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ESTUN ERSA-4C Cabinet

MAINTENANCE MANUAL

E-0301EN/01

Summary of Contents for ERSA-4C

Page 1: ...ESTUN ERSA 4C Cabinet E 0301EN 01 MAINTENANCE MANUAL...

Page 2: ...ESTUN ERSA 4C Cabinet MAINTENANCE MANUAL E 0301EN 01...

Page 3: ...ecluded for which reason we are not able to guarantee total conformity ESTUN assumes no responsibility for any direct or indirect losses arising from use of this manual and products described herein T...

Page 4: ...program from operator panel Programmer Operates the robot Teaches the robot inside the safety zone Maintenance engineer Operates the robot Teaches the robot inside the safety zone Maintenance repair a...

Page 5: ...the operator panel or teach pendant Operation with gloved fingers could cause an operation error 10 Programs system variables and other information can be saved on memory card or USB memories Be sure...

Page 6: ...al button of the controller that can stop the robot operation When emergency button is pressed the power of the robot except the power of the servo is cut off The system will not run unless the presse...

Page 7: ...ble c Make sure that there is no one in the working space of the robot d Pay special attention to working condition of the maintenance parts when performing test Never use the manipulator as a ladder...

Page 8: ...off and the robots stops immediately Servo power is turned off when the robot is moving the path of the deceleration in uncontrolled The following processing is performed at Power off stop An alarm i...

Page 9: ...es hazardous voltage or electric shock 2 High temperature Warning Fig 0 2 High temperature Warning Be cautious about a section where this label is affixed as the section generates heat If you have to...

Page 10: ...ot or controller as it may adversely affect the robot or controller and may get hurt if you lose your footing as well 4 Personal Injury Warning Fig 0 4 Personal Injury Warning Never enter the operatio...

Page 11: ...Balance cylinder contains spring high pressure gas or liquid Never dismantle a balance cylinder without permission from ESTUN 6 No Disassembly Warning Fig 0 6 No Disassembly Warning Never perform disa...

Page 12: ...wing manipulators Manipulator Type Load Capacity ERS6 500 6kg ERS6 600 6kg ERS6 700 6kg Related manuals ESTUN Robot ERS Series Mechanical Unit Operator s Manual ESTUN Robot ERSA 4C Cabinet Maintenance...

Page 13: ...Functions 15 6 1 2 Signal Definition 15 6 1 3 Technical Parameters 16 6 2 Digital Input ER 1311 17 6 2 1 Functions 17 6 2 2 Signal Definition 17 6 2 3 Technical Parameters 19 6 3 Digital Output ER 23...

Page 14: ...ing Procedure 36 12 1 1 Using a Crane to Move the Cabinet 36 12 1 2 Using a Forklift to Move the Cabinet 36 12 2 Place of Installation 36 12 3 Location 36 12 4 Connection 37 12 4 1 Notes on Cable Junc...

Page 15: ...EQUIPMENT CONFIGURATION 1 1 EQUIPMENT CONFIGURATION 1 1 Configuration Configurations are subject to change according to different types of manipulators options and applications Fig 1 1 Exterior View 1...

Page 16: ...700 1000 mm length width height Weight 20kg Protection Level IP20 Ambient Temperature 0 45 Need cooling equipment when ambient temperature exceed 45 Input Power Supply Single phase three wire AC220V 5...

Page 17: ...n Tab 1 2 ESTUN Teach Pendant Parameters Teach pendant type ESTUN Teach pendant ERT72 Size length width height 265 210 110mm CPU 800MHZ Memory 128M Operation system Linux Color touch screen 7 inches P...

Page 18: ...4 1 2 Arrangement of Units Fig 1 3 Upper Layer Arrangement ERS6 E2C P A ERS6 E2C P A WARNING Regenerative resistor reaches extremely high temperature max 100 200 during system operation Never touch th...

Page 19: ...Fan unit One fan is used to cool interior units The filter fixed at the air inlet which is used to keep the interior cabinet clean needs to be replaced in daily maintenance 6 Connection port Reserved...

Page 20: ...nction because of excessive high temperature inside The interior circulation fan and backside duct fan normally operate while the power is turned on Check if the fans are operating correctly by visual...

Page 21: ...he lead cable for the power supply is wired as shown in the following If the wiring is wrong or broken repair it Input Power Supply Check Check the open phase voltage of input power supply with an ele...

Page 22: ...Teach pendant panel Operation panel Check emergency buttons Check enable switches Confirm that all emergency buttons and enable switches can shut off the servo power Cables Teach pendant cables Other...

Page 23: ...to 220V by a transformer This is for cabinet with 200V servo motors Cabinet with 400V servo motors has no transformer When temporary voltage interruption or drop or any driver alarm occurs turn off t...

Page 24: ...et of emergency stop signal or a short circuit should be connected between the two pins Pin E004 and E008 correspond to pin 3 and pin 4 of DB9 plug A set of emergency stop signal or a short circuit sh...

Page 25: ...rminals Fig 4 1 Interface Arrangement of Control Unit 4 2 Interface Tab 4 1 Interfaces of controller Interface Specifications Power Supply DC12V power supply COM1 Serial port for debug not available f...

Page 26: ...CONTROL UNIT 12 4 3 Notes Fig 4 2 Dimension of Control Unit 5 5 30 178 190 5 5 30 USB CN1 CN2 COM1 22 5 114 45 114 160 116...

Page 27: ...oid noise generated by signal lines 1 Separate high voltage cables from low voltage cables 2 Use cables as short as possible 3 Single point grounding is required for the servomotor and servo drive gro...

Page 28: ...tor Control power supply terminals Regenerative resistor connecting terminals Servomotor terminals Ground terminal I O signal connector Used for reference input signals and sequence I O signals Encode...

Page 29: ...les and send it to the main station Send computation result to extensive modules Info A coupler is generally equipped with built in power module 6 1 2 Signal Definition 1 Interface arrangement RJ45 In...

Page 30: ...wer off Light on Substation power on Indicator Sys Rdy and Err are reserved for system Tab 6 4 RJ45 interface indicators definition Condition Specification Light off Substation power off Flash slowly...

Page 31: ...1000 6 2 EN 61000 6 4 Standard Protection Level IP2X Certification CE 6 2 Digital Input ER 1311 6 2 1 Functions Function of digital input module 24VDC logical input signal is gathered and send to the...

Page 32: ...e door normally closed input short circuit as factory setting 203 5 Emergency stop normally closed signal input 204 6 External program start 205 7 External alarm reset 206 8 Remote mode input 300 3 LE...

Page 33: ...address by dial switch Electrical Isolation Isolation voltage 2kV Size W H D 112mm 113mm 22 5mm Weight About 200 g Working Temperature 0 40 Storage Temperature 25 55 Relative Humidity 50 95 no conden...

Page 34: ...for 24V DC logical signal output and one extended interface Signal interface definition of ER 2341 is shown as below Tab 6 12 ER 2341 interface definition Pin Signal Pin Signal 1 2 3 4 5 6 7 8 9 10 1...

Page 35: ...nal program initialization is completed and operating normally Indicator LK is used to show the communication condition of digital input module in sub station Tab 6 15 ER 2341 indicator LK definitions...

Page 36: ...U type rail horizontally installed Anti shock and vibration performance Consistent with EN 60068 2 6 EN 60068 2 27 29 Anti electro magnetic interference radiation performance Consistent with EN 61000...

Page 37: ...atch the slot under the coupler with T BUS terminals Mount either end to the guide rail and push the other end The coupler is installed after hearing click sound Install other extensive modules Instal...

Page 38: ...mount the sub station Correct mounting direction Wrong mounting direction Fig 6 6 Mounting Direction 6 4 4 Dismounting There is a spring locks under each coupler and extensive module which will well...

Page 39: ...to a certain number 0 F ID of each extensive module in the same sub station should not repeated Info Set ID in a sequence from left to right or from up to down For example if ER 1311 is No 1 the ID o...

Page 40: ...ance such as frequency converter contactor servo driver etc as shown in the following figure 4 0 0 m m Interference Fig 6 9 Keep Away From Interference 2 Mounting Position Distributed sub module shoul...

Page 41: ...INPUT OUTPUT UNIT 27 6 4 8 Module Dimensions 1 Coupler Dimensions Fig 6 11 Coupler Dimensions 2 Extended Module Dimensions Fig 6 12 Extended Module Dimensions 5 5 30 14 45 114 5 5 30 178 190 22 5 114...

Page 42: ...r Light on No alarm Light off There is an alarm Indicator 3 4 Emergency stop indicator Light on No emergency stop Light off There is an emergency stop Indicator 5 Teach pendant indicator Light on No t...

Page 43: ...EPLACING 8 1 Replacing Fuses CAUTION Power supply must be turned off before replacing fuses Replacement procedure 1 Open the fuse slot and take out the fuse 2 Install the new fuse of same type 3 Close...

Page 44: ...The following figure shows the block diagram of electric interface of the cabinet ESTUN ERSA 4C Cabinet Extensive device PLC sensors etc Factory Monitor Teach pendant option Manipulator DEG Power Supp...

Page 45: ...CONNECTION 31 10 COMMUNICATION CONNECTION Fig 10 1 Communication connection between controller and servo motors...

Page 46: ...figure below shows the interface and its definition of ESTUN controller and peripheral device Fig 11 1 Input module terminals 1 CAUTION Pin 5 6 of DB plug should connect to safe door signal or a short...

Page 47: ...PERIPFIRAL DEVICE INTERFACE 33 Fig 11 2 Input module terminals 2 CAUTION IO extensive pins are all connected to DB50 plug...

Page 48: ...PERIPFIRAL DEVICE INTERFACE 34 Fig 11 3 Output module terminals 1 CAUTION IO extensive pins are all connected to DB50 plug Fig 11 4 Output module terminals 2...

Page 49: ...PERIPFIRAL DEVICE INTERFACE 35 CAUTION IO extensive pins are all connected to DB50 plug Fig 11 5 DB50 plug terminals...

Page 50: ...g the forklift route that equipment is being moved in their area Secure the controller so it cannot shift or fall during handling Transport the cabinet at lowest possible height Avoid jarring dropping...

Page 51: ...o observe this caution could lead to injury or mechanical failure CAUTION Wiring must be performed only by authorized personnel Incorrect wiring may cause fire and electric shock Perform wiring in acc...

Page 52: ...12 5 Adjustment and Confirmation Adjustment procedures are shown as follows Item Content 1 Check the appearance of the cabinet 2 Confirm that the bolts have been fastened firmly 3 Confirm that the co...

Page 53: ...lowed through the IPM A 13 Overvoltage Main circuit voltage for servomotor rotation is excessively high A 14 Undervoltage Main circuit voltage for servomotor rotation is excessively low A 15 Bleeder r...

Page 54: ...decoding circuit is faulty A 56 End bit in serial encoder control domain error Encoder signal is disturbed or the encoder decoding circuit is faulty A 58 Serial encoder data empty The EEPROM data of s...

Page 55: ...Revision Record 41 Revision Record Revision Date Contents 01 2017 11...

Page 56: ......

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