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Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot

2.6 Robot Performance Parameters

Table 2-2 Performance Parameters

Model

ER20-1700

Movement Type

multi joint

Control axis

six axes

Maximum speed

Axis J1

170°/s

Axis J2

150°/s

Axis J3

146°/s

Axis J4

360°/s

Axis J5

360°/s

Axis J6

550°/s

Maximum

Motion Range

Axis J1

±175°

Axis J2

+64°/-142°

Axis J3

+165°/-73°

Axis J4

±178°

Axis J5

±128°

Axis J6

±720°

Arm span

1722mm

Maximum writ payload

20kg

Installation conditions

ground, support, upside down

Protection class

IP65(wrist)/ IP54(other parts)

repeatability

±0.06mm

Body weight

220kg

Содержание ER20-1700

Страница 1: ...ER20 1700 Mechanical Operation and Maintenance Manual for Industrial Robot EFORT Intelligent Equipment Co Ltd Service Hotline Tel 86 400 0528877...

Страница 2: ......

Страница 3: ...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 informat...

Страница 4: ...Transfer and Sale of Robot 8 1 4 Abandonment of Robot 8 CHAPTER TWO BASIC INSTRUCTIONS 9 2 1 Composition of Robot 9 2 2 Package Check 9 2 3 Nameplate on Robot Body 10 2 4 Body parts and Direction Dire...

Страница 5: ...Installation Methods 21 3 2 3 Ground Mounting 21 3 2 4 Support Installation 23 3 2 5 Upside Down Mounting 24 3 3 Installation Site and Environment 24 3 4 Integrated Application Installation Interface...

Страница 6: ...4 1 Timing Belt Tension 34 4 4 2 Replacement of Timing Belt 35 4 5 Robot Maintenance and Operation Area 35 4 6 Zero Position Calibration 36 4 6 1 Zero Position Calibration Method 36 4 6 2 Mechanical...

Страница 7: ...n power 3 Operation within the motion range of the robot must not be allowed until the power is cut off 4 Overhaul repair and maintenance and other work need to be performed in power on state by two p...

Страница 8: ...nt is performed instead of automatic low speed movement 7 The work pieces transported by the robot fall and scatter 8 Workpieces in clamping or interlocking state suddenly lose control 9 Neighboring r...

Страница 9: ...it is necessary to approach the robot for teaching and other work be careful not to be clamped by joints The end of each joint s movement is equipped with a mechanical stop which is highly risky for...

Страница 10: ...ormal movements malfunctions or damage and other dangerous situations Electromagnetic interference which is related to its type or intensity cannot be handled with current technology Therefore follow...

Страница 11: ...and wave to the left Operators must always keep awareness of evacuation at any time during operation Immediate evacuation must be ensured in an emergency Always keep attentive to robot s movement Do n...

Страница 12: ...should be done and tools must be confirmed to be taken away after teaching is completed Oil contamination in the work area and forgetting tools may cause accidents such as falls Ensuring safety start...

Страница 13: ...n parts It is generally pasted on the motor and the panel of the circular connector base to remind the user be careful when connecting and removing the cable connector No stepping Stepping on the robo...

Страница 14: ...ms in initial contract which does not include specific provisions shall not be borne by the new recipient The original user and the new recipient must sign a new contract 1 4 Abandonment of Robot The...

Страница 15: ...the following parts as shown in figure 2 1 body control cabinet teach pendant cables for power supply etc Fig 2 1 Composition of Robot 2 2 Package Check 1 Please confirm whether the packaging is inta...

Страница 16: ...th 8 5m offer custom cable 12 5m 16 5 20 5m control cabinet circular power connector 10900001237 1 PC installed on control cabinet 10900001229 1 PC 10900001236 1 PC circular connector shield 109000011...

Страница 17: ...ach Axis The mechanical body mainly includes base rotating part upper part forearm wrist The joints are driven by the servo motor each of which cooperate to achieve position and posture adjustment of...

Страница 18: ...and limit range When the system is in normal operation each axis is controlled to move within the limit range To further ensure safety some axes are equipped with mechanical end stops as shown at 2 4...

Страница 19: ...ol axis six axes Maximum speed Axis J1 170 s Axis J2 150 s Axis J3 146 s Axis J4 360 s Axis J5 360 s Axis J6 550 s Maximum Motion Range Axis J1 175 Axis J2 64 142 Axis J3 165 73 Axis J4 178 Axis J5 12...

Страница 20: ...pace Note The work space shown in the figure is the theoretically maximum work range which may be affected by the type of installation in real operation Therefore please take the impact of installatio...

Страница 21: ...the actual moment of inertia The wrist payload should be strictly controlled within the value range Otherwise normal operation cannot be guaranteed 2 7 1 Maximum Carrying Weight 2 7 2 Maximum Static P...

Страница 22: ...EFORT Intelligent Equipment Co Ltd 16 2 7 4 Allowable Payload Curve Diagram Fig 2 7 Wrist Axis Torque Curve...

Страница 23: ...llow the methods recorded in the manual and confirm the weight and procedures before transporting the robot and control devices Or accidents such as tipping or falling may occur Attention should be pa...

Страница 24: ...posture according to Figure 3 3 3 4 Second install four M10 eyebolts on the main frame and then lift the robot with four steel ropes no longer than 3m Rubber hose should be used on the contact area of...

Страница 25: ...sted a single steel rope should bear more than 500kg 2 The forklift and lifting equipment should be able to life and transport more than 1000kg Please be aware the arms and motors cannot be subjected...

Страница 26: ...nal standard of the People s Republic of China GB11291 2 2013 According to Principal 5 4 Robot Movement Restrictions in Part 2 Robot System and Integration Safety Requirements of the Industrial Robot...

Страница 27: ...s of the concrete be more than the filling depth of the chemical bolts the effectivity completely cover the fixed bottom plate to ensure the safety and reliability of the bottom plate installation Ref...

Страница 28: ...tom plate to the ground The thickness of the bottom plate is recommended to be above 30mm Use eight M16 or above chemical bolts to fix it The base of the robot is firmly fixed on the bottom plate by M...

Страница 29: ...ket and the ground to endure the safety and reliability of the connection Too long or too short screws to fix the base of the robot will cause frequent accidents The connection strength of the chemica...

Страница 30: ...fety device as shown in figure 3 7 2 Use 12 9 strength screws for connection The tightening torque of the screw must meet the pre tightening force requirement of the screw Fig 3 7 Upside Down Mounting...

Страница 31: ...rking environment please contact our service staff and use a cover or equivalents to protect the robot parts 3 4 Integrated Application Installation Interface Table 3 2 Size of External Interfaces Siz...

Страница 32: ...EFORT Intelligent Equipment Co Ltd 26 Fig 3 8 Size of End Load Installation and Flange Fig 3 9 Size of External Components Installed on Upper Arm...

Страница 33: ...Mechanical Operation and Maintenance Manual for ER20 1700 Industrial Robot 27 Fig 3 10 Size of External Components Installed on Motor Base...

Страница 34: ...EFORT Intelligent Equipment Co Ltd 28 Fig 3 11 External Air Pipe and Signal Line...

Страница 35: ...ine Check Number Item Descriptions 1 abnormal noise Check whether the transmission mechanism makes abnormal noise 2 interference Check whether the transmission mechanism runs smoothly without abnormal...

Страница 36: ...cleaning mainly involves oil seal of the mechanical wrists chips and splashes 2 The screws on the end executor and robot body for installation need to be tightened Screws removed for repair and maint...

Страница 37: ...ed to refer to the table below for lubricant replacement or supplement Table 4 3 Angle of Each Axis in lubricant Injection Position Angle J1 J2 J3 J4 J5 J6 J1 axis reducer any any any any any any J2 a...

Страница 38: ...ze the air in the cavity before reinjection The air pressure should be controlled under 0 025MPa 5 Only use specified lubricant Otherwise damage of the reducer or other problems may occur 6 When insta...

Страница 39: ...more than twenty minutes in low speed state If the above movement cannot be performed due to surrounding situations the robot should be operated for the same number of times When the axis angle can re...

Страница 40: ...below to perform operation 2 Loosen the fixing screws of the motor mounting plate until they can be adjusted to the left and right 3 Adjust the tension through the adjusting screw of the motor mounti...

Страница 41: ...the maintenance and operation area of the mechanical unit Users can adjust the operation area according to the real work environment 1 The following safety conditions need to be met for operation A s...

Страница 42: ...3 Replace the reducer 4 Replace cables 4 6 1 Zero Position Calibration Method Zero position calibration is a rather complex process Based on the real situations and conditions tools with methods and s...

Страница 43: ...box to record the coordinates of each axis See the Robot Operation manual for C30 Series provided by our company for detailed zero position calibration methods Zero position of each axis is spread as...

Страница 44: ...old battery from the battery box and load new battery Differentiate the positive and negative polarity of the battery Reconnect the battery wiring and fix the pack Follow the steps to fix the rear cov...

Страница 45: ...ing foundation are not firmly fixed 1 The ground conditions for installation do not meet requirements and the foundation rigidity is insufficient 2 The specifications and strength of chemical bolts do...

Страница 46: ...g vibratio n and abnorm al noise other faults that may cause vibration and abnormal noise 1 The cables connecting the body and control cabinet are abnormal causing weak signal communication and vibrat...

Страница 47: ...ge other faults that may cause the motor overheat 1 Abnormality at the joints cause overload and overheating of the motor 2 motor failure 1 Check the joints of the robot whose motor is overheated whic...

Страница 48: ...components 1 Tighten the screws and check the joint connection 2 Adjust and recover the deviated joint positions Replace the damaged components in time Position deviation occurs when connected to per...

Страница 49: ...ed other parts may lose support which generate unpredictable movements causing damage to personnel and equipment Therefore the replacement and maintenance of components and parts should be performed b...

Страница 50: ...55 1 J1 axis servo motor 3 axis connection part O ring rubber seal 107 7 1 78 1 J2 axis servo motor O ring rubber seal AS568 263 1 1 2 axis connection part hexagon head plug M10x1 10 whole composite s...

Страница 51: ...EFORT INTELLIGENT EQUIPMENT CO LTD 45 thread locker THREEBOND 1374 1 detergent THREEBOND 6602T 2 thread sealant LOCTITE577 1...

Страница 52: ...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 96 No...

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