EFORT EC2-M User manual

Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots
EC2-M Industrial Robot Control Cabinet
Electrical Operation and Maintenance Manual

Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots
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 1.2

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Content
CHAPTER 1 SAFETY ............................................................................................................1
1.1 SAFETY INSTRUCTIONS ......................................................................................................1
1.2 SAFETY CRITERIA ..............................................................................................................1
1.3 SAFETY PRECAUTIONS DURING WORK ..............................................................................3
1.3.1 Safety in Robot Installation and Connection.............................................................3
1.3.2 Safety Before Starting Robot.................................................................................... 4
1.3.3 Safety of Starting Robot............................................................................................5
1.3.4 Safety in Robot Test Run...........................................................................................6
1.3.5 Safety in Teaching..................................................................................................... 7
1.3.6 Safety in Automatic Operation..................................................................................8
1.3.7 Safety in Repair.........................................................................................................9
1.3.8 Safety in Equipment Check and Maintenance........................................................ 10
CHAPTER 2 HANDLING AND INSTALLATION...........................................................14
2.1 OVERVIEW ....................................................................................................................... 14
2.2 BASICS DESCRIPTION ...................................................................................................... 14
2.2.1 Unpacking List........................................................................................................ 14
2.2.2 Preparation Before Installation................................................................................14
2.2.3 Storage Environment for Robot.............................................................................. 15
2.2.4 Operation Environment for Robot ...........................................................................15
2.2.5 Start Robot in Cold Environment............................................................................15
2.2.6 Placement of Control Cabinet................................................................................. 16
2.3 INSTALLATION ON SITE ....................................................................................................17
2.3.1 Transporting Precautions.........................................................................................17
2.3.2 Transporting of Control Cabinet..............................................................................17
2.4 ELECTRICAL CONNECTION .............................................................................................. 19
2.4.1 Robot Power............................................................................................................19

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2.4.2 Robot power, signal, ground cable .......................................................................... 20
2.4.3 Emergency Stop.......................................................................................................21
CHAPTER 3 ROBOT CONTROL CABINET SYSTEM................................................. 25
3.1 COMPOSITION OF ROBOT CONTROL CABINET .................................................................25
3.1.1 Basic Parameters..................................................................................................... 25
3.1.2 COMPONENTS DISTRIBUTION ....................................................................................... 25
3.2 MOTION CONTROL UNIT ................................................................................................. 26
3.2.1Motion Controller.....................................................................................................26
3.2.2 System Expansion IO Description and Definition（Phoenix）............................. 34
3.2.3 System extension IO description and definition (Weidmüller)............................... 37
3.2.4 IO expansion (optional)...........................................................................................40
3.2.5 Motion Control Cards..............................................................................................40
3.3 SERVO DRIVE UNIT ......................................................................................................... 42
3.3.1 Power Wiring...........................................................................................................42
3.3.2 Motor Wiring...........................................................................................................44
3.3.3 STO Wiring............................................................................................................. 46
3.3.4 IO Wiring.................................................................................................................47
3.4 SAFETY FUNCTION UNIT ................................................................................................. 47
3.5 HUMAN-MACHINE INTERACTION UNIT ...........................................................................50
3.5.1 Button operation panel ............................................................................................ 50
3.3.2 Teach pendant (enable/hand press)..........................................................................51
3.6 POWER DISTRIBUTION MANAGEMENT UNIT ...................................................................54
3.6.1 Transformer............................................................................................................. 54
3.6.2 Switching power supply.......................................................................................... 54
3.7 BRAKE RELEASE UNIT ..................................................................................................... 55
3.7.1 Overview................................................................................................................. 55
3.7.2 How to use the brake release unit............................................................................55
3.7.3 Release the brake manually.....................................................................................56
3.8 HOT-PLUG UNIT OF TEACH PENDANT ............................................................................. 58

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3.8.1 Teach Pendant Hot Unplug......................................................................................58
3.8.2 Teach Pendant Hot Insertion................................................................................... 58
3.8.3 Frequently Asked Questions....................................................................................59
CHAPTER 4 MAINTENANCE ...........................................................................................60
4.1 INTRODUCTION ................................................................................................................60
4.2 MAINTENANCE PLAN ...................................................................................................... 60
4.3 CHECK ACTIVITY .............................................................................................................61
4.3.1 Check the Control Cabinet Seal.............................................................................. 61
4.3.2 Check the Wiring Harness.......................................................................................62
4.3.3 Check the Working Condition of Main Electrical Components ..............................62
4.3.5 Check the Emergency Stop Switch......................................................................... 62
4.4 CHANGE/REPLACE ACTIVITY ........................................................................................... 63
4.4.1 Controller replacement............................................................................................63
4.4.2 Replace Safety Relay ...............................................................................................64
4.4.3 Replace the Servo Driver ........................................................................................ 65
4.4.4 Replace the Switching Power Supply..................................................................... 66
4.4.5 Replace the Fuses, Fuse Cores, and Fuse Gears ......................................................66
4.4.6 Replace the Fan....................................................................................................... 68
4.4.7 Replace the Battery................................................................................................. 69
4.4.8 Zero Fast Recovery Method....................................................................................69
4.5 CLEANING ........................................................................................................................70
4.5.1 Overview................................................................................................................. 70
4.5.2 Precautions .............................................................................................................. 70
CHAPTER 5 TROUBLESHOOTING................................................................................ 71
5.1 OVERVIEW ....................................................................................................................... 71
5.2 COMMON HARDWARE FAULTS .........................................................................................71
5.3 CONTROLLER FAULT HANDLING ..................................................................................... 72
5.3.1 View Event Log.......................................................................................................73
5.3.2 Fault Light Display on the Controller..................................................................... 74

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5.3.3 Controller Fault Handling....................................................................................... 76
5.4 DRIVE FAULT HANDLING .................................................................................................76
5.5 PROGRAM RUNNING FAULT HANDLING .......................................................................... 77
CHAPTER 6 DEACTIVATION...........................................................................................79
6.1 OVERVIEW ....................................................................................................................... 79
6.2 ENVIRONMENTAL INFORMATION ..................................................................................... 79
6.3 DISCARD THE ROBOT ...................................................................................................... 79
APPENDIX 1 SPARE PARTS LIST (PHOENIX VERSION)......................................... 80
APPENDIX 2 SPARE PARTS LIST (WEIDMÜLLER VERSION)............................... 81

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Chapter 1 Safety
1.1 Safety Instructions
According to relevant national and local laws, regulations, and ordinances, safety instructions are the
most basic focus in operating industrial systems including robots.
The factory using robots are liable for personal injury and property damage led by the operation of
robot. Therefore, this manual and relevant materials together with regulations and standards concerning
health and safety must be understood and abided by.
For safety concerns, complying with the requirements in other manuals offered by EFORT is also
strongly advised. Safety information recorded in this manual is general and does not include all the aspects
of the operating system of robots. Therefore, necessary safety measures should be taken and strictly abided
by according to the real operation situations.
Operators must read the following information carefully and pay particular attention to the safety
measures listed in this chapter.
EFORT industrial robot users should ensure compliance with applicable safety laws and regulations of
the host country, and proper design and installation of necessary safety equipment for robot system
operators, whereas operators must familiarize themselves with the following documents detailing operation
and handling of industrial robots:
Safety Manual for ER Series Robots
Operation Manual for ER Series Robots
Electrical Operation and Maintenance Manual
Mechanical Operation and Maintenance Manual
Quick Operation Manual
This manual covers all safe instructions in product manuals for robot and control cabinet. Robot
system should be designed and manufactured in an elaborate manner to achieve safe access to areas for
intervention during operation, adjustment, and maintenance. Safe and adequate access to work position
must be ensured for situations where it is necessary to operate in a safe and protective space.
1.2 Safety Criteria
Prohibited Actions
1. Do not arbitrarily modify or dismantle the protective and safety devices
of industrial robot.
2. If waterlogging occurs, do not touch robot. Instead cut off all powers
and drain the site.
3. Industrial robots can only be operated by professionals who have
received sufficient training and guidance including those who have been
familiar with this manual.
4. Ensure the surroundings of the emergency stop equipment is unblocked,
and do not pile up debris in front of it, which hinders operation in emergency
situations.

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5. Do not use inappropriate materials or make improper adjustments and
modifications.
6. Personnel who are unauthorized, or have not received training on
operation and do not understand the existing risks are not allowed to operate
robot.
7. Do not use robots under the following circumstances:
• robot components exposed
• safety device disabled
• all or part of the fuse and/or mechanical equipment disabled
• requirements of processing materials not met
• No more than one person allowed to use the machine at one time
8. Strictly prohibit any actions mentioned above regarding violation of the
use of robot, especially the arbitrary use of non-original parts.
9. Do not move the protective device. Users are responsible for ensuring
that the protective device is fixed stably and operates in an orderly manner.
10. The safety device can only be moved during maintenance when
operation procedures are carried out by maintenance personnel and robot
safety is ensured.
Mandatory Measures
1. Ensure nobody is within the danger area before starting robot.
2. All operators must receive training on operation and maintenance of
industrial robot.
3. The foreman shall continuously monitor the normal operation of all
programs and ensure the correct application of safety protective programs.
4. Maintenance is required to be performed in accordance with the
maintenance manual to keep the industrial robot clean and tidy.
5. Appropriate toolboxes should be prepared to store cleaning and
maintenance tools. Workers must wear personal protective equipment.
6. In addition to the above, testers must abide by current health and safety
regulations.
7. Stop the robot when it is malfunctioning, or is suspected of being
damaged, not running, or makes abnormal noises.
8. Once fire is discovered regardless of level, immediately call the police
and firefighters for rescue.
9. The door of the control cabinet must always be closed, and the key must
be kept by electrician.
10. Personnel are not allowed to enter the safety protective area when
robot is powered on.
11. Before turning on the automatic mode, all temporarily disabled safety
functions must be restored to normal working status.

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1.3 Safety Precautions during Work
1.3.1 Safety in Robot Installation and Connection
Warning
1. The release of gravity and braking device may cause risks of falling.
2. The inspection of protective device may pose dangers to maintenance
personnel because they are not working. Therefore, maintenance personnel
must be very careful and take precautionary and protective measures.
Danger
Strictly follow the precautions below and refer to national/international standards
for all installations and connections. The design of safety functions should comply with
Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006).
1. Please read and understand all manuals, specifications, and other relevant
documents provided by EFORT before operation. In addition, completely understand
procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety
measures are effective in place.
2. Avoid exceeding the specified height during robot transportation:
•Only allow qualified personnel to operate forklifts and cranes, and to
move/transport robot body, control cabinet, etc.
•Never approach or walk under the lifted robot body or control cabinet during
transportation.
•Never stay on the robot body or control cabinet during transportation, or touch
and support them manually.
3. Hook the wire rope to the ring according to the robot lifting figure, and confirm the
ring is not loose before operation.
4. Please remove teach pendant and its bracket to prevent cables from hooking other
equipment when transferring the control cabinet with sling.
5. Please remove all unnecessary objects and clear the passage to the installation
location before transporting robot.
6. Please fasten the control cabinet to prevent tipping over if it is transported by a
forklift.
7. Please protect robot from collisions and impacts because it is composed of
sophisticated components.
8. Never connect to the power cable of the control cabinet when the main power of the
installation site is on, or it may cause extreme dangers and even electric shock. Make
sure the main power is switched off when the input power cable is being connected. In

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1.3.2 Safety Before Starting Robot
order to prevent the input power supply or circuit breaker from being turned on
mistakenly, please place a shut-down tag on all power supply units and circuit breakers
to indicate they are in check/maintenance/repair. Meanwhile, lock or place a truck to
clamp the main power switch.
9. Be sure to close the input power connection end with plate when the wiring is
completed. Otherwise, it poses extreme dangers and may cause electric shock accidents
if the end is touched mistakenly.
10. Please place the motor/signal cable connected to the robot in the cable trough to
prevent damage. Please also take measures to prevent them from being compressed.
Do not connect to the power supply until all the connections between the control
cabinet and the robot body are completed. Otherwise, it may pose dangers and cause
accidents such as electric shock.
Danger
Strictly follow the precautions below and refer to national/international standards
before starting robot. The design of safety functions should comply with Robot Safety
Requirements (GB11291.1-2011/ISO10218-1:2006).
1. Please read and understand all manuals, specifications, and other relevant
documents provided by EFORT before operation. In addition, completely understand
procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety
measures are effective in place.
2. Make sure install control cabinet, operation panel, and other control devices outside
the protective equipment (fence) to monitor the robot’s overall motion range.
3. Confirm no obstacles, such as humans, packaging materials, clamps are within the
motion range of the robot arm.
4. Eliminate any areas where people may be trapped between fixed equipment and
mobile equipment.
5. Please confirm whether the voltage, frequency, and cable specifications of the power
supply meet the requirements before the power cables are being connected.
6. Ensure the control cabinet and peripheral equipment are properly grounded. The
ground wires of each cannot be connected but grounded separately. Please install
power filter or equivalent device on the power inlet of the adjacent robot control
cabinet if electromagnetic switches, contactors, and other devices are added to
peripheral equipment.
7. Before switching on the power of the robot, please confirm installation meets the
requirements.

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1.3.3 Safety of Starting Robot
8. A supervisor who should have completed relevant training offered by EFORT must
be assigned for operation monitor.
9. The system must be equipped with monitor instruments to automatically detect
abnormalities in water and gas supply in time for application items (water, compressed
air, protective gas, etc.).
10. If large amounts of scraps, metal dust particles, and tiny particles are generated
during work, please blanket robot body, control cabinet and peripheral devices with
proper covers.
11. The allowable height of the robot is less than 1000 meters. If the altitude is more
than 1000 meters, please contact the sales staff of Eft.
12. When the environment in which the robot operates contains radiation (such as
microwave, ultraviolet, laser, X-ray), effective protective measures should be taken,
such as adding protective cover or other means, to avoid the phenomenon of the robot
resulting in mis action or accelerated insulation aging.
13. The equipment has passed immunity and emission tests.
EMC performance meets:
GB_T 38326-2019 Electromagnetic Compatibility immunity test for industrial,
scientific and medical robots;
GB_T 38336-2019 Electromagnetic Compatibility emission test methods and
limits for industrial, scientific and medical robots.
Danger
To start robot, first connect the power cord, then turn the power switch from OFF
to ON.
Strictly follow the precautions below and refer to national/international standards
to operate the procedures. The design of safety functions should comply with Robot
Safety Requirements (GB11291.1-2011/ISO10218-1:2006).
Before starting robot, please confirm the emergency stop switch works properly.
1. Please read and understand all manuals, specifications, and other relevant
documents provided by EFORT before operation. In addition, completely understand
procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety
measures are effective in place.
2. Check the names and functions of all switches, displays and signals needed for robot
operation.
3. Do not enter the safety fence unless the power supply is disconnected. Meanwhile,

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1.3.4 Safety in Robot Test Run
confirm the protective devices function properly before starting the robot.
4. If several operators work together in the robot operation system, make sure all of
them and relevant personnel are aware that robot should be activated before start.
5. Before switching on the motor, starting teaching, or automatic operation, please
reconfirm no humans or left obstacles are within the safety fence or around the robot.
6. When starting the robot and resuming operation from a faulty state, please put your
hand on the emergency stop switch after turning on the power of the control cabinet to
immediately cut off the power of the motor in case of abnormalities.
7. Before activating robot, please reconfirm the following conditions are met.
•The installation is correct and stable.
•All the connections in the control cabinet are correct. The power supply
specifications (power supply voltage, frequency, etc.) meet the requirements.
•All the application connections (water, compressed air, protective gas, etc.) are
correct and consistent with the specifications and models.
•The connections to peripheral devices are correct.
•In addition to the installation of software to limit motion, mechanical stop or
switch are also installed to limit robot's motion range.
•If robot is ceased by mechanical limit stop, please make sure the relevant parts
are checked or the invalid mechanical limit stop is replaced (if necessary).
•Safety measures are taken: protective devices, such as safety fences or alarm
devices and interlocking signals, are installed.
•Protective devices and interlock function properly.
•Environmental conditions (temperature, humidity, light, noise, dust, etc.) meet
the requirements. In other words, they do not exceed the specifications set for the
system and the robot.
Danger
Errors concerning design, teaching, and working may exist in teaching program,
clamps, logic controllers, and other parts in robot test run. Therefore, safety awareness
must be further enhanced during test runs.
The following procedures need to be paid attention to during the test run:
1. Confirm whether the buttons, switches, and signals to stop the robot, such as the
emergency stop button and hold/run switch, operate properly. Accidents cannot be
prevented if robot cannot be stopped in case of dangerous situations.
2. Set the operating speed to low speed (about 5% to 10%) and confirm the teaching

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1.3.5 Safety in Teaching
action during robot test run. Check the operation repeatedly in 2 to 3 cycles. If
problems are detected, stop the robot immediately and make adjustment. Gradually
increase the speed (50%→70%→100%) after no problems are found. Then repeat the
action in 2 to 3 cycles each.
Danger
EFORT advises teaching should be administered outside the safety fence.
However, if it is necessary to enter it, strictly follow the precautions below and refer to
national/international standards. The design of safety functions should comply with
Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006).
Please confirm the emergency stop switch functions properly before teaching.
1.Please read and understand all manuals, specifications, and other relevant
documents provided by EFORT before operation. In addition, completely understand
procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety
measures are effective in place.
2. Please confirm all protective devices (safety fences) work properly before starting
the robot.
3. Teaching should be administered by one operator and one supervisor, who bears the
responsibility of safety supervision. Confirm signals, such as "start work", before
teaching.
4. Before entering the safety fence, the operator must turn the teaching switch on the
teach pendant to manual to prevent accidental switch of the control cabinet to
automatic mode. Once the robot makes any abnormal movement, the emergency stop
switch must be immediately pressed and robot exits the work area from the preset
evacuation route.
5. Please install an emergency stop switch which enables the supervisor to monitor the
overall robot movement outside the fence. Once the robot makes incorrect movement,
the supervisor must be able to press the switch very conveniently to stop the robot
immediately. In addition, if you need to restart the robot after an emergency stop,
please reset and restart the manual operation outside the safety fence. The operator
and the supervisor must be specially trained and qualified personnel.
6. Please clearly mark teaching is in progress to prevent other people from making
wrong operations on the control cabinet, operation panel, teaching pendant, or any
robot system devices.
7. Before confirming the trajectory and teaching data, please clear all the personnel
and obstacles left within the safety fence and around the robot. The confirmation work
should be done outside the safety fence. The speed of the robot should be equal to or

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1.3.6 Safety in Automatic Operation
less than safety speed (250mm/s) until being confirmed normal.
8. If robot needs to be restarted after an emergency stop, please reset and restart
manually outside the safety fence. At the same time, confirm all safety conditions are
met and no humans or obstacles left are around the robot or within the safety fence.
9. During teaching, please confirm the motion range of the robot. Approaching the
underside of the robot is prohibited and may pose risks causing accidents. It’s also
worth noticing that it is forbidden to approach the robot arms to prevent risks of
workpiece falling when robot’s claws grip workpieces.
10. For safety concern, the maximum speed of the robot is limited to 250mm/s (safe
operating speed) in teaching or inspection mode. However, after teaching is completed
or robot is recovered from errors, the operator should set the speed as low as possible
in verifying teaching data.
11. Both the operator and the supervisor should continuously monitor the robot for
abnormal movements, possible collisions and squeezing points on and around the
robot. Meanwhile, please confirm the safe passage for the operator is clear in case of
emergency evacuation.
12. Please set the robot's software limit beyond the robot’s motion range after teaching
is completed. Refer to the EFORT Industrial Robot Operation Manual for the setting.
Danger
Because teaching program repeats fast, please strictly follow the precautions
below and refer to national/international standards. The design of safety functions
should comply with Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006).
Please confirm all switches function properly before automatic operation.
1. Please read and understand all manuals, specifications, and other relevant
documents provided by EFORT before operation. In addition, completely understand
procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety
measures are effective in place.
2. In automatic operation, any part of the body should never enter the safety fence.
Please confirm no humans or obstacles left are within the safety fence before starting
operation.
3. In automatic operation, the robot may seem to stop while waiting for the delay of the
timer or external signal input. However, do not approach it at this time because it
immediately resumes operation when the two conditions mentioned above are met.
4. In automatic operation, this situation will be extremely dangerous: if the gripping
force of the workpiece is not enough, the workpiece may be thrown off during the
movement of the robot. Be sure to confirm that the workpiece has been firmly grasped.

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1.3.7 Safety in Repair
When the workpiece is grasped by a pneumatic gripper, an electromagnetic
mechanism, etc., please use a fail-safe system to ensure that the workpiece will not be
ejected once the driving force of the mechanism is suddenly disconnected. Even in the
event of an error, when the possibility of the workpiece coming out is minimal, please
install a safety fence, such as a net cover.
5. Tag Automatic Operation on the safety fence and do not enter the work area. Please
also confirm the safety passage for operators is clear in case of emergency evacuation.
6. If the robot stops due to a fault during automatic operation, please check the
displayed fault information and follow the correct recovery steps to recover and restart
the robot.
7. After recovery, please confirm all safe working conditions are met and no humans,
clamps, peripheral devices, or obstacles left are within the safety fence or around the
robot before restarting it.
Danger
For repair, please strictly follow the precautions below and refer to relevant
national/international standards. The design of safety functions should comply with
Robot Safety Requirements (GB11291.1-2011/ISO10218-1:2006).
Please confirm all switches function properly before repair.
1.Please read and understand all manuals, specifications, and other relevant
documents provided by EFORT before operation. In addition, completely understand
procedures of operation, teaching, and maintenance. Meanwhile, make sure all safety
measures are effective in place.
2. Please confirm all necessary safety measures are ready and function properly before
entering the safety fence.
3. Please switch off the control power supply to the main power supply before entering
the safety fence. Meanwhile, place a clear sign displaying shutdown and repair in
progress and lock or clamp the main power switch to prevent mistakenly turning on
power.
4. Only qualified personnel who have received special training on corresponding robot
series can perform repair.
5. Enough space around the robot should be guaranteed to prevent interference from
peripheral devices which should be fastened in case of any sudden movement.
6. Please be sure to switch off the automatic operation before entering the safety fence.
If robot moves abnormally, immediately press the emergency stop switch and evacuate
from the preset route.

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1.3.8 Safety in Equipment Check and Maintenance
7. Please install an emergency stop switch which enables the supervisor to monitor the
overall robot movement outside the fence. Once the robot makes incorrect movement
in repair, the supervisor must be able to press the switch very conveniently to stop the
robot immediately. After an emergency stop, please reset and restart the robot outside
the safety fence. In addition, the operator and the supervisor must be specially trained
and qualified personnel.
8. Both the operator and the supervisor must continuously pay close attention to any
abnormal movements, possible collisions, and the surroundings of the robot.
9. Only use parts provided by EFORT for replacement.
10. Please support the robot arm with proper lifting device before removing any servo
motor of joint axis. The removal causes fail of the brake mechanism of the axis.
Without reliable support, the arm will fall. Please be aware same dangers occur if you
press any axis brake release switch on the control cabinet.
11. Turn off the control power supply and wait at least seven minutes for replacement
of the drive module and power supply module. Then start the replacement and remove
connectors after confirming the output voltage of the power supply is 0V. Please be
aware do not touch any part to prevent electric shock or burns.
12. If compressed air or water is supplied, please cut off the supply source and release
the remaining pressure in pipelines before repair.
13. Make sure the emergency stop signal of the auxiliary axis and the emergency stop
circuit of the control cabinet are concatenated when auxiliary axes are added.
14. When changing robot parts, be sure to confirm whether the replaced parts match
the original parts, and carefully check the schematic diagram to prevent the wrong
wiring. Otherwise, the components of the robot control cabinet and external
components may be damaged.
Danger
Please strictly follow the precautions below and refer to relevant national/international
standards for robot clean, check, maintenance, and replacement of parts to prevent
system faults.
Make sure all the emergency stop switches function properly before check and
maintenance.
1.Please read and understand all manuals and other relevant documents provided by
EFORT before operation. In addition, completely understand procedures of operation,
teaching, and maintenance. Meanwhile, make sure all safety measures are effective in
place.

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11
2. Please remove unnecessary object and clear passage to the installation position
before check and maintenance.
3. Only qualified personnel who have completed special training on this specific robot
or robots in the same series can perform check and maintenance.
4. Enough space around the robot should be guaranteed to prevent interference from
peripheral devices which should be fastened in case of any sudden movement.
5. Please cut off the power supply of the entire line or the power of the robot. Also cut
off the power supply up to the main power supply as needed before entering the safety
fence. Place a clear sign displaying shutdown, check or repair in progress and lock or
clamp the main power supply switch to prevent the power being turned on mistakenly.
If cutting off the entire line fails, please install temporary safety fence between the
target robot and neighboring robots.
6. Please correctly switch off all the power of signal related equipment to ensure safety
during check and maintenance on interlocking signal chain. Do not enter the safety
fence during work.
After completing the check and maintenance, please confirm that the safety protection
devices (safety fence, safety latch, emergency stop switch, etc.), peripheral equipment,
interlocking lines and other safety devices work normally.
7. Except the emergency stop switch maintained by the operator, please install another
emergency stop switch which enables the supervisor to monitor the overall robot
movement outside the fence. Once the robot makes incorrect movement in repair or
check, the supervisor must be able to press the switch very conveniently to stop the
robot immediately. After an emergency stop, please reset and restart the robot outside
the safety fence. In addition, the operator and the supervisor must be specially trained
and qualified personnel.
8. Before entering the safety fence, the operator must turn the teaching switch on the
teach pendant to manual to prevent accidental switch-on of the control cabinet to
automatic mode. Once the robot makes any abnormal movement, the emergency stop
switch must be immediately pressed and the operator must exit the work area from the
preset evacuation route.
9. Both the operator and the supervisor must continuously monitor the robot for any
abnormal movement, collisions, or squeezing during check and maintenance.
Meanwhile, please confirm the safety passage for the operator is clear for evacuation.
10. If it is necessary to remove the safety fence during check and maintenance, please
take adequate safety measures:
•Place the robot and peripheral devices properly.
•Lock/calibrate the power and switch to avoid the power being turned on or
the switch being turned to automatic mode mistakenly.

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•Reinstall the safety fence and confirm all safety measures, functions remain
the same when check and maintenance are completed.
11. Only use parts supplied by EFORT for replacement. Be sure to use teaching mode
and move the robot as slow as possible in check and maintenance.
12. Turn off the control power supply and wait at least seven minutes for replacement
of the drive module and power supply module. Then start the replacement and remove
connectors after confirming the output voltage of the power supply is 0V. The heat sink
or regenerative generator may main hot right after the stop of the movement.
Therefore, please be cautious do not touch any hot part.
13. Please support the robot arm with proper lifting device before removing any servo
motor of joint axis. The removal causes fail of the brake mechanism of the axis.
Without reliable support, the arm will fall. Please be aware same dangers occur if you
press any axis brake release switch on the control panel.
14. The robot must remain the same posture before and after the maintenance. Please
record posture data before the replacement of parts.
15. Check and record the location, connector number, installation method, and set data
of the printed circuit board or cable at the beginning of the replacement process, so
they can be recovered properly. The locking mechanism of the connector must be
locked tightly after it is inserted. Never touch the pins of the connector.
16. If the application (water, compressed air, protective gas, etc.) is used, please cut off
the supply source and release the remaining pressure in pipelines before repair.
17. Please confirm all the protective devices function properly after check and
maintenance.
18. EFFORT will not be liable for any change or modification without authorization.
19. Numerous back-up batteries are built in the robot arm and control cabinet. Misuse
will cause burn, overheat, explosion, eruption, leak, etc. Therefore, the following
protocols must be strictly followed.
•Only use batteries specified by EFORT;
•Do not recharge, dismantle, change, or heat batteries;
•Do not throw batteries in water or fire;
•Never use surface-damaged batteries the inside of which may be short
circuited.
•Do not use metals, such as wires, to short-circuit the positive and negative
terminals of the battery. Do not discard used batteries in ground garbage that will
be incinerated, landfilled, or dumped. Please pack them in a bag for disposal to
prevent them from being in contact with other metals. Please also handle them
properly in accordance with local regulations.

Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots
13
20. Make sure the emergency stop signal of the auxiliary axis and the emergency stop
circuit of the control cabinet are concatenated when auxiliary axes are added. Then
test the safety functions of the emergency stop circuit to ensure safety control logic
when adding the auxiliary axes or after changing the safety-related components.
21. When changing robot parts, be sure to confirm whether the replaced parts match
the original parts, and carefully check the schematic diagram to prevent the wrong
wiring. Otherwise, the components of the robot control cabinet and external
components may be damaged.

Electrical Use and Maintenance Manual for Heavy Duty Industrial Robots
14
Chapter 2 Handling and Installation
2.1 Overview
This chapter includes installation instructions and information about small and medium load robot in
workplace.
It is vitally important to read all the safety information before any installation. Please be sure to read
the following information carefully: EFORT robot safety manual, general safety information in the first
chapter of this manual that must be read thoroughly, and introduction of dangers and safety risks during
operation.
2.2 Basics Description
2.2.1 Unpacking List
1、Before unpacking, please confirm whether the outer packaging of the product is intact;
2、After unpacking, please confirm whether all parts of the robot are complete and whether the model
is consistent with the order. If you find missing or wrong parts, please contact the supplier in time.
表2-1 Robot Packing List
Note: the above is the standard unpacking list, not including the case of customized models
2.2.2 Preparation Before Installation
This section includes information required for unpackaging, initial installation, and reinstallation of
the robot.
Robot Packing List
Num
Name
Configuration type
Numbe
Unit
Remarks
1
Robot body
Standard configuration
1
SET
2
Robot control cabinet
Standard configuration
1
SET
3
Connect the robot body
to the electric control
cabinet
Power line
1
SET
Standard
configuration
10m
4
Encoder wire
1
SET
5
Ground wire
1
SET
6
Robot demonstrator and
cable
Standard configuration
1
SET
7
Instruction manual
Standard configuration
1
SET
8
Ex-factory inspection
report
Enterprise standard
1
Sheet
9
Product certificate
Enterprise standard
1
Part
10
Robot attachment
Accessory box
1
PC
11
Manual QR code
\
1
PC
12
other
4A fuse *2/ 2A glass tube fuse*1