EFORT ER15-1400 User manual

1
EFORT INTELLIGENT EQUIPMENT CO., LTD
Hotline (Tel): [phone]
ER15-1400 Mechanical Operation and
Maintenance Manual for Industrial Robot

Statement
Thank you for purchasing EFORT robot products. The contents mentioned
in this manual are related to your safety, legal rights and responsibilities. Before
using this product, please read this manual carefully to ensure that the product
has been set up correctly. Failure to follow the instructions and warnings in this
manual may cause injury to you and the people around you, and damage to the
EFORT Robot or other surrounding objects. The final interpretation right of this
document and all related documents of EFORT robot belongs to EFORT. Subject
to update without prior notice. Please visit www.efort.com.cn the latest product
information.
Once you use this product, you are deemed to have carefully read the
disclaimer and warning, understand, recognize and accept all terms and contents
of this statement. You promise to take full responsibility for the use of this
product and the possible consequences. You promise to use this product only for
legitimate purposes, and agree on these terms and any relevant regulations,
policies and guidelines formulated by EFORT.
EFORT is not responsible for the losses, injuries and any legal liabilities caused
by the direct or indirect use of this product. Users should follow but not limited
to the safety guidelines mentioned in this manual.
Version: V 1.1

Content
Chapter One Safety............................................................................................................................................1
1.1 Instructions for Safe Use of Robots.....................................................................................................1
1.1.1 Safety Precautions during Adjustment, Operation, Maintenance, etc..................................... 1
1.1.2 Safety Countermeasures of Robot Body.................................................................................. 3
1.2 Robot Body Label Description............................................................................................................7
1.3 Shift, Transfer, and Sale of Robots......................................................................................................7
1.4 Abandonment of Robots...................................................................................................................... 8
Chapter Two Basic Description....................................................................................................................... 10
2.1 Robot system composition.................................................................................................................10
2.2 Unpacking Check...............................................................................................................................10
2.3 Machine Body Nameplate................................................................................................................. 11
2.4 Body Part Composition and Direction Identification of Each Axis..................................................12
2.5 Robot Axis Range Limit and Home Position.................................................................................... 12
2.6 Robot Performance Parameters......................................................................................................... 13
2.7 Allowable Value of Wrist Payload.....................................................................................................15
2.7.1 Allowable Weight................................................................................................................... 15
2.7.2 Allowable Maximum of Static Payload Torque..................................................................... 15
2.7.3 Allowable Maximum of Moment of Inertia........................................................................... 15
2.7.4 Allowable Payload Curve Diagram........................................................................................15
Chapter Three Handling and Installation.........................................................................................................16
3.1 Robot Handling..................................................................................................................................16
3.1.1 Handling Precautions..............................................................................................................16
3.1.2 Auxiliary Handling Tooling....................................................................................................16
3.1.3 Handling Method....................................................................................................................17
3.2 Robot Installation...............................................................................................................................20
3.2.1 Setting of Safety Fence...........................................................................................................20
3.2.2 Robot Installation Method......................................................................................................20
3.2.3 Ground Mounting................................................................................................................... 21
3.2.4 Supporter Installation............................................................................................................. 22
3.2.5 Suspended Installation............................................................................................................23
3.3 Installation Site and Environment..................................................................................................... 23
3.4 Integrated Application Installation Interface.....................................................................................24
3.4.1 End Flange Installation Interface........................................................................................... 24
3.4.2 external installation Interface................................................................................................. 25
3.4.3 Definition of Wrist I/O Single Cable Connector....................................................................25
3.4.4 Location of Pneumatic and Signal Line Interface..................................................................26
Chapter Four Overhaul and Maintenance........................................................................................................28
4.1 Preventive Maintenance.................................................................................................................... 28
4.1.1 Daily Inspection......................................................................................................................28
4.1.2 Quarterly Inspection............................................................................................................... 28

4.1.3 Annual Inspection................................................................................................................... 29
4.1.4 Inspect Every Three Years......................................................................................................29
4.2 Overhaul of Main Bolts..................................................................................................................... 29
4.3 Change the Lubricant.........................................................................................................................30
4.3.1 The Oil Supply Quantity of Lubricant................................................................................... 30
4.3.2 Space Orientation of Lubrication........................................................................................... 30
4.3.3 Lubricant Replacement Steps for J1~J4 Axis Reducer and Wrist Parts................................ 31
4.3.4 Release the Residual Pressure in the Lubricating Oil Cavity................................................ 32
4.4 Timng Belt Maintenance................................................................................................................... 32
4.4.1 Timing Belt Tension............................................................................................................... 33
4.4.2 Timing Belt Replacement....................................................................................................... 33
4.5 Robot Maintenance and Use Area..................................................................................................... 34
4.5.1 The use area must have the following safety conditions........................................................34
4.5.2 Qualification requirements and precautions for maintenance personnel...............................34
4.6 Home Position Calibration................................................................................................................ 34
4.6.1 Home Position Calibration Method........................................................................................35
4.6.2 Mechanical Home Position Calibration of Each Axis........................................................... 35
4.7 Battery Replacement..........................................................................................................................36
Chapter Five Common Faults and Treatment Measures................................................................................. 37
Appendix..........................................................................................................................................................42
A Screw Tightening Torque Table........................................................................................................... 42
B Backup List.......................................................................................................................................... 42

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Chapter One Safety
1.1 Instructions for Safe Use of Robots
Before performing installation, operation, maintenance, and overhaul operations, please be sure to
read this manual and other attached documents thoroughly and use this product correctly. Please fully grasp
the equipment knowledge, safety information and all precautions before using this product. This manual
uses the following symbols to indicate their importance.
Danger
It means that if the handling is wrong, it will cause the user's death or serious
injury, and the situation is very dangerous.
Warning
It indicates a situation that will cause death or serious injury to the user if the
handling is incorrect.
Attention
It indicates a situation that will cause minor injuries or property damage to
the user if the handling is incorrect.
1.1.1 Safety Precautions during Adjustment, Operation, Maintenance, etc.
1）Operators must wear work clothes, safety helmets, safety shoes, etc.
2）When turning on the power, make sure that there are no workers within the robot's operating range.
3）The power must be cut off before entering the robot's range of motion for work.
4）When overhaul, maintenance and other operations must be carried out under the power-on state, two
persons should work in a team at this time. One person maintains a posture that can immediately press
the emergency stop button, while the other person is within the robot's range of motion, staying
vigilant and working quickly. In addition, you should confirm the retreat path before proceeding.
5）The load on the wrist and the robot arm must be controlled within the allowable carrying weight and
torque. If the allowable carrying weight and torque regulations are not observed, it will lead to
abnormal action or premature damage of mechanical components.
6）It is forbidden to disassemble and work on parts not covered in the maintenance manual.
The robot is equipped with various self-diagnostic functions and abnormality detection functions, so
that it can stop safely even if an abnormality occurs. Even so, accidents caused by robots still occur
from time to time.

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Danger
Danger! Most robot accidents are as follows:
1、The automatic operation was performed without confirming whether there is
anyone in the robot's motion range.
2、It enters the robot's motion range in the automatic operation state, and the robot
starts suddenly during the operation.
3、You just notice the robot in front of you, ignoring the others.
The above-mentioned accidents were all caused by the same reasons as "ignorance of safety operation
procedures" and "no idea that the robot would move suddenly". In other words, they are all accidents
caused by man-made unsafe behaviors such as "temporary negligence" and "failure to follow the prescribed
steps."
"Emergency situations" make it too late for operators to implement "emergency stop", "flee" and other
behaviors to avoid the accident, which may lead to major accidents. "Emergency situations" generally have
the following types.
1）Low-speed action suddenly becomes high-speed action.
2）Other operators performed the operation.
3）A different program was started due to an abnormality or program error in the peripheral equipment.
4）Abnormal operation due to noise, malfunction, defect, etc.
5）Misoperation.
6）Originally planned to regenerate at low speed to perform the action, but it performed the high-speed
action.
7）The work pieces transported by the robot fall and scatter.
8）When the work piece is in the stopped state of clamping and interlocking standby, it suddenly loses
control.
9）The next or behind robot performed the action.
The above are only some examples, and there are many forms of "emergency situations". In most
cases, it is impossible to "stop" or "escape" a robot that moves suddenly, so the following best
countermeasures should be implemented to avoid such accidents.
Danger
Be careful and approach the robot cautiously.
Danger
When the robot is not in use, measures such as "press the emergency stop button"
and "cut off the power" should be taken to prevent the robot from moving.

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Danger
During the operation of the robot, please configure a monitor (the third party) who
can immediately press the emergency stop button to monitor the safety status.
Danger
During the operation of the robot, the operation should be carried out in a state
where the emergency stop button can be pressed immediately.
In order to comply with these principles, it is necessary to fully understand the following precautions
and follow them.
1.1.2 Safety Countermeasures of Robot Body
Attention
The design of the robot should remove unnecessary protrusions or sharp parts, use
materials that adapt to the working environment, and adopt a fail-safe protection
structure that is not prone to damage or accidents during operation. In addition, it
should be equipped with misoperation detection stop function and emergency stop
function when the robot is in use, as well as interlocking function to prevent the
danger of the robot when the peripheral equipment is abnormal, so as to ensure
safe operation.
Attention
The main body of the robot is a multi-joint manipulator structure, and the angle of
each joint in the movement is constantly changing.
When you must approach the robot for teaching and other tasks, be careful not to
get caught by the joints. Each joint action end is equipped with a mechanical stop,
which has a high risk of being clamped, so special attention should be paid to it.
In addition, if the servo motor is removed or the brake is released, the robot arm
may fall due to its own weight or move in an uncertain direction. Therefore,
measures to prevent falling must be implemented, and the surrounding safety
conditions must be confirmed before operation.
Attention
When installing the attached machine on the end effector and the mechanical arm,
the size and quantity of screws specified in this book should be strictly observed,
and the torque wrench should be used to tighten according to the specified torque.
In addition, do not use rusty or dirty screws.
Unspecified tightening and imperfect methods will loosen the screws and cause
major accidents.

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Attention
When designing and manufacturing the end effector, it is controlled within the
allowable load range of the robot wrist.
Attention
The fail-safe protection structure should be adopted, even if the power supply or
compressed air supply of the end effector is cut off, the installation object will not
be released or fly out, and the corner or protruding part should be treated to
prevent damage to people and objects.
Attention
It is strictly forbidden to supply power, compressed air, and welding cooling water
outside the specifications, which will affect the performance of the robot and cause
abnormal operations, malfunctions, damage and other dangerous situations.
Attention
Although electromagnetic interference is related to its type or intensity, there is no
perfect countermeasure with current technology.
When the robot is in operation or when the power is on, the operation precautions
and regulations should be followed. Due to electromagnetic waves, other noises, and
substrate defects, the recorded data will be lost.
Therefore, please back up programs or frequently used data to an external storage
medium such as a Compact flash card.
Attention
In a large-scale system, multiple operators are involved in the work. When it is
necessary to talk at a distance, the intention should be correctly conveyed by means
of gestures, etc.
Factors such as noise in the environment can make it impossible to convey the
meaning correctly and cause accidents.

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Attention
Industrial robot gesture method (example)
1. Connect: Do the work
related to the connection
2. No way! Disconnect:
Raise your right hand and
wave vigorously left and
right
3. Is that OK? (to
confirm): Raise your right
hand up high forward
4. OK: Raise your right
hand up high forward
Use your thumb and index
finger to form a circle
5. Wait a moment: The
right hand is facing the
opponent
Straight up arms
horizontally
6. Leave: Stretch your
right arm horizontally and
weave to the left
Attention
Operators should also maintain awareness of escape at all times during operations.
It must be ensured that in an emergency, you can escape immediately.
Attention
Always pay attention to the actions of the robot, and do not work with your back to the
robot.
Slow response to robot movements can also lead to accidents.
Attention
When an abnormality is found, the emergency stop button should be pressed
immediately.
This requirement must be thoroughly implemented.

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Attention
According to the setting place and operating content, the relevant operation regulations
and checklists such as starting method, operation method, solution in case of
abnormality, etc. of the robot should be compiled. And carry out the operation
according to the operating regulations. Operation only based on the memory and
knowledge of the operator can cause accidents due to forgetting and mistakes.
Attention
For the completed program, use the storage protection function to prevent accidental
editing.
Attention
When teaching, confirm the program number or step number before proceeding.
Editing procedures and steps incorrectly can cause accidents.
Attention
When it is not necessary to make the robot move and operate, please turn off the power
before performing the work.
Attention
After the teaching operation is completed, the robot movement should be manually
checked at a low speed.
If you run at 100% speed in automatic mode immediately, accidents will occur due to
program errors and other factors.
Attention
After the teaching work is over, clean up and check if you have forgotten to take the
tool. The work area is contaminated by oil, and tools are forgotten, etc., which can cause
accidents such as falls.
Ensuring safety starts with tidying up.

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1.2 Robot Body Label Description
Safety warning labels will be pasted on the robot body. These labels are pasted on specific parts of the
robot body to remind users of safety matters that need to be paid attention to when operating and
maintaining the robot.
Icon
Name
Description
Pasting Parts
Be careful
with your
hands
The moving parts of the
robot may pinch your
hands
It is generally pasted on the
rotating joint of the power
arm and the connecting rod.
Beware of
hot hands
After the robot is running,
there are high-temperature
heating parts
It is usually pasted on the
motor to warn that the
motor is hot and it is
forbidden to touch it with
bare hands.
Be careful of
electric
shock
There is a risk of electric
shock at the electrical
connection of the robot
It is generally pasted on the
motor and the circular
connector panel of the base,
prompting the user to pay
attention to safety when
connecting and removing
the cable connector.
No step,
fragile
During the maintenance
work, it is forbidden to
step on the robot, so as to
avoid the injury of people
when they step on the air.
At the same time, it is also
to avoid damaging the
parts and affecting the
performance of the robot
It is generally pasted on the
motor.
1.3 Shift, Transfer, and Sale of Robots
Attention
When the robot is shifted, transferred, or sold, it is necessary to ensure that the
auxiliary documents of the robot, such as the mechanical manual, electrical
maintenance manual, and robot programming manual, are transferred to the new
user.
When shifting, transferring, or selling to a foreign country, the customer must be
responsible for preparing mechanical manuals, electrical maintenance manuals,
and robot programming manuals in appropriate languages, modifying the display

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language, and ensuring compliance with local laws and regulations.
The new user does not read the instruction manual and performs wrong operation
or unsafe operation, which may lead to accidents.
Attention
When the robot is shifted, transferred, or sold abroad, if there are no special
provisions in the contract terms at the time of the initial sale, the security-related
terms shall not be inherited by the new recipient.
The original customer and the new recipient must sign a new contract.
1.4 Abandonment of Robots
Attention
Do not decompose, heat or incinerate the batteries used for the control device and
robot body. Otherwise, fire, rupture and burning accidents will occur.
Attention
Do not disassemble the board and components of the control device before
discarding it.
Sharp parts such as cracks or cuts, wires, etc. may cause injury.
Attention
After the cables and external wiring are removed from the connector and junction
box, do not disassemble them further and then discard them. Otherwise, it may
cause injury to hands or eyes due to conductors, etc.
Attention
When carrying out abandoned work, please pay full attention not to be pinched or
injured.

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Attention
Waste products should be discarded in a safe state.

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Chapter Two Basic Description
2.1 Robot system composition
The industrial robot is composed of the following components:
Robot body
Control Cabinet
Teach pendant
Connection (power supply) cables, etc.
Fig. 2-1 Industrial Robot System Composition
2.2 Unpacking Check
Attention
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.
Table 2-1 Unpacking List
Name
Model
Number
Unit
Remarks
robot body
ER15-1400
one
PC
/
robot control cabinet
EC-S6
one
PC
/
body-control cabinet
connection wire
power wire
one
PC
The cable is equipped with 8m as
standard, 16m is optional
encoder wire
one
PC
The cable is equipped with 8m as
standard, 16m is optional

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ground wire
standard
configuration
one
PC
The cable is equipped with 8m as
standard.
teach pendant + teach
pendant wire
standard
configuration
one
PC
8M
control cabinet power
wire
standard
configuration
one
PC
4M
control cabinet to body
IO wire
standard
configuration
one
PC
8M
small arm end part IO
wire
standard
configuration
one
PC
1.5M
fuse core
glass tube:
5×20-10A
one
PC
in the control cabinet accessory
box
25PIN direct
connection adapter
plate
standard
configuration
one
PC
in the control cabinet accessory
box
50PIN direct
connection adapter
plate
standard
configuration
one
PC
in the control cabinet accessory
box
instruction manual
mechanical
operation and
maintenance manual
one
PC
QR code
electrical operation
and maintenance
manual
one
PC
programming
manuals
one
PC
product certification
enterprise standard
one
PC
/
others
/
/
/
/
Note: The above is the standard configuration list, excluding the case of customized models, which are
subject to the random "Robot Packing List".
2.3 Machine Body Nameplate
The nameplate of the operator can be seen on the robot body, which contains the corresponding model
type, weight, voltage, production number,manufacturing date and other information. As shown in Figure
2-2 below.

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Fig2-2 Robot Body Nameplate
2.4 Body Part Composition and Direction Identification of Each Axis
The robot mechanical body is mainly composed of the base part, the rotating part, the big arm part, the
small arm part, and the wrist part. The joints of the machine body are driven by servo motors, and the joints
cooperate with each other to realize the adjustment of the position and posture of the robot end in space.
The names of the various components of the machine body and the identification of each axis
direction are shown in Figure2-3:
Fig. 2-3 Components of the Machine Body of ER10-1600
2.5 Robot Axis Range Limit and Home Position
Each axis of the robot body has a home position and range limit. When the robot system is running
normally, each axis of the robot is controlled to move within the allowable range. In addition, in order to
ensure further safety, mechanical range limits are provided on some axes to prevent the robot from
operating beyond the allowable range when the robot (control) system is abnormal.
the small arm part
the big arm part
the rotating part
the base part
the wrist part

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Fig2-4 Mechanical End Stop Position and Home Position
2.6 Robot Performance Parameters
Table 2-2 Performance Parameter Table
Model
ER15-1400
Action type
articular type
Control axis
six Axis
Maximum speed
of motion
axis/J1 axis
260°/sec
axis/J2 axis
255°/sec
axis/J3 axis
210°/sec
axis/J4 axis
450°/sec
axis/J5 axis
450°/sec
axis/J6 axis
600°/sec
Maximum range
of motion
axis/J1 axis
±170°
axis/J2 axis
-160°～+90°
axis/J3 axis
-85°～+175°
axis/J4 axis
±190°
axis/J5 axis
±130°
axis/J6 axis
±360°
Maximum radius of activity
1420mm
Maximum payload on wrist
15 kg
J2 axis mechanical end stop
J2 axis home position
J1 axis mechanical end stop
J1 axis home position
J3 axis home position
J3 axis mechanical end stop
J4 axis home position
J5 axis home position
J6 axis home position

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Fig2-5 Robot Workspace Diagram
Note: The working space shown in this figure is the theoretical maximum reachable range of point p.
It will change due to the influence of the installation method in actual operation. In actual use, please
consider the influence of the installation method on the working space.
Installation conditions
ground installation, upside-down installation,
side-mount installation
Protection level
IP65/ IP67(the wrist part)
Repeat positioning accuracy
±0.05mm
Body weight
150kg
P-point range
P-point

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2.7 Allowable Value of Wrist Payload
Attention
The installation payload at the front end of the robot wrist is affected by the
allowable weight of the wrist, the allowable payload torque value, and the allowable
moment of inertia. The allowable payload torque value changes according to the
actual payload moment of inertia. The wrist payload should be strictly controlled
within each allowable value. When using the robot with a wrist payload other than
the allowable value, normal operation cannot be guaranteed.
2.7.1 Allowable Weight
Robot model
Allowable weight
ER15-1400
15 kg
2.7.2 Allowable Maximum of Static Payload Torque
Robot model
Allowable static payload torque
J4 axis rotation
J5 axis rotation
J6 axis rotation
ER15-1400
42 N.m
42 N.m
20N.m
2.7.3 Allowable Maximum of Moment of Inertia
Robot model
Allowable moment of inertia
J4 axis rotation
J5 axis rotation
J6 axis rotation
ER15-1400
2 kg.m2
2 kg.m2
0.7 kg.m2
2.7.4 Allowable Payload Curve Diagram
Fig. 2-6 Wrist Axis Torque Diagram of ER15-1400

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Chapter Three Handling and Installation
3.1 Robot Handling
3.1.1 Handling Precautions
The following are precautions for robot handling operations. Please work safely after fully
understanding the following:
Attention
The handling of robots and control devices must be carried out by qualified personnel
for hook, lifting operation, forklift, etc. Carrying operations by operators who do not
have the correct skills may cause accidents such as tipping and falling.
Attention
When transporting the robot and control device, please follow the method described
in the manual and confirm the weight and steps before proceeding.
If the operation cannot be performed in accordance with the specified method, the
robot and the control device may tip over or fall during the handling process,
resulting in accidents.
Attention
When carrying out transportation and installation operations, care should be taken to
avoid damaging the wiring. In addition, after the device is assembled, protective
measures such as covering the protective cover should be taken to avoid damage to
the wiring by operators and forklifts.
3.1.2 Auxiliary Handling Tooling
Before the robot is transported, the wrist body part needs to be fixed to prevent the shaking and
collision of the wrist body from causing damage to the robot. Generally, a packing fixing bracket is used to
connect the wrist body and the swivel part.