EFORT ER20-1700 User manual

ER20-1700 Mechanical Operation and

Maintenance Manual for Industrial Robot

EFORT Intelligent Equipment Co., Ltd

Service Hotline（Tel）：+86-400-0528877

Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot

Statement

Thank you for purchasing EFORT Robot products. To ensure proper set-up

of products, please read this manual carefully before operation. The content

mentioned in this statement and manual involves your personal and property

safety. Not following the instructions and warnings of the manual may cause

injury to you and EFORT robots, as well as loss of 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, EFORT Company solemnly advise people

involved in robot operation, teaching, maintenance, repair, equipment check, and

other relevant activities complete the training courses offered by EFORT, before

being authorized to do so.

Version：V 1.1

EFORT INTELLIGENT EQUIPMENT CO., LTD

Contents

CHAPTER ONE SAFETY........................................................................................... 1

1.1 Instructions for Safe Operation...............................................................................1

1.1.1 Safety Precautions during Adjustment, Operation, Maintenance, and Other

Work................................................................................................................................. 1

1.1.2 Safety Countermeasures for Robot Safety...................................................... 3

1.2 Instructions of Labels on Robot Body.................................................................... 6

1.3 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 Director of Each Axis.................................................. 11

2.5 Limit Range and Zero Position of Each Axis....................................................... 12

2.6 Robot Performance Parameters............................................................................ 13

2.7 Maximum Wrist Payload...................................................................................... 15

2.7.1 Maximum Carrying Weight...........................................................................15

2.7.2 Maximum Static Payload Torque.................................................................. 15

2.7.3 Maximum Moment of Inertia........................................................................ 15

2.7.4 Allowable Payload Curve Diagram...............................................................16

Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot

III

CHAPTER THREE TRANSPORTATION AND INSTALLATION..........................17

3.1 Robot Transportation............................................................................................ 17

3.1.1 Transportation Precautions........................................................................... 17

3.1.2 Assisted Tooling............................................................................................ 17

3.1.3 Transporting Methods....................................................................................18

3.2 Robot Transportation............................................................................................ 20

3.2.1 Set Up Safety Fence...................................................................................... 20

3.2.2 Robot 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........................................................ 25

CHAPTER FOUR REPAIR AND MAINTENANCE................................................29

4.1 Preventive Maintenance........................................................................................29

4.1.1 Routine Check............................................................................................... 29

4.1.2 Quarterly Check.............................................................................................29

4.1.3 Annual Check................................................................................................ 30

4.1.4 Every Two-year Check.................................................................................. 30

4.2 Repair and Maintenance for Main Bolts...............................................................30

4.3 Change Lubricant..................................................................................................31

4.3.1 Lubricant Supply Quantity............................................................................ 31

4.3.2 Lubrication Position and Angle..................................................................... 31

EFORT INTELLIGENT EQUIPMENT CO., LTD

4.3.3 Procedures for Lubricant Change in J1~J4 Axis Reducer and Wrist Parts... 31

4.3.4 Release Residue Pressure in Cavity.............................................................. 33

4.4 Timing Belt Maintenance......................................................................................33

4.4.1 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 Zero Position Calibration of Each Axis..................................... 37

4.7 Battery Replacement.............................................................................................37

CHAPTER FIVE COMMON FAULTS AND TROUBLESHOOTING....................39

APPENDICES............................................................................................................ 44

A Screw Tightening Torque Table.............................................................................. 44

B List of Spare Parts................................................................................................... 44

Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot

Chapter One Safety

1.1 Instructions for Safe Operation

Before performing installation, operation, repair and maintenance, and overhaul, please be sure

to read this manual and other attached documents thoroughly to use this product correctly. Please

fully understand the equipment and safety information, and all precautions before using this product.

The following symbols in this manual indicate each own importance.

1.1.1 Safety Precautions during Adjustment, Operation, Maintenance,

and Other Work

1) Operators must wear uniforms, helmets, safety shoes, and other protective wear.

2) Please be sure operators are not within the motion range of the robot when switching on 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 persons. One maintains the posture that enables to immediately press the emergency stop

button, while the other keeps precautious and quickly perform work within the robot’s motion

range. Besides, the evacuation path should be confirmed before operation.

5) The load on the wrist and arm must be controlled under the limit of carrying weight and torque,

or else abnormal movements may occur or mechanical components may be damaged.

6) Disassembling parts and work not involved in this manual are forbidden.

Mishandling could cause death or serious injuries to the operator and highly dangerous

situations.

Mishandling could cause death or serious injuries to the operator.

Mishandling could cause minor injuries to the operator or property damage.

EFORT Intelligent Equipment Co., Ltd

The robot is equipped with self-diagnostic and other abnormality detection function, so it can

stop safely in case of abnormality. However, accidents may still occur sometimes.

Reasons, such as ignorance of safety operation procedures, no awareness of robot’s sudden

movement, lead to above accidents. In other words, accidents are caused by insecure human-made

actions, such as temporary ignorance, failure to comply with the prescribed steps.

Operators have little time to perform emergency stops, evacuate, or other actions to avoid

serious accidents in emergency situations, as shown below.

1) Low-speed movement suddenly changes to high-speed movement.

2) Other operators performed the operation.

3) Abnormality and program errors caused by peripheral equipment start different programs.

4) Noise, fault, and other defects lead to abnormal movements.

5) Misoperation.

6) High-speed movement 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 robots or robots at the back perform action.

The above are some of the typical examples excluding many other emergency situations. In

most cases, the robot making sudden movements cannot be stopped and the operator cannot

evacuate. Therefore, optimal countermeasures should be implemented to avoid such accidents.

Common accidents are listed below:

1、Automatic operation is being performed without confirming whether anyone is

within the robot’s motion range.

2、The robot makes sudden movements when the operator is within the motion

range in automatic mode.

3、Attention is not paid to other robots but the one in the front.

Approach the robot cautiously.

Press emergency stop button or cut off power, so the robot cannot make movement

when it’s not operation.

A supervisor (the third person) should be assigned to monitor the safety and be able

to immediately press the emergency stop button during robot’s movement.

Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot

In order to comply with these principles, it is necessary to fully understand the following precautions

and follow them.

1.1.2 Safety Countermeasures for Robot Safety

Unnecessary protrusions or sharp parts should be removed in robot design.

Materials that suit the working environment and safety protective structures

against faults that are not prone to damage or accidents during movements should

be used. Additionally, safe operation should be ensured by installing misoperation

detection stop and emergency stop functions, and interlocking function to avoid

dangers when peripheral equipment acts abnormally.

The body is a multi-joint mechanical arm structure, and the angle of each joint

constantly changes during movement.

If 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 being clamped. Therefore, special

attention should be paid to.

The arm may fall due to gravity or move to an uncertain direction if the servo

motor is removed or the break is released. Therefore, preventative measures must

be implemented and the surrounding safety conditions must be endured before

operation.

When installing attached machine on the end of the effector and the arm, strictly

follow the manual to use specified torque wrench to fasten screws of specified size

and quantity.

Do not use rusty or dirty screws.

Fastening screws in unspecified and improper ways could cause loosening, which

lead to serious accidents.

The end effector should be designed and manufactured within the allowable

payload range of the robot wrist.

Robot in operation should be stopped by emergency stop button at any time.

EFORT Intelligent Equipment Co., Ltd

Protective structure against faults should be used to. Even if the power or

compressed air supply of the end effector is cut off, accidents, such as installed

objects being released or thrown, will not occur. The corners or protruding parts

should be treated to prevent damage to humans or objects.

It is forbidden to supply unspecified power, compressed air, and welding cooling

water, which could affect the mobility and cause abnormal 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 the precaution instructions and

regulations in robot operation and power-on. Recorded data will be lost due to

electromagnetic waves, noises, and substrate defects.

Please back up programs or frequently used data to external storage medium, such

as a compact flash card.

Operators working in distance in large systems should communicate with gestures

to convey intentions correctly.

noise in the working environment may cause misunderstandings, which lead to

accidents.

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