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Estun SCARA ER Series, Operator'S Manual

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Estun SCARA ER Series Operator'S Manual Download Page 56

CALIBRATION 

44 

 

 

Fig 6.6 Home position of Joint #3 and #4 (ER3) 

 

Fig 6.7 Home position of Joint #3 and #4 (ER6) 

 

Fig 6.8 Home position of Joint #3 and #4 (ER20)

 

 

x

Zero position of J4-joint 

Zero position of J3-joint 

Zero position of J4-joint 

Zero position of J3-joint 

Zero position of J4-joint 

Zero position of J3-joint 

Summary of Contents for SCARA ER Series

Page 1: ......

Page 2: ...ESTUN SCARA Robot MECHANICAL UNIT OPERATOR S MANUAL M 0601EN 03...

Page 3: ...crepancies cannot be precluded 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 prod...

Page 4: ...wed properly INFO This symbol indicates supplementary explanation help users operating the robot more efficiently Design and Installation Safety Only trained personnel should design and install the ro...

Page 5: ...s to secure the safety of an operator However operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the...

Page 6: ...ing Touch Joint 3 and Joint 4 frequently may cause rust 14 When tear down the adhesive tape or seal on the oil paint surface of the robot and the cabinet be careful that damage to the paint may occur...

Page 7: ...y hand until the solenoid brake applied to the shaft has been released Move the shaft while pressing the brake release switch CAUTION The brake release switch affects both Joints 3 and 4 When the brak...

Page 8: ...y electronic parts inside 2 Personal Injury Warning Fig 0 2 Personal injury warning Never enter the operation area while the Robot is moving This is extremely hazardous and may result in serious safet...

Page 9: ...Manual reading warning Be sure to read and understand the content of the manual and the labels before installation and operation Read the content again when operate the robot the next time Information...

Page 10: ...ER3 ER3 400 SR 3kg ER6 ER6 500 SR 6kg ER6 500 SR P ER6 600 SR ER6 600 SR P ER6 700 SR ER6 700 SR P ER20 ER20 800 SR 20kg ER20 1000 SR Related manuals ESTUN SCARA Robot Mechanical Unit Operator s Manua...

Page 11: ...2 2 7 1 Electrical Wires 22 2 7 2 Pneumatic Tubes 22 2 8 Relocation and Storage 24 2 8 1 Precautions for Relocation and Storage 24 2 8 2 Relocation 25 3 SETTING OF END EFFECTORS 27 3 1 Attaching an En...

Page 12: ...cations 39 5 4 2 Failure mode of timing belt 40 6 CALIBRATION 41 6 1 Introduction 41 6 2 Calibrating With Special Tools 41 6 3 Calibration in Each Axis 42 APPENDIX 45 Appendix A ER3 Maintenance Parts...

Page 13: ...el Number ER6 600 SR P 3 3kg 6 6kg Load capacity 40 50 60 70 0 Non Standard model P Environment 400mm 500mm Arm length 600mm 700mm SR SCARA Protective model Arm 3 length Application 200mm ER6 150mm ER...

Page 14: ...to the robot Performing any work with the power ON is extremely hazardous and it may result in electric shock and or improper function of the robot system CAUTION The brake release switch affects both...

Page 15: ...20 4 9 30 2 9 175 23 2 M3 10 50 2 M4 10 20 5 58 20 4 M4 10 48 48 60 60 60 0 01 60 180 151 0 05 0 6 H7 0 012 0 6 0 012 0 2 35 16 10 10 46 5 30 30 11 15 1mm 3 90 2 M4 depth 10 4 M4 depth 10 More than 90...

Page 16: ...SPECIFICATIONS 4 Fig 1 3 Part name ER6 LED 3 4 2 1 LED lamp Joint 3 4 brake release switch Arm 2 Arm 1 Base Signature label Shaft...

Page 17: ...10 30 82 41 36 20 150 20 4 M4 depth 10 195 180 6 H7 55 0 01 55 6 through hole 5 275 a 135 2 M4 through hole 100 150 129 169 4 M4 depth 6 28 20 20 5 134 150 30 135 2 4 9 57 9 62 30 10 20h7 shaft diamet...

Page 18: ...20 150 20 4 M4 10 4 M4 10 55 55 0 01 180 0 05 0 6 H7 0 012 0 195 6 0 012 0 5 94 30 10 10 20 h7 38 90 15 14 1mm 3 90 ER6 500 SR P ER6 600 SR P ER6 700 SR P a 225 325 425 b 630 680 730 More than 90 Indi...

Page 19: ...SPECIFICATIONS 7 Fig 1 6 Part name ER20 LED lamp Joint 3 4 brake release switch Arm 2 Arm 1 Base Signature label Shaft...

Page 20: ...64 2 43 5 37 5 20 200 30 30 116 96 2xM4 10 4xM4 10 4xM4 10 100 0 05 4 12 61 49 41 10 10 30 40 25 h7 18 15 1mm 4 90 ER20 800 SR ER20 1000 SR a 350 550 b 950 1060 More than 150 Space for cables Indicate...

Page 21: ...0 01 Payload Load Rated kg 1 2 10 Max kg 3 6 20 Joint 4 allowable moment of inertia Rated kg m2 0 005 0 01 0 05 Hand Shaft diameter mm 16 20 25 Through hole mm 11 14 18 Mounting hole 120 120 150 150...

Page 22: ...measurement as follows Operating conditions Under rated load 4 joints simultaneous motion maximum speed maximum acceleration and duty 50 Measurement point In front of the Robot 1000 mm apart from the...

Page 23: ...ments such as painting areas etc When using Robots in inadequate environments that do not meet the above conditions please contact us 2 1 1 Special Environmental Conditions The surface of the Robot ha...

Page 24: ...thick or more and made of steel to reduce vibration The surface roughness of the steel plate should be 25 m or less The table must be secured on the floor or wall to prevent it from moving The Robot...

Page 25: ...and inspection Ensure a space open covers and plates for maintenance Space for cables The minimum bend radius of the power cable is 90 mm When installing the cable be sure to maintain sufficient dist...

Page 26: ...Joint 2 150 150 150 f Motion range mm 138 1 162 6 232 g Motion range of backside mm 425 6 492 5 559 4 h Mechanical stop position angle of Joint 1 2 8 2 8 2 8 i Mechanical stop position angle of Joint...

Page 27: ...f Motion range mm 138 1 162 6 232 g Motion range of backside mm 425 6 492 5 559 4 h Mechanical stop position angle of Joint 1 2 8 2 8 2 8 i Mechanical stop position angle of Joint 2 4 2 4 2 4 2 j Mec...

Page 28: ...position angle of Joint 1 2 2 i Mechanical stop position angle of Joint 2 3 6 3 6 j Mechanical stop position range mm 195 3 232 8 k Mechanical stop position range of backside mm 693 1 832 1 m Motion...

Page 29: ...to get hands or fingers caught To carry the Robot have two or more people to work on it and secure the Robot to the delivery equipment or hold the bottom of Arm 1 and bottom of the base as shown in th...

Page 30: ...the robot ER20 When transporting the Robot for a long distance secure it to the delivery equipment directly so that the Robot never falls If necessary pack the Robot in the same style as it was deliv...

Page 31: ...it does please improve the rigidity of the worktable or change the settings of speed acceleration and deceleration 2 5 1 Standard model CAUTION Install the Table Top Mounting Robot with two or more p...

Page 32: ...et on the arm CAUTION Make sure to remove the wire tie protecting the mechanical stops 2 5 2 Protective model 1 Unpack it outside of the clean room 2 Secure the arm to delivery equipment such as a pal...

Page 33: ...f the robot system Be sure to connect the cables properly Do not allow unnecessary strain on the cables Do not put heavy objects on the cables Do not bend or pull the cables forcibly The unnecessary s...

Page 34: ...l Sectional Area Note AC DC 30V 1A 15 0 211mm2 Twist pair WARNING Do not apply the current more than 1A to the robot Pins with the same number indicated on the connectors on both ends of the cables ar...

Page 35: ...cable Signal cable Fittings for 6mm white Fittings for 6mm white Fittings for 4mm white Fittings for 6mm other color Power cable Signal cable User connector female 15 pin D sub connector Fittings for...

Page 36: ...the Robot in the same way as it was delivered User connector 15 pin D sub connector User connector 15 pin D sub connector User connector 9 pin D sub connector User connector 9 pin D sub connector Fit...

Page 37: ...om being caught in the Robot When removing the anchor bolts support the Robot to prevent falling Removing the anchor bolts without support may result in a fall of the Robot and then get hands fingers...

Page 38: ...INSTALLATION 26 Fig 2 13 Secure the arms CAUTION Pay attention to maintenance of Joint 3 and Joint 4 when transport or store the robot for a long period Error maintenance may cause rust Bolt M4X20 Wir...

Page 39: ...lt or larger to attach the end effector to the shaft 3 1 2 Brake release switch Joint 3 cannot be moved up down by hand because the solenoid brake is applied to the joint while power to the robot syst...

Page 40: ...e arms When designing your system layout pay attention to the interference area of the end effector 3 2 Attaching Cameras and Valves The bottom of the Arm 2 has threaded holes as shown in the figure b...

Page 41: ...SETTING OF END EFFECTOR 29 Fig 3 2 Dimensions for attaching cameras and valves ER6 243 5 20 150 41 30 82 4 M4X10 2 M4X10 90 From the base mounting face 6 2...

Page 42: ...the weight as the equivalent of the shaft Then add this to the load Equivalent weight formula is shown below When you attach the equipment near Arm 2 1 2 1 2 2 When you attach the equipment to the en...

Page 43: ...tached to the end of the arm 550mm away from the rotation center of Joint 2 with a load weight of 1kg 1 2 450 M 550 1 5502 4502 1 494 1 5 round up 1 1 5 2 5 Enter 2 5 for weight parameter Fig 3 4 Equi...

Page 44: ...ea that the Robot can move Fig 4 1 Mechanical stops ER3 Fig 4 2 Mechanical stops ER6 Mechanical stop of Joint 3 lower limit mechanical stop Do not move the upper limit mechanical stop Mechanical stop...

Page 45: ...ding to the angle for the mechanical stop settings Install the bolts in the holes corresponding to the angle that you want to set The angle for Joint 3 can be set in any value within the maximum range...

Page 46: ...5 Mechanical stops ER6 Fig 4 6 Mechanical stops ER20 Type Angle for the J1 axis mechanical stop Angle for the J2 axis mechanical stop ER3 110 125 ER6 115 125 ER20 122 135 Joint 1 mechanical stops Joi...

Page 47: ...ded into five stages daily monthly quarterly biannual and annual The inspection points are added every stage If the Robot is operated for 250 hours or longer per month the inspection points must be ad...

Page 48: ...k for bends or improper location Repair or place it properly if necessary Safeguard etc Check tension of timing belts Tighten it if necessary Inside of Arm 2 Grease conditions Refer to 5 2 Greasing Ba...

Page 49: ...grease oil falls down 1 Turn the controller power ON 2 Move the arm to the position that Joint 3 is to its full motion distance 3 Press the brake release switch Meanwhile move the shaft to the upper...

Page 50: ...orque M3 2 0 N m M4 4 0 N m M5 9 01 0 49 N m M6 15 6 0 78 N m M8 37 2 1 86 N m M10 73 5 3 43 N m M12 129 6 37 N m Refer below for reducer tightening bolt Bolt Tightening Torque M3 2 35 N m M4 5 4 N m...

Page 51: ...Model Belt Mess g mm m Width mm Span mm Internal stress N Tense kgf ER3 series Belt of Joint 3 2 5 10 127 34 3 7 0 5 Short belt of Joint 4 1 3 10 45 31 6 0 5 Long belt of Joint 4 1 3 16 85 51 10 0 5...

Page 52: ...the abnormal part Abnormal item Appearance Abnormal wear on the gear tooth Wear of the tooth cloth Exposure of the rubber width of tooth profile reduces Crack on the gear dedendum Crack Dedendum fall...

Page 53: ...y The system can display an alarm message on the screen when the batteries are low 6 2 Calibrating With Special Tools Calibrating is performed at the factory with no loads on the robot system Based on...

Page 54: ...mark on Arm 1 to the mark on the base 3 Calibrate home position again Calibrate the home position of J1 axis of ER20 Robot follow the procedures below 1 Move Arm 1 to the position as shown in the fig...

Page 55: ...6 3 Home position of Joint 1 ER20 Fig 6 4 Home position of Joint 2 ER3 ER6 Fig 6 5 Home position of Joint 2 ER20 Zero position of J1 joint Zero position of J1 joint Zero position of J2 joint Zero pos...

Page 56: ...4 ER3 Fig 6 7 Home position of Joint 3 and 4 ER6 Fig 6 8 Home position of Joint 3 and 4 ER20 x Zero position of J4 joint Zero position of J3 joint Zero position of J4 joint Zero position of J3 joint...

Page 57: ...ntenanc e AC Servo Motor Joint 1 12700000053 Joint 2 12700000049 Joint 3 4 12700000048 Timing belt Joint 3 G5401000067 Joint 4 G5401000068 Long Timing Belt G5401000069 Short Timing Belt Battery 51205A...

Page 58: ...ance AC Servo Motor Joint 1 12700000057 Joint 2 12700000053 Joint 3 4 12700000048 Timing belt Joint 3 G5401000046 Joint 4 G5401000047 Long Timing Belt G5401000048 Short Timing Belt Battery 51205A00001...

Page 59: ...0000076 Battery 51205A00001 Grease Ball Screw Spline A2144000012 AFB LF 400 Reduction Gear Unit Contact franchiser or ESTUN for purchasing grease Cable unit Joint 4 motor Power cable Signal cable Join...

Page 60: ...2017 11 New edition 02 2019 02 Addition of ER3 ER20 robot Addition of belt maintenance transportation Modification of parts list Correction of errors Update of pattern 03 2019 12 Modification of Tight...

Page 61: ...49...

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