is on an operator needs to select the coordinate reference system and the speed ration before jogging the robot Jogging can be further classified ...

Page 50: ... clear off the alarm message before any further operation 5 Check whether the mechanical home position matches that of each axis in the teach pendant 6 Check the jogging global velocity and the chosen coordinate system before turning on the servo 4 3 3 Start Jogging Choose the user type of Administrator and log on to the system Select Position from the drop down list under Monitor and enter the jo...

Page 51: ...nate system and hold the enabling key Press the function keys on the control panel of teach pendant to adjust the motion angles of the corresponding axis as shown in Fig 4 8 Fig 4 8 The Enabling Key and the Right Side Function Keys Please refer to ER Series Robot Operation Manual for detailed programing instructions of ER210 2700 industrial robots ...

Page 52: ...each pendant to stop the robot if the current program is completed 2 Turn the switch mode to T0 3 Press the enabling key 4 Jog the robot to the home position in the manual slow speed mode 5 Release the enabling key 6 Turn the power switch to OFF on the control cabinet as shown in Fig 4 10 Please wait at least 5 seconds before rebooting ...

Page 53: ... control panel has been reset 4 Please contact the service professionals if the fault still exists The E stop button is on in default Reset the E stop button before use The teach pendant cannot be booted 1 Check whether the connecting cables of teach pendant are correctly wired and locked 2 Check if the glass fuse of FU3 is working or not Replace it with a new one if it is damaged 3 Check whether ...

Page 54: ...220V and 2A Please do not exceed the voltage and current limit The hot swap function of teach pendant is disabled 1 Check if the Hot swap button is working or not 2 Check if the electric relay K2 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 a...

Page 55: ...s and external dimensions of this product are subject to change without prior notice The technical data and illustrations are for reference only and we reserve the right to change them EFORT INTELLIGENT EQUIPMENT CO LTD No 96 Wanchun Road Jiujiang Economic Development Zone Wuhu Anhui China Website http www efort com cn ...

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