EFORT ER180-4-3200 User manual

ER180-4-3200 Quick Operation Manual
for Industrial Robot
Efort Intelligent Equipment Co., Ltd
Service Hotline（Tel）：[phone]

Industrial Robot Quick Operation Manual for ER180-4-3200
Statement
Thank you for purchasing EFT 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, EFT 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.
Version: V 1.1

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Contents
Chapter One Safety......................................................................................................... 1
1.1 Safety instructions............................................................................................................. 1
1.2 Safety guidelines............................................................................................................ 1
1.3 Safety precautions in the process of work.........................................................................3
1.3.1 Safety of robot installation and connection........................................................ 3
1.3.2 Safety before robot starting..............................................................................4
1.3.3 Safety of robot starting........................................................................................5
1.3.4 Test run safety..................................................................................................... 6
1.3.5 Safety in teaching process...................................................................................6
1.3.6 Security in autorun..............................................................................................8
1.3.7 Safety during maintenance..................................................................................9
1.3.8 Safety during spot check and maintenance....................................................10
Chapter Two Handling and installation........................................................................... 14
2.1 Overview......................................................................................................................... 14
2.2 Basic Description............................................................................................................ 14
2.2.1 unpacking list.................................................................................................... 14
2.2.2 Preparation work before installation.................................................................15
2.2.3 Robot storage environment............................................................................... 15
2.2.4 Robot operation environment........................................................................... 15
2.2.5 Start robot in cold environment........................................................................ 16
2.2.6 Table of robot performance parameters............................................................ 16
2.2.7 Robot workplace............................................................................................... 18
2.2.8 Working space of control cabinet......................................................................18
2.3 Handling.......................................................................................................................... 19
2.3.1 Precautions for robot handling..........................................................................19
2.3.2 Robot body handling.........................................................................................20
2.3.3 Robot control cabinet handling.........................................................................22
2.4 Installation.......................................................................................................................23
2.4.1 Setting of safety bar.......................................................................................... 23
2.4.2 Robot installation method................................................................................. 24
2.4.3 Ground installation............................................................................................24
2.4.4 Bracket installation........................................................................................... 26
2.4.5 Installation site and environment...................................................................... 26
Chapter 3 Electrical connection...................................................................................... 31
3.1 Robot power supply........................................................................................................ 31
3.2 Connection between robot control cabinet and robot body.............................................33
3.4 IO module expansion...................................................................................................... 37
3.4.1 Controller local IO extension............................................................................37
3.4.2 Controller remote IO extension........................................................................ 38
3.4.3 Motion control card...........................................................................................39

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3.5 IO settings....................................................................................................................... 41
3.5.1 Update IO module.............................................................................................41
3.5.2 Remote IO configuration.................................................................................. 42
3.5 Analog IO configuration...................................................................................... 46
3.5.5 Group IO configuration.....................................................................................47
3.6 Introduction of external emergency stop.........................................................................49
Chapter 4 Quick operation............................................................................................... 52
4.1 Teach pendant..................................................................................................................52
4.1.1 About teach pendant..........................................................................................52
4.1.2 Function area and interface...............................................................................53
4.1.3 How to hold the teach pendant..........................................................................55
4.2 Power on and start........................................................................................................... 56
4.3 Jog operation................................................................................................................... 56
4.3.1 What is Jog operation........................................................................................56
4.3.2 Points for attention on jogging operation..........................................................56
4.3.3 Start jogging operation......................................................................................57
4.3.4 Joint coordinate system - jogging operation..................................................... 58
4.4 Program operation........................................................................................................... 58
4.4.1What is program operation.................................................................................58
4.4.2 Points for attention on program operation........................................................ 58
4.4.3 Start program operation.................................................................................... 59
4.5 Shut down and power off................................................................................................ 61

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Chapter One Safety
1.1 Safety instructions
According to the relevant laws, regulations and regulations of the state and the local government,
safety prevention is the most basic concern when using industrial systems including industial robots.
In the event of personal injury and property loss caused by the use of robots, the factory using
robots is responsible. Therefore, in addition to understanding this manual and relevant information, all
laws and standards concerning health and safety must be understood and must be observed.
For safety, it is only the minimum requirement to comply with the provisions of this manual and
other EFFORT company manuals. As a general rule, the safety related information recorded in this
manual does not fully cover all aspects of robot application system. Therefore, when using robots,
necessary safety measures should be taken and strictly observed according to the actual situation of the
system and its application environment.
Operators must carefully read the following information, especially the safety measures listed in
this chapter.
Users of the EFORT industrial robots shall be responsible for ensuring compliance with
applicable safety laws and regulations in the country/district and that the necessary safety equipment
used to protect the operator of the robot system is designed reasonably and installed correctly. Robot
operators must be familiar with the operation and handling of industrial robots as described in the
following applicable documents:
ER Series Robot Operation Manual
Electrical Use and Maintenance Manual for ER 180-4-3200 Industrial Robot
Mechanical Use and Maintenance Manual for ER 180-4-3200 Industrial Robot
This manual contains all the safety instructions contained in the product manual for robots and
controllers. The robot system shall be designed and manufactured very well in order to safely enter all
areas necessary for intervention during operation, adjustment and maintenance. For the situation that it
is necessary to work in the safe protection space, it is necessary to ensure safe and sufficient access to
the working position.
1.2 Safety guidelines
Prohibited acts
1. Do not change or remove the protective device and safety device of industrial robot at
will.
2. In case of waterlogging, do not touch the robot. First cut off all power and drain the site.
3. The operation of industrial robots can only be carried out by professionals who have
received sufficient training and guidance (including those who have read this manual).
4. Make sure that the area around the emergency stop equipment is unblocked. Do not pile
up sundries before the emergency stop equipment, which will hinder the use of the
equipment in emergency.

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5. It is not allowed to use unsuitable materials, adjust and modify the robot improperly.
6. Unauthorized personnel or personnel who have not received training in the use of the
robot and are aware of the existing risks shall not operate the robot.
7. Do not use the robot when:
Exposure of robot components
The safety device is disabled
When all or part of the fuse and / or mechanical equipment is disabled
The processed materials do not meet the requirements
No more than one person is allowed to use the machine at the same time
8. It is strictly forbidden to use the robot in violation of the above requirements, especially
the use of nonoriginal accessories.
9. Do not move the safety protection device. It is the user's responsibility to ensure that the
safety protection device is fixed and operated orderly.
10. The safety device can only be moved during maintenance, but the operation procedures
of the maintenance personnel must be followed, and the operation must be carried out under
the condition of ensuring the safety of the robot.
Coercive measures
1. Make sure that no one is in the danger area before starting the machine.
2. All operators must receive special training on the use and maintenance of industrial
machines.
3. The foreman shall continuously monitor to ensure the normal operation of all procedures
and ensure the correct application of safety protection procedures.
4. Carry out maintenance according to the maintenance requirements in this manual to keep
the industrial robot clean and tidy.
5. Appropriate tool kits should be prepared to store cleaning tools and maintenance tools;
personnel must wear the personal protective equipment.
6. In addition to these instructions, the trial users must comply with current health and
safety regulations.
7. When the robot fails, or is suspected to be damaged, and the machine does not work or
makes abnormal noise, the machine should be stopped.
8. Once you find a fire in the machine (regardless of the size of the fire), you should
immediately call the police and find a professional team to put out the fire.
9. When the machine is running, the control cabinet door must be closed all the time and
cannot be opened. The key of control cabinet must be kept by electrician.
10. When operating with the mode of power-on, personnel are not allowed to enter the
safety protection area.
11. Before the automatic mode is turned on, all the temporarily disabled safety functions
must be restored to the normal working state.
warning
1. The release of gravity and brakes may cause a fall hazard.
2. When the safety protection device is inspected, it may cause danger to the maintenance

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personnel because the safety protection device cannot work. Therefore, the maintenance
personnel must be very careful and take all kinds of protective measures.
1.3 Safety precautions in the process of work
1.3.1 Safety of robot installation and connection
DANGER
For all operations of installation and connection, please strictly observe the following
items and refer to the following national / international standards. The safety function of the
robot is designed according to the safety requirements of industrial robots
(GB11291.1-2011/ISO10281- 1:2006).
1. Before operation, please read and understand all manuals, specifications and other
relevant documents provided by Efort. In addition, a complete understanding of the
operation, teaching, maintenance and other processes. At the same time, confirm that all
safety measures are in place and effective.
2. When transporting robots, avoid exceeding the specified height:
Only people with forklift and crane operation qualification are allowed to move /
transport robot body, control cabinet, etc
During transportation, never approach or walk under the lifted robot body or control
cabinet.
Do not stay on the robot body and control cabinet during transportation, and do not
touch or support them manually.
3. Hook the wire rope to the lifting ring as described in the robot lifting diagram, and make
sure that the lifting ring is not loose before operation.
4. When using sling to transfer control cabinet, please remove the teach pendant and its
support to avoid the cable from hooking other equipment.
5. Before moving the robot, remove all unwanted objects and clean up the access to the
installation location.
6. If it is handled by forklift, please fix the control cabinet to prevent the control cabinet
from dumping.
7. Since the robot is composed of precise components, please protect the robot from
collision and impact.
8. When the main power supply of the installation ground is on, the power cable of the
control cabinet shall not be connected. Otherwise, it will be extremely dangerous and can
cause electric shock. When connecting the input power cable, make sure that the main
power supply is off. Meanwhile, to prevent the input power supply or circuit breaker from
being misclosed, please place clear off- mark on all power supply units and circuit breakers

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to indicate that the inspection / maintenance and maintenance are in progress, and lock or
clamp the main power switch.
9. When the wiring is finished, always shut the cover plate of the input power connection
end. Otherwise, it will be extremely dangerous. If the terminal is touched by mistake,
electric shock may be caused.
10. Place the motor / signal cables connecting the robot into the cable tray to prevent
damage. Also take measures to avoid pressure on them. Do not connect the power supply
until all the connection between the control cabinet and the robot body is completed.
Otherwise, it will be very dangerous, which can lead to electric shock and other accidents.
1.3.2 Safety before robot starting
DANGER
The operation of the robot before starting must strictly comply with the following
matters, and refer to the relevant national / international safety standards. The safety
function of the robot is designed according to the safety requirements of industrial robots
(GB11291.1-2011/ISO10281- 1:2006).
1. Before operation, please read and understand all manuals, specifications and other
relevant documents provided by EFT. In addition, a complete understanding of the
operation, teaching, maintenance and other processes. At the same time, confirm that all
safety measures are in place and effective.
2. Make sure that the robot's control cabinet, operation panel and all other control devices
are installed outside the safety protection device (fence). Only in this way can the whole
movement range of the robot be monitored.
3. Confirm that there are no personnel, packaging materials, fixtures or other obstacles
within the range of motion of the robot arm.
4. Eliminate any area between the fixed device and the mobile device that may trap people.
5. Before connecting the power cable, please confirm whether the voltage, frequency and
cable specification of the power supply meet the requirements.
6. Ensure that the control cabinet and surrounding equipment are properly grounded. The
ground wire of robot control cabinet and the ground wire of peripheral equipment should be
grounded separately, not connected together. At the same time, if the external equipment is
equipped with electromagnetic switch, contactor and other devices, please install power
filter or equivalent device on the power-incoming line adjacent to the robot control cabinet.
7. Before turning on the "power" of the robot, please confirm that the installation of the
robot meets the requirements of robot installation.
8. When the operator operates the robot, he must be equipped with an observer for
monitoring, and the observer must also complete the corresponding training provided by
Efort company.
9. For application projects (water, compressed air, protective gas, etc.), the system must be

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equipped with monitoring instruments, so as to automatically detect the abnormal situation
of water supply and gas supply in time.
10. If the robot will produce the largest amount of waste, metal dust particles, fine particles,
etc. in the process of working, please cover the robot body, robot control cabinet, and
peripheral devices with a suitable cover.
1.3.3 Safety of robot starting
DANGER
To start the robot, first connect the power line, and then turn the power switch from
OFF to On. For these operations, please strictly abide by the following items and refer to
relevant domestic / international standards.
The safety function of the robot is designed according to the safety requirements of
industrial robots (GB11291.1-2011/ISO10281- 1:2006).
Before starting the robot, please make sure that the emergency stop switch works
normally.
1. Before operation, please read and understand all manuals, specifications and other
relevant documents provided by Efort. In addition, a complete understanding of the
operation, teaching, maintenance and other processes. At the same time, confirm that all
safety measures are in place and effective.
2. Check the name and function of all switches, displays and signals necessary for robot
operation.
3. Do not enter the security fence unless the robot is powered off. At the same time, before
starting the robot, make sure that all safety protection devices function normally.
4. If there are several operators working together in the robot application system, all
operators and related personnel must know that the robot has been activated before starting
the robot.
5. Before turning ON the motor power and starting teaching or automatic operation, please
confirm again that there are no workers or left obstacles in and around the robot safety
fence.
6. When starting the robot and recovering from the fault state, put your hand on the
emergency stop switch after turning on the power supply of the control cabinet, so as to cut
off the power supply of the motor immediately in case of any abnormal situation.
7. Before activating the robot, please confirm again that the following conditions have been
met.
Confirm that the installation status of the robot is correct and stable.
Make sure that all kinds of connections of robot control cabinet are correct, and the
power specifications (power supply voltage, frequency, etc.) meet the requirements.
Make sure that all kinds of application connections (water, compressed air,

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protective gas, etc.) are correct and consistent with the specifications and models.
Make sure the connection with peripheral devices is correct.
Please make sure that in addition to using the software motion limit, the mechanical
limit block / or limit switch has been installed to limit the motion range of the robot.
When the robot is stopped by the mechanical limit block, please confirm that the
relevant parts have been inspected or the failed mechanical limit block has been
replaced (if necessary).
Confirm that safety measures have been taken: some installation protective devices
have been installed such as safety fences or alarm devices.
Please confirm that the function of safety protection device and interlock is normal.
Confirm that the environmental conditions (temperature, humidity, light, noise,
dust, etc.) meet the requirements, or do not exceed the specifications of the system and
robot.
1.3.4 Test run safety
DANGER
During test run, there may be design error, teaching error and work error in many
elements such as teaching program, fixture, logic controller. Therefore, the safety awareness
must be further improved during the test run.
The following points should be noted during the test run:
1. First, confirm whether the emergency stop button, hold / run switch and other buttons,
switches and signals used to stop the robot are normal. Once a dangerous situation occurs, if
the robot can not be stopped, it will not be able to prevent the accident.
2. During the test run of the robot, the operation speed of the robot is set to low speed (about
5% - 10%) to confirm the teaching action. Confirm the action repeatedly with about 2-3
cycles. If any problem is found, stop the robot immediately and correct it. After ensuring
that there is no problem, gradually increase the speed (50% → 70% → 100%), and repeat
the confirmation action again with about 2-3 cycles.
1.3.5 Safety in teaching process
DANGER
Efort recommends that teaching should be completed outside the safety fence.
However, if it is necessary to enter the safety fence, please strictly observe the following
items, and refer to the following domestic / international safety standards.
The safety function of the robot is designed according to the safety requirements of
industrial robots (GB11291.1-2011/ISO10281- 1:2006).
Please confirm that the emergency stop switch is functioning normally before teaching.

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1. Please read and understand all manuals, specifications and other relevant documents
provided by Efort before operation. In addition, the operation, teaching, maintenance and
other processes are fully understood. At the same time, confirm that all safety measures are
in place and effective.
2. Before starting the robot, please confirm that all safety guards (safety fences) are
working properly.
3. Teaching should be done by two people, one instructor and one observer. The observer
also bears the responsibility of safety supervision, and confirms the signal conditions such
as "work start" before teaching.
4. Before entering the safety fence, the instructor must set the teaching switch on the teach
pendant to the manual position to prevent the switch on control cabinet turning to the
automatic mode and cause accidents. Once the robot makes any abnormal movement,
press the emergency stop switch immediately and exit the robot working area from the
preset retreat path immediately.
5. Please install an emergency stop switch for the observer outside the safety fence and
where the whole robot can be monitored. Once the robot is moving improperly, the
observer must be able to press the switch very easily to stop the robot immediately. In
addition, if you need to restart the robot after an emergency stop, reset and restart manual
operation outside the safety fence. The instructor and observer must be qualified personnel
who have been specially trained.
6. Please clearly mark that teaching is in progress to avoid any robot system device being
misoperated by anyone through control cabinet, operation panel, teach pendant, etc.
7. After completing the teaching work, before confirming the movement track and teaching
data of teaching, please clear all personnel and obstacles left in the safety fence and around
the robot. After confirming that there are no personnel and obstacles left in the safety
fence, please perform the confirmation work outside the safety fence. At this time, the
speed of the robot shall be less than or equal to the safe speed (250mm/s), that is, until the
movement is confirmed to be normal.
8. If you need to restart the robot after an emergency stop, reset and restart manually
outside the safety fence. Meanwhile, confirm all safety conditions and confirm that there
are no personnel and obstacles left around the robot and in the safety fence.
9. During the teaching process, please confirm the range of motion of the robot and
prohibit the approach to the lower part of the robot arm. Avoid the danger caused by
accidental operation. Pay special attention to the danger caused by accidental falling of the
workpiece when the robot claw holds the workpiece.
10. For safety, in teaching or inspection mode, the maximum speed of the robot is limited
to 250mm / S (safe operation speed). However, when the operator verifies the teaching
data after the teaching or error recovery is completed, please set the speed of inspection
operation as low as possible.

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11. During the teaching process, whether the instruction operator or supervisor, the robot
must be monitored for abnormal movement, possible collision and extrusion points around
the robot. Also, please confirm the safety access for the instruction operator to retreat in
case of emergency.
12. After movement teaching of the robot is completed, please set the software limit of the
robot a little beyond the teaching range of the robot. For how to set the software limit, refer
to the operation manual of Efort industrial robot.
1.3.6 Security in autorun
DANGER
As the teaching program will run at high speed, please strictly abide by the following
items and refer to the relevant international and domestic safety standards.
The safety function of the robot is designed according to the safety requirements of
industrial robots (GB11291.1-2011/ISO10281- 1:2006).
Before automatic operation, please make sure that all switches function normally.
1. Before operation, please read and understand all manuals and other relevant documents
provided by Efort. In addition, a complete understanding of the operation, teaching,
maintenance and other processes. At the same time, confirm that all safety measures are in
place and effective.
2. Never enter or partially enter the safety fence during automatic operation. At the same
time, please make sure there are no people or obstacles left in the safety fence before
starting the robot.
3. In automatic operation, the robot looks like it has stopped when waiting for timer delay
or external signal input. But at this time do not get close to the robot, because when the
timer reaches the time or external signal receives the input, the robot will immediately
resume operation.
4. In the automatic operation, this situation will be extremely dangerous: if the grip of the
workpiece is not enough, the workpiece may be thrown off in the movement of the robot.
Please make sure that the workpiece is firmly grasped. When the workpiece is grasped by
pneumatic gripper, electromagnetic mechanism method, etc., please use the
failure-prevention safety system to ensure that once the driving force of the mechanism is
suddenly disconnected, the workpiece will not be ejected. Even in the case of error, the
possibility of the workpiece out is the smallest, please also install protective fence, such as
mesh cover, etc.
5. Display the sign of "automatic operation" on the safety fence and do not enter the work
area. At the same time, please confirm the safe passage for the operator to withdraw in case
of emergency.
6. If the robot stops in automatic operation due to fault, please check the fault information
displayed, and recover and restart the robot according to the correct fault recovery

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sequence.
7. Before restarting the robot, please confirm that the safe working conditions are met after
the fault recovery sequence and that there are no personnel, fixtures, peripheral devices or
obstacles left in the safety protection device or around the robot.
1.3.7 Safety during maintenance
DANGER
To carry out maintenance, please strictly abide by the following terms, and refer to the
relevant international and domestic safety standards.
The safety function of the robot is designed according to the safety requirements of
industrial robots (GB11291.1-2011/ISO10281- 1:2006).
Please make sure that all switches are working properly before maintenance.
1. Before operation, please read and understand all manuals and other relevant documents
provided by Efort. In addition, a complete understanding of the operation, teaching,
maintenance and other processes. At the same time, confirm that all safety measures are in
place and effective.
2. Before entering the security fence, please make sure that all necessary security measures
are ready and functioning well.
3. Before entering the security fence, please cut off the control power until the main power
supply. Clear signal display should be placed to show that the power is off and maintenance
is in progress, and the main power switch should be locked or clamped to prevent someone
from turning on the power by mistake.
4. The maintenance work is limited to the personnel who have completed the special
training of the corresponding type of robot.
5. Before maintenance, make sure there is enough space around the robot to avoid
interference with peripheral equipment. At the same time, the peripheral devices are fixed
to prevent any sudden action.
6. Be sure to turn off the automatic operation function before entering the safety fence. If
the robot has any abnormal movement, it should immediately press the emergency stop
switch and withdraw from the specified evacuation route.
7. In addition to the emergency stop switch of the teach pendant in the hands of the
operator, please install another emergency stop switch for the inspector outside the safety
bar, where it is convenient to observe the movement range of all robots. In case of
abnormal action of the robot during maintenance, the switch must be easily pressed by the
inspector. After the emergency stop, please reset and restart the robot from outside the
fence. In addition, both operators and inspectors must be personnel who have completed
special training courses.
8. During the operation, both the operator and the inspector must pay attention to the

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abnormal movement, the possible collision point and the surrounding of the robot.
9. When replacing, please use only the parts provided by Efort company.
10. Support the robot arm with a suitable lifting device before removing the servo motor of
any joint axis. If the motor is removed, the brake mechanism of the axis will fail. If there is
no reliable support, the arm will fall. Please note that if you press any axle brake release
switch on the control cabinet, the same danger will appear.
11. When the driver module and power module need to be replaced, please turn off the
control power and wait for at least 7 minutes. Then, please confirm that the output voltage
of the power supply is 0V before starting to replace the work, remove the connector, etc.
Please also note that do not touch any parts to prevent electric shock or scald.
12. If compressed air or water is supplied, please cut off the supply source and remove any
residual pressure in the pipeline before maintenance.
13. When the robot expands the additional axis, make sure that the emergency stop signal
of the additional axis is connected in series to the emergency stop circuit of the control
cabinet.
14. When changing the robot parts, it is necessary to confirm the matching degree of the
changing parts and the original parts, and carefully check the schematic diagram, so as to
prevent the wrong wiring from causing damage to the robot control cabinet components or
external components.
1.3.8 Safety during spot check and maintenance
DANGER
In order to prevent system failure, please clean, inspect, maintain or replace the parts of
the robot in strict accordance with the following terms. At the same time, refer to the
relevant international and domestic safety standards.
Before inspection and maintenance, please make sure that all emergency stop switches
function normally.
1. Before operation, please read and understand all manuals and other relevant documents
provided by EFT. In addition, a complete understanding of the operation, teaching,
maintenance and other processes. At the same time, confirm that all safety measures are in
place and effective.
2. Before inspection and maintenance, remove unwanted objects and clear the passage to the
installation position.
3. The spot inspection and maintenance work is limited to the personnel who have
completed the special training of the robot or the same type of robot.
4. Before spot check and maintenance, please make sure there is enough space around the
robot to avoid interference with peripheral equipment. At the same time, set the peripheral
equipment to a fixed state to ensure that they will not suddenly move.

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5. Before entering the safety fence, please cut off the power supply of the whole line or
robot according to the work needs, and cut off the power supply until the total power supply.
Clear signal shall be placed to show that the power is off, inspection / maintenance is in
progress, and the main power switch shall be locked or clamped by lock, so as to avoid
someone turning on the power by mistake. If the whole line cannot stop, install a temporary
safety fence between the target robot and any adjacent robots.
6. When carrying out spot inspection and maintenance of interlocking signal line, please
turn off the power supply of all signal associated equipment to ensure safety. Do not enter
the safety fence during this work.
After the completion of spot inspection and maintenance, please confirm that the safety
protection devices (safety fence, safety bolt, emergency stop switch, etc.), peripheral
equipment, interlocking lines and other safety devices work normally.
7. In addition to the emergency stop switch held by the operator, please install another
emergency stop switch for the supervisor outside the safety fence. The installation position
should be selected where all the robot motion ranges can be monitored. If the robot moves
abnormally during maintenance / spot inspection, the supervisor must easily press the
switch. After the emergency stop, the recovery and restart of the robot must be carried out
outside the safety fence. In addition, operators and supervisors must be personnel who have
completed special training courses.
8. Before entering the safety fence, the instructor must turn the teaching mode switch on the
teach pendant to the manual mode, so as to prevent accidents caused by turning the cabinet
mode switch to the automatic mode. Once the robot makes any abnormal movement,
immediately press the emergency stop switch and exit the robot working area from the
preset retreat path.
9. In the process of spot inspection / maintenance, both operators and supervisors must
always monitor whether the robot has abnormal movement, possible collision, extrusion,
etc. At the same time, please confirm the operator's safe passage for emergency evacuation.
10. If it is inevitable to remove the safety fence in the process of spot inspection /
maintenance, please provide sufficient safety measures:
Park the robot and peripherals in the right place.
Lock / calibrate the power supply and switch. It must be avoided that anyone turns
on the power supply by mistake or sets the switch to automatic mode by mistake.
After the completion of spot inspection / maintenance, the safety fence shall be
installed again, and all safety measures and safety functions shall be confirmed to be
the same as the original.
11. Please use only the parts approved by Efort company for replacement. In addition, in the
spot inspection / maintenance, please use the teaching mode and move the robot as low as
possible.
12. When the driver module and power module need to be replaced, please turn off the
control power and wait for at least 7 minutes. Then, please confirm that the output voltage
of the power supply is 0V. After confirming that the output power of DC power supply is

Industrial Robot Quick Operation Manual for ER180-4-3200
12
changing to 0V, replace or pull out the connector. In addition, if the robot has just stopped
running, the heat sink or regenerative absorption resistance may still be hot. Therefore, be
careful not to touch any hot parts.
13. Before removing the servo motor from the shaft, firmly support the robot arm with a
suitable lifting device. Removing the motor outside the shaft will disable the brake system
of the shaft, and the arm will fall. In addition, pressing any brake release button on the
control panel will cause the same danger.
14. If the robot must maintain the same pose and attitude before and after maintenance,
please record the pose and attitude data of the robot before replacing parts.
15. At the beginning of the replacement process, when the printed circuit board or cable is
removed, check and record their position, connector number, installation method, setting
data, etc., so that they can be restored as they are. After the connector is inserted, its locking
mechanism must be locked firmly. Also, never touch the connector pin.
16. When the application devices (water, compressed air, protective gas, etc.) are used,
please shut down their supply sources and remove the residual pressure in the pipeline
before spot inspection / maintenance.
17. After repair / maintenance, please make sure that all safety protection devices are
working properly
18. Do not change or modify the robot without permission of the company. In case of
unauthorized modification, Efort will not be responsible.
19. In the robot arm and control cabinet, a variety of data backup batteries are built in. If the
wrong battery is used, it will cause combustion, overheating, explosion, corrosion, leakage
and so on. Therefore, the following requirements must be strictly observed.
Only use batteries specified by EFT;
The battery can not be recharged, disassembled, changed and heated;
Do not discard the battery in water or fire;
The battery with damaged surface may have been short circuited inside and must
not be used again;
Do not use metal, such as wires, to short circuit the positive and negative poles of
the battery. The waste batteries should not be discarded in the garbage of incineration,
landfill and dumping to the ground. When discarding batteries, wrap them in bags to
prevent them from contacting other metals, and handle them correctly according to
local regulations.
20. When the robot expands the additional axis, make sure that the emergency stop signal of
the additional axis is connected in series to the emergency stop link of the control cabinet.
After connecting to the extension axis, it is necessary to test the safety function of the
emergency stop link to ensure that it conforms to the safety control logic. After changing the
safety related components, it is necessary to test the safety function of the emergency stop
link to ensure that it meets the safety control logic.
21. When changing the robot parts, the matching degree between the changing parts and the
original parts must be confirmed, and the schematic diagram must be checked carefully to
prevent the wrong wiring from causing damage to the robot control cabinet components or

Industrial Robot Quick Operation Manual for ER180-4-3200
13
external components.

Industrial Robot Quick Operation Manual for ER180-4-3200
14
Chapter Two Handling and installation
2.1 Overview
This chapter contains assembly instructions and information about installing the ER180-4-3200
industrial robot on the job site.
Before starting any installation work, it is very important to check all safety information first! Be sure
to read the safety manual of EFORT robot carefully, as well as the first chapter of this manual. There are
several general safety aspects that must be read in full, as well as more specific safety information about the
dangers and safety risks encountered in performing the operation procedures.
2.2 Basic Description
2.2.1 unpacking list
1. Before unpacking, please confirm whether the outer package of the product is in good condition.
2. After unpacking, please confirm whether the robot accessories are complete and whether the model
is consistent with the order. In case of missing or wrong parts, please contact the supplier in time.
Table 2-1 robot packing list
Unpacking list
Name
Type
Qua
ntity
Unit
Remark
Robot body
ER180-4-3200
1
PC
Control cabinet
EC-L4
1
PC
Teach pendant + teach
pendant line
11500010563
1
PC
control cabinet –robot
body power line
10900016326
1
SET
Standard length 8m，Support
regular customization 12m、
16、20m
control cabinet –robot
body brake line
10900016327
1
SET
Standard length 8m，Support
regular customization 12m、
16、20m
control cabinet - robot
body encoder line
10900016328
1
SET
Standard length 8m，Support
regular customization 12m、
16、20m
power aerial plug for
control cabinet
10900001237
1
PC
has been installed on the
control cabinet
10900001229
1
PC
10900001236
1
PC
dust cover of
power aerial plug
10900002138
2
PC
has been installed on the
control cabinet and the body
10900001113
2
PC

Industrial Robot Quick Operation Manual for ER180-4-3200
15
10900001122
3
PC
accessories (bracket,
pin)
\
1
SET
has been installed on the
robot body
Note: the above is the standard configuration list, excluding customized models.
2.2.2 Preparation work before installation
This section is intended for the first time to open the box and install the robot. It also contains useful
information needed in the process of reinstalling the robot later.
Before the robot installation, the following inspection items shall be carried out:
Table 2-2 Precautions before installation
1
Visually check the robot to ensure it is not damaged.
2
Ensure that the lifting device used is suitable for handling the specified robot
weight.
3
If the robot is not directly installed, it must be stored according to the
requirements of the robot storage environment.
4
Ensure that the expected operating environment of the robot meets the
requirements of the robot operating environment.
5
Before transporting the robot to its installation site, please ensure that the site
meets the ground installation requirements.
6
Before moving a robot, please check the stability of the robot.
7
After these prerequisites are met, the robot can be transported to its installation
site as described in the following sections。
2.2.3 Robot storage environment
The following table shows the allowed robot storage conditions:
Table 2-3 Robot storage environment
Parameter
Value
Minimum ambient temperature
-40℃
Maximum ambient temperature
+55℃
Maximum ambient humidity
93% RH, no condensation（40℃）
2.2.4 Robot operation environment
The following table shows the allowed robot operation conditions:
Table 2-4 Robot operation environment