EFORT ECR5 Instruction manual

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ECR5 Collaborative Robot
---------Quick Start Manual
Please Read This Manual Carefully Before Use

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EFORT INTELLIGENT EQUIPMENT CO.,LTD.
ECR5 User Manual
(Quick Start Manual)
Version: V1.0
------ Service Hotline(Tel):4000528877------

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Statement
Thank you for purchasing EFORT robot products. In order to ensure that
the products have been set correctly, please read this operation manual carefully
before using this product. The contents mentioned in this statement and the
manual are related to your personal and property safety. If you do not follow the
instructions and warnings in the manual or operate without authorization, it may
cause personal injury to you and the people around you or property damage to
the robot or other objects around you. This statement and manual are the latest
version of this batch of products before leaving the factory. Please visit
www.efort.com.cn Official website for updated information.
This manual is only used as a guide for the normal operation of the product.
During the use of the product, EFORT will not be liable for personal injury and
property loss caused by other reasons except product defects. EFORT Company
solemnly suggests that: personnel participating in robot operation, teaching,
maintenance, repair, spot inspection and other related activities should not be
given permission to operate the robot before completing the training courses
prepared by EFORT Company.

IV
Contents
........................................................................................................................................... 1
.............................................................................................................. 4
1.1 unpacking inspection............................................................................................... 4
1.2 confirmation of product information................................................................. 5
........................................................................................................ 6
2.1 Wiring............................................................................................................................ 6
2.2 Power line connection............................................................................................. 6
2.2.1 Boby wiring..................................................................................................... 7
2.2.2 Teaching pendant connection ................................................................. 7
2.3 control cabinet startup / shutdown.................................................................... 7
.............................................................................................. 8
3.1 Composition of teach pendant ............................................................................ 8
3.2 User login...................................................................................................................10
3.3 Manual mode + up servo.....................................................................................12
3.4 Manual mode —joint movement ...................................................................13
3.5 Manual mode —Cartesian motion.................................................................15
3.6 Drag teaching...........................................................................................................18
....................................................................................................22
4.1 example 1: Running example program ................................................................22
4.1.1 Open sample program..............................................................................22
4.1.2 Manual slow operation.............................................................................23

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4.1.3 Manual full speed operation ..................................................................25
4.1.4 Automatic operation .................................................................................26
4.2 Example 2: writing the first program................................................................27
4.2.1 New program...............................................................................................27
4.2.2 JOG teaching point A ................................................................................28
4.2.3 Insert the movement instruction first, and then teach it..............30
4.2.4 Drag mode teaching point C..................................................................33
4.2.5 Automatic operation .................................................................................34
..........................................35
With the robot CD-ROM documents include the following：........................35

Preface EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Preface
About this manual
This manual is a quick start manual for ECR series robot operation, which
aims to make users understand the robot quickly and operate the robot simply
in a short time.
Operation premise
Before operating the robot, please read the relevant safety instructions of the
product carefully. The real machine operation can only be carried out on the
basis of understanding the safety specifications.
Target group
Production operators
Engineering and technical personnel
Technical service personnel
Meanings of Common Sign
A large number of warning signs are used in this manual to indicate
important information during use.
The warning signs and their meanings are shown in the table below:
Table 1: symbols used in this article
!
DANGER!
If you do not follow the instructions, there will be
accidents, leading to serious or fatal personal injury
or material damage.
!
Warning!
If you do not follow the instructions, there will be
accidents, leading to serious or fatal personal injury
or material damage.

Preface EFORT INTELLIGENT EQUIPMENT CO.,LTD
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!
Caution!
If the corresponding preventive measures are not
taken, dangerous situations may occur, leading to
property damage or minor physical injury.
DANGER!
If no corresponding preventive measures are taken,
dangerous power consumption may occur, leading to
serious or fatal personal injury.
Warning!
If the corresponding preventive measures are not
taken, dangerous power consumption may occur,
leading to personal injury or serious damage to
equipment.
Warning!
If the corresponding preventive measures are not
taken, dangerous hot surface may occur, leading to
personal injury.
Risk Assessment
In principle, ECR5 collaborative robot can be used without external fence, but
the risk of operation and normal operation must be assessed. The risk assessment
must be completed before the robot is put into use. Integrators and users must
fully consider all tasks of the robot in its whole life cycle to measure the risk
level and acceptability. Start from the following aspects in risk assessment, but
not limited to:
(1) Sharp corners such as end effector / work piece cause injury to personnel;
(2) Obstacles in the robot workspace cause injuries to personnel and equipment;
(3) When the robot is running, it may collide with people and cause injury;
(4) There may be risks when robots operate dangerous goods;
(5) Different security parameter settings may have risks in application scenarios;
(6) The installation of the end effector is not reliable, and there is a risk;
(7) There is a risk when the robot is close to the rigid boundary / obstacle;
When the robot is integrated / applied in non- cooperative situation, the internal

Preface EFORT INTELLIGENT EQUIPMENT CO.,LTD
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safety mode of the robot can be turned off, and the internal safety settings are
invalid. Integrators and users must consider additional safety equipment and
evaluate its safety risk.
After changing the configuration and replacing the end effector of the robot, the
risk assessment should be carried out again, and the assessment should be
completed before use

Unpacking EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Chapter One Unpacking
1.1 Unpacking Inspection
When you order a complete ECR5 collaborative robot, you will receive two
packages:
Box a: length 725 mm ×width 435 mm ×height 397.5 mm, packed as follows:
1) 1 ECR5 robot body
2) 1 teaching pendant (including wiring harness)
Figure 1-1 packing contents of box A
Box B: length 560 mm ×width 475 mm ×height 317.5 mm, packed as follows:
1) 1 control cabinet
2) 1 set of inter panel cable
3) 1 set of power cable
4) 1 set of CD

Unpacking EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Figure 1-2 packing contents of Box B
1.2 Confirmation of Product Information
Before using the robot system, please check whether the serial number on the
nameplate of the robot body and the electric cabinet matches. The control cabinet
and the body are a matching combination system.

Installation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Chapter Two Installation
2.1 wiring
Figure 2-1 interface diagram of control cabinet
Table 2-1 Description of Control Cabinet
Name
Description
1
Power switch
Turn on the main power switch to supply power to the
robot system
2
Body power supply interface
The ECR5 robot is powered by cable
3
Teaching pendant interface
Power supply and communication for teaching pendant
through cable
4
Spare expansion IO cable
interface
Reserved external wiring for extended IO
5
Panel emergency stop button
It is used to control the robot in emergency stop state
6
Cooling fan
It is used for heat emission of electric cabinet
2.2 power line connection
Figure 2-1 there is a power interface of the control cabinet at the power switch (1). As
shown in Figure 2-2, the power supply in Box B (Figure 1-2) is used to connect the electric
cabinet with the 220 VAC power supply.

Installation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Figure 2-2 main electrical interface
2.2.1 Body Wiring
As shown in Figure 2-1 body power supply interface (2), the body is connected with the
control cabinet by using the inter panel line (Figure 2-3) in Box B (Figure 1-2), in which the
"Ctrl" side is connected with the control cabinet, and the "rob" side is connected with the
robot body.
Figure 2-3 schematic diagram of line between panels
2.2.2 Teach pendant connection
As shown in Figure 2-1 teaching pendant interface (3), use the teaching pendant harness
in box A (Figure 1-1) to connect the teaching pendant with the control cabinet.
2.3 Power on / off of control cabinet
First, check the running state of the robot to ensure that the end of the robot keeps
enough clearance (more than 10cm) from the surrounding work pieces, equipment and other
obstacles, stop the robot running and lower the servo, and finally turn off the power switch on
the control cabinet (from "I" to "O") (Fig. 2-1, Fig. 2-2).

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Chapter Three Basic Operation
3.1 Composition of teaching pendant
The teaching pendant is a hand-held device that controls the robot. Usually, the
left hand holds the teaching pendant, and the right hand clicks the touch screen
for interaction. The figure below shows the correct holding mode.
Figure 3-1 correct posture of handheld teaching pendant
See Figure 3-1 and figure 3-2 for the location of the components of the teaching pendant,
and see Table 3-1 and table 3-2 for the description of the components of the teaching pendant.
Figure 3-2 front of teaching pendant

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Table3-1 Front part description of teaching pendant
Sequence
Name
Description
1
Display
(touch screen )
HMI operation area
2
Function key
Provide shortcut keys for some functions
3
Control key
Running program, manual inching robot (JOG)
4
Indicator light
Indicates the running state of the program
5
Mode switch knob
Automatic、manual slow、manual full speed three
modes
6
Emergency stop
button
Press the emergency stop button to stop the robot;
Turn the button clockwise to release the emergency
stop signal
Figure 3-3 back of teaching pendant
Table 3-2 back part description of teach pendant
Sequence
Name
Description
7
Stylus
Used to click the touch screen
8
USB interface
protection cover
Protect USB interface

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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9
Enable key
Please refer to section §1.2.2 for specific
usage
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Bracelet
When holding the teaching pendant, preve
nt it from leaving
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Outlet cover plate
The cover plate needs to be opened when
replacing the wiring harness
3.2 User login
Figure 3-4 login interface
When the control cabinet is powered on and the teaching pendant system is loaded and
running, the first interface appears is the login interface, as shown in Figure 3-4 above. The
teaching pendant system uses the Operator role by default (no login operation is required).
The operating system of ECR robot teaching pendant has the following three login roles,
and their corresponding functions are shown in table 3-3 below.
(operator)
(Engineer)
(administrator)

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Table 3-3 Comparison table of roles and functions
Operator
Engineer
Administrator
Program module
×
√
√
Installation and setting
module
×
○
√
Mobile module
√
√
√
Monitoring module
√
√
√
Log module
○
√
√
Program Manager
○
√
√
HBB menu
○
○
√
Note:
×means that all functions in the module cannot be edited;
○indicates that some functions in the module can be edited;
√means that all functions in the module can be edited.
Tips!
The login password of engineer is "999999";
Administrator login password, please consult our
after-sales personnel.

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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3.3 manual mode + upper servo
Manual motion robot (also known as JOG) can be divided into the following
motion modes:
Joint movement: control each joint of robot to rotate forward / reverse
independently;
Cartesian motion: control the end of the robot to move along the positive /
negative direction of X, Y and Z axes in Cartesian coordinate system, or rotate
around Z, y and X axes.
Operation method:
Step 1: turn the "mode switch" knob on the teaching pendant panel to "manual
slow (T1)", as shown in Figure 3-5 (left),
After switching, the corresponding icon status of the software interface
"status bar" is shown in Figure 3-5 (right).
Figure 3-5 login interface
Step 2: click the "PWR" key on the teaching pendant panel once to make the joint
upper servo, as shown in Figure 3-6 (left).
The upper servo process on the joint takes 3~5 seconds, during which the
robot joint makes 6 "click" sounds. After completion, the corresponding
icon status of the "status bar" on the software interface is shown in Figure
3-6 (right).

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Figure 3-6 upper servo
The operation is complete
3.4 manual mode –joint movement
Operation method:
Step 1: touch the "coordinate system" button on the teaching pendant panel, as
shown in Figure 3-7 (left), until the robot motion mode is set to "joint", and the
corresponding icon status of "status bar" in the software interface is shown in
Figure 3-7 (right)
Figure 3-7 joint movement pattern
Step 2: gently hold the "enable key" in Figure 3-8 (left) (located on the right side
of the back of the teaching pendant), and the corresponding icon status of the
"status bar" in the software interface is shown in Figure 3-8 (right).

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Figure 3-8 robot "enable key"
Step 3: press and hold the "enable key" with the left hand for a long time, and
press and hold the control keys "-" and "+" of "1" in Figure 3-9 with the right
hand in turn to control the 1 axis of the robot to rotate in reverse / forward
direction (stop if release the key).
Figure 3-9 #1 axis joint forward / reverse rotation
Step 4: adjust the movement speed of the robot. Touch the "V -" and "V +"
buttons on the panel of the teaching pendant, as shown in Figure 3-10 (above), to
reduce / increase the movement speed of the robot. The corresponding state
changes in the status bar of the software interface, as shown in Figure 3-10
(below).

Basic Operation EFORT INTELLIGENT EQUIPMENT CO.,LTD
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（above）
（below）
Figure 3-10 speed adjustment
The operation is complete.
Tips!
In "manual slow" mode, the range of robot motion speed is 0 ~ 20%;
In the "manual full speed" mode, the range of robot motion speed is 0 ~ 100%
3.5 manual mode - Cartesian motion
Preparation operation:
Before using the Cartesian motion mode, there are certain requirements for the initial
posture of the robot, that is, it need obey the following two points at the same time:
(1) The big arm and the small arm of the robot cannot be parallel, and a certain angle
(more than 10 degrees) is required. See Figure 3-11 (left).
(2) The robot # 1 wrist and # 3 wrist cannot be parallel and need a certain angle (more
than 20 degrees), as shown in Figure 3-11 (right).