EFORT ECR5 User manual

ECR5 Collaborative Robot
---------------User’s Manual
Please Read This Manual Carefully Before Use.

EFORT INTELLIGENT EQUIPMENT CO.,LTD.
ECR5 User Manual
(Teach Pendant Instructions)
Version: V1.1
------ Service Hotline(Tel):4000528877------
Version：V1.1
------Tel：[phone]------

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.

About this manual
This manual is the user manual of ECR series robot teaching pendant software and
introduces the use of each functional interface of the software in detail.
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.
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 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.

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD
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.......................................................................................................................................3
.............................................................................................................................................4
............................................................................................................................................1
...................................................................................................1
1.1 General Introduction .................................................................................................. 1
1.2 Components.................................................................................................................. 1
1.2.1 Mode Switch Knob ..........................................................................................2
1.2.2 Enabling Key...................................................................................................... 3
1.2.3 Control Keys.......................................................................................................4
1.2.4 Function Keys.................................................................................................... 5
1.2.5 Emergency Stop Key.......................................................................................5
............................................................................................... 7
2.1 Main..................................................................................................................................7
2.1.1 Navigation Bar.................................................................................................. 8
2.1.2 Status Bar............................................................................................................8
2.2 Login Page......................................................................................................................9
2.2.1 User Types ........................................................................................................10
..........................................................................................11
3.1 JOG + Servo on ..................................................................................................11
3.2 JOG- Joint Movement..................................................................................... 12
3.3 Jog-Cartesian Movement...............................................................................14
3.4 Drag Teaching....................................................................................................17
.................................................................................19

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4.1 Program Manager.....................................................................................................19
4.2 Program Tab................................................................................................................20
4.2.1 Program Interface Structure......................................................................21
4.2.2 Example 1: Run a sample program.........................................................21
4.2.3 Example 2: Write the First Program........................................................26
4.2.4 Drag Teaching................................................................................................ 39
4.2.5 Soft PLC.............................................................................................................45
.............................................................................. 51
5.1 General Setting.......................................................................................................... 52
5.1.1 Mounting Angle.............................................................................................52
5.1.2 Tool Coordinate System (TCP) ................................................................. 53
5.1.3 User Coordinate System (User Frame).................................................. 58
5.1.4 Load Identification........................................................................................59
5.1.5 Track Record................................................................................................... 65
5.1.6 Home Position................................................................................................67
5.1.7 Module Updates............................................................................................ 71
5.1.8 I/O Configuration.......................................................................................... 72
5.1.9 Fixed Vision ......................................................................................................75
5.1.10 Auxiliary Axis.................................................................................................86
5.1.11 Joint Slip Compensation.......................................................................... 98
5.1.12 Conveyor belt Tracking.............................................................................99
5.2 Safety...........................................................................................................................115
5.2.1 Area Monitoring..........................................................................................116
5.2.2 Position Monitoring...................................................................................125
5.2.3 Flange Setting.............................................................................................. 128
5.2.4 Collision Detection ..................................................................................... 132

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5.2.5 Safety Restriction........................................................................................ 142
5.2.6 Physical Risk..................................................................................................143
5.2.7 Safety Sensor................................................................................................144
5.2.8 Safety Plane...................................................................................................146
5.3 Factory Settings.......................................................................................................151
5.3.1 Sliding Datum Point...................................................................................152
5.3.2 Reset Drive.................................................................................................... 153
5.3.3 DH Parameters.............................................................................................155
5.3.4 Joint Restriction...........................................................................................155
5.4 Bus................................................................................................................................157
5.4.1 TCP / IP........................................................................................................... 157
5.4.2 MES.................................................................................................................. 172
5.4.3 EtherCAT Settings.......................................................................................177
5.4.4 EthernetIP Settings.....................................................................................178
.................................................................................... 180
6.1 Information of position........................................................................................ 180
6.2 Coordinate system................................................................................................. 181
6.3 Robot Jogging......................................................................................................... 181
6.3.1 joint motion.................................................................................................. 182
6.3.2 Cartesian motion.........................................................................................182
6.3.3 Step-in motion.............................................................................................183
6.4 Activation of coordinate system....................................................................... 184
6.4.1 Activation of tool coordinate system..................................................184
6.4.2 Activation of user coordinate system..................................................185
6.5 Position initializing and back to home position..........................................185
6.5.1 Position initializing..................................................................................... 185

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6.5.2 Back to home position..............................................................................186
.............................................................................. 187
9.1 About the System ................................................................................................... 187
9.2 System Settings ....................................................................................................... 188
9.3 Help..............................................................................................................................188
............................................................................ 190
7.1 Status monitoring of robot joints.....................................................................190
Monitoring of IO signal............................................................................................... 191
7.2.1 Forced IO signal...........................................................................................191
7.3 On-site monitoring of bus data........................................................................ 193
7.3.1 Function of Modbus.................................................................................. 193
7.3.2 Function of Profinet................................................................................... 203
7.3.3 Function of EtherCAT................................................................................ 217
7.3.4 Function of EthernetIP.............................................................................. 228
...................................................................................................241
8.1 Alarm Process...........................................................................................................241
8.2 System Log................................................................................................................242
8.3 Program Log.............................................................................................................242
...............................................................244
A.1 System Alarm Code............................................................................................... 244
A.2 User Alarm Code (1400~1499)..........................................................................248
A.3 Major Error Code (1800~1899).........................................................................258
A.4 General Alarm Code (3900~3999)................................................................... 268
A.5 User Alarm Code (4900~4999)..........................................................................273
A.6 Event Log (4900~4999)........................................................................................292
............................................................... 293

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD
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TeachPedant EFORT INTELLIGENT EQUIPMENT CO.,LTD
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1.1 General Introduction
A teach pendant is a handheld device which is used to run a robot. In most cases, it is the
right way to hold the pendant with the left hand and operate and program with the right one as
shown in figure 1-1.
Fig. 1-1 The right way to hold a teach pendant
1.2 Components
See Figure1-2 and figure 1-3 for the location of the components of the teach pendant,
and see Table 1-1 and table 1-2 for the detailed descriptions.
Fig. 1-2 Front of teach pendant
Table 1-1 Front Components Description
No.
Name
Remarks
1
Display (touch screen)
HMI operation area
2
Function key
Provide shortcut keys for some functions

TeachPedant EFORT INTELLIGENT EQUIPMENT CO.,LTD
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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, or manual full speed
6
Emergency stop button
Press the emergency stop button to stop the robot;
Turn the button clockwise to release the
emergency stop signal
Fig. 1-3 Back of teach pendant
Table 1-2 Back Components Description
No.
Name
Remarks
7
Stylus
Used to click the touch screen
8
USB interface
protection cover
Protect USB interface
9
Enabling key
Please refer to section 1.2.2 for specific usage
10
Bracelet
When holding the teaching pendant, prevent it from
leaving
11
Outlet cover plate
The cover plate needs to be opened when replacing
the wiring harness
1.2.1 Mode Switch Knob
The mode switch knob is placed at the up right side of the teach pendant as shown in
figure 1-4 and there are three options as shown in Table 1-3.

TeachPedant EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Fig. 1-4 Mode Switch Knob
Fig.1-5 The chosen mode is displayed
at the status bar.
Table 1-3 Mode Switch Knob Description
Name
Demonstration
Remarks
Auto （Automatic
Mode）
The motion rate ranges from 0
to 100%.
T1（Manual-S）
The motion rate ranges from 0
to 20%.
T2（Manual-F）
The motion rate ranges from 0
to 100%.
Note！
Motion rate refers to the ratio of the robot’s moving speed and
the maximum speed defined in the motor. Motion rate is
displayed at the right bottom side as show in the following
picture.
1.2.2 Enabling Key
The enabling key is placed at the back of the teach pendant which should be pressed
during the entire process of a robot arm movement. (An exception can be made in the case of
a programed movement) The corresponding icon turns to green once the enabling key is
pressed.
Fig. 1-6 Enabling Key
Fig.1-7 Reminder on the Status Bar
Table 1-4 Enabling Key Application List
Application
Enabling
Key

TeachPedant EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Manual Mode: JOG
Yes
Manual Mode: Run a program
Yes
Auto Mode:
Yes
Auto Mode: Run a program
No
1.2.3 Control Keys
There are two manual modes. Please refer to chapter three for more details.
◆Joint Mode: It controls the rotation of a separate joint.
◆Cartesian Mode: It controls the linear movement or rotation of an end effector in the
Cartesian coordinate system.
The location of control keys are shown in figure 1-8 and the functions are described in
details in table 1-5.
Fig. 1-8 Control Keys
Table 1-5 Control Keys Functions
Icons
JOG Mode
Cartesian Mode
Start to execute a program.
Pause
Control a single
joint to move
towards the
positive direction
Control a single joint to move towards the
positive direction
Control a single
joint to move
towards the
negative direction
Control a single joint to move towards the
negative direction

TeachPedant EFORT INTELLIGENT EQUIPMENT CO.,LTD
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1.2.4 Function Keys
See table 1-6 for the detailed explanation of each function key.
Fig. 1-9 Teach pendant function keys
Table 1-6 Function Keys Description
No.
Icon
Remarks
1
Not enabled
2
Not enabled
3
This key is used to switch the program running mode.
See section 4.2.2 for details.
4
Not enabled
5
This key is used switch to an auxiliary axis. See more
details in auxiliary axes section.
6
This key is used to switch the motion reference system.
7
Not enabled
8
This key is used to reduce the movement speed.
9
This key is used to increase the movement speed.
10
Servo on (off).
1.2.5 Emergency Stop Key
Press the emergency stop key at the up right corner of the control panel to terminate a
movement in case of emergency.
Steps to use:
Step 1: The pendant pops up a warning message titled “1802 Emergency stop’ and the
“E-stop” icon turns green on the status bar.

TeachPedant EFORT INTELLIGENT EQUIPMENT CO.,LTD
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Fig. 1-10 Teach pendant control keys
Step 2: Turn the emergency stop key clockwise until it pops up to remove the emergency
signal.
Step 3: Remove the warning message by clicking on CHECK and the robot restores to
normal state.
Fig. 1-11 Remove the Warning Message

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2.1 Main
ECR-HMI is a user-robot interactive system through which users can manipulate the
robot arm, set the parameters, edit or run a program. There are three major sections in the
system interface as shown in figure 2-1.
Fig. 2-1 HMI Interface
Table 2-1 HMI Interface Description
No.
Section
Remarks
1
Navigation Bar
This section includes navigation bar, program manager
and navigation drawer.
2
Content Section
This section includes routines, functions and parameters
editor.
3
Status Bar
This section displays the running status of a robot.

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2.1.1 Navigation Bar
Fig. 2-2 Navigation Bar
Table 2-2 Navigation Bar Description
No.
Remarks
1
Login Page
2
Program Section: It is used to edit or run a RPL routine.
3
Setting Section: It is used to set the basic functions for a robot.
4
Jog Section: It includes tool switch and user coordinate system and is
used to display the present posture of a robot.
5
Monitor Section: It is used to monitor the robot’s I/O, joint torque
and temperature.
6
Log Section: It is used to check the running records.
7
It is used to display the loaded RPL program filename.
8
It is used to create a new RPL program file.
9
It is used to open the RPL program manager.
10
It is used to save a RPL program.
11
The navigation drawer menu includes system information, and
system configuration.
2.1.2 Status Bar
Fig. 2-3 Status Bar
Table 2-3 Status Bar Description
No.
Remarks
1
Displaying whether the enabling key is pressed or not.
2
Displaying system warnings, such as Not Connected, Reach Limit
and E-Stop.
3
Displaying running mode, such as Auto, Manual-S and Manual-F.
4
Displaying whether the servo is on or off.

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5
Displaying a program status, such as initiation, execution, pause,
termination or error.
6
Displaying whether the program execution mode is Continue，Step
IN or Step OVER, Move SI and Move SO. Refer to section 9.2.2 for
more details.
7
Joint: Displaying the motion reference system. There are 4 types of
reference systems, such as joint, robot，tool and user.
Refer to section 1.2.3 for more details of joint mode and Cartesian
mode.
8
Displaying the chosen tool coordinate system.
9
Displaying the chosen user coordinate system.
10
Displaying the speed ratio.
2.2 Login Page
Turn on the power and load the system. The login page for ECR-HMI is shown as figure
2-4.
Fig. 2-4 Login Page
The login page can also be found after a click on LOGO as shown in figure 2-5.

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Fig. 2-5 LOGO on the Navigation Bar
2.2.1 User Types
There are 3 user types for ECR-HMI system.
Operator: Operator is the default user which does need to be activated and authorized.
Engineer: Engineer is the user which needs to be activated and authorized.
Administrator: Administrator is the user which needs to be activated and authorized.
Both the operator and engineer users have limited access to the system while the
administrator user has no access limits. Refer to table 2-4 for the detailed descriptions of user
authorization.
Table 2-4 User Authorization Description
Authorized Access
Operator
Engineer
Administrator
Program Section
Setting Section
Movement Section
Monitoring Section
Log Section
Program Manager
Navigation Drawer Menu
stands for no authorized access.
stands for conditioned access.
stands for full access.
Note！
Please consult the sales representatives for the login passwords of
Administrator users.