EFORT ER20-1700 User manual

ER20-1700 Mechanical Operation and
Maintenance Manual for Industrial Robot
EFORT Intelligent Equipment Co., Ltd
Service Hotline（Tel）：[phone]

Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot
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Statement
Thank you for purchasing EFORT Robot products. To ensure proper set-up
of products, please read this manual carefully before operation. The content
mentioned in this statement and manual involves your personal and property
safety. Not following the instructions and warnings of the manual may cause
injury to you and EFORT robots, as well as loss of surrounding properties. This
statement and manual are the latest version until this batch of products leave the
factory. Please visit the official website, www.efort.com.cn, to obtain up-to-date
information in the future.
This manual is only used as a normal operation guide. EFORT company
will not be liable for personal injury and property loss caused by other reasons
except product defects. Therefore, EFORT Company solemnly advise people
involved in robot operation, teaching, maintenance, repair, equipment check, and
other relevant activities complete the training courses offered by EFORT, before
being authorized to do so.
Version：V 1.1

EFORT INTELLIGENT EQUIPMENT CO., LTD
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Contents
CHAPTER ONE SAFETY........................................................................................... 1
1.1 Instructions for Safe Operation...............................................................................1
1.1.1 Safety Precautions during Adjustment, Operation, Maintenance, and Other
Work................................................................................................................................. 1
1.1.2 Safety Countermeasures for Robot Safety...................................................... 3
1.2 Instructions of Labels on Robot Body.................................................................... 6
1.3 Transfer and Sale of Robot..................................................................................... 8
1.4 Abandonment of Robot...........................................................................................8
CHAPTER TWO BASIC INSTRUCTIONS............................................................... 9
2.1 Composition of Robot.............................................................................................9
2.2 Package Check........................................................................................................9
2.3 Nameplate on Robot Body....................................................................................10
2.4 Body parts and Direction Director of Each Axis.................................................. 11
2.5 Limit Range and Zero Position of Each Axis....................................................... 12
2.6 Robot Performance Parameters............................................................................ 13
2.7 Maximum Wrist Payload...................................................................................... 15
2.7.1 Maximum Carrying Weight...........................................................................15
2.7.2 Maximum Static Payload Torque.................................................................. 15
2.7.3 Maximum Moment of Inertia........................................................................ 15
2.7.4 Allowable Payload Curve Diagram...............................................................16

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CHAPTER THREE TRANSPORTATION AND INSTALLATION..........................17
3.1 Robot Transportation............................................................................................ 17
3.1.1 Transportation Precautions........................................................................... 17
3.1.2 Assisted Tooling............................................................................................ 17
3.1.3 Transporting Methods....................................................................................18
3.2 Robot Transportation............................................................................................ 20
3.2.1 Set Up Safety Fence...................................................................................... 20
3.2.2 Robot Installation Methods........................................................................... 21
3.2.3 Ground Mounting.......................................................................................... 21
3.2.4 Support Installation....................................................................................... 23
3.2.5 Upside Down Mounting................................................................................ 24
3.3 Installation Site and Environment.........................................................................24
3.4 Integrated Application Installation Interface........................................................ 25
CHAPTER FOUR REPAIR AND MAINTENANCE................................................29
4.1 Preventive Maintenance........................................................................................29
4.1.1 Routine Check............................................................................................... 29
4.1.2 Quarterly Check.............................................................................................29
4.1.3 Annual Check................................................................................................ 30
4.1.4 Every Two-year Check.................................................................................. 30
4.2 Repair and Maintenance for Main Bolts...............................................................30
4.3 Change Lubricant..................................................................................................31
4.3.1 Lubricant Supply Quantity............................................................................ 31
4.3.2 Lubrication Position and Angle..................................................................... 31

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4.3.3 Procedures for Lubricant Change in J1~J4 Axis Reducer and Wrist Parts... 31
4.3.4 Release Residue Pressure in Cavity.............................................................. 33
4.4 Timing Belt Maintenance......................................................................................33
4.4.1 Timing Belt Tension...................................................................................... 34
4.4.2 Replacement of Timing Belt..........................................................................35
4.5 Robot Maintenance and Operation Area...............................................................35
4.6 Zero Position Calibration......................................................................................36
4.6.1 Zero Position Calibration Method................................................................. 36
4.6.2 Mechanical Zero Position Calibration of Each Axis..................................... 37
4.7 Battery Replacement.............................................................................................37
CHAPTER FIVE COMMON FAULTS AND TROUBLESHOOTING....................39
APPENDICES............................................................................................................ 44
A Screw Tightening Torque Table.............................................................................. 44
B List of Spare Parts................................................................................................... 44

Mechanical Operation and Maintenance Manual for ER20-1700 Industrial Robot
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Chapter One Safety
1.1 Instructions for Safe Operation
Before performing installation, operation, repair and maintenance, and overhaul, please be sure
to read this manual and other attached documents thoroughly to use this product correctly. Please
fully understand the equipment and safety information, and all precautions before using this product.
The following symbols in this manual indicate each own importance.
1.1.1 Safety Precautions during Adjustment, Operation, Maintenance,
and Other Work
1) Operators must wear uniforms, helmets, safety shoes, and other protective wear.
2) Please be sure operators are not within the motion range of the robot when switching on power.
3) Operation within the motion range of the robot must not be allowed until the power is cut off.
4) Overhaul, repair and maintenance, and other work need to be performed in power-on state by
two persons. One maintains the posture that enables to immediately press the emergency stop
button, while the other keeps precautious and quickly perform work within the robot’s motion
range. Besides, the evacuation path should be confirmed before operation.
5) The load on the wrist and arm must be controlled under the limit of carrying weight and torque,
or else abnormal movements may occur or mechanical components may be damaged.
6) Disassembling parts and work not involved in this manual are forbidden.
Mishandling could cause death or serious injuries to the operator and highly dangerous
situations.
Mishandling could cause death or serious injuries to the operator.
Mishandling could cause minor injuries to the operator or property damage.

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The robot is equipped with self-diagnostic and other abnormality detection function, so it can
stop safely in case of abnormality. However, accidents may still occur sometimes.
Reasons, such as ignorance of safety operation procedures, no awareness of robot’s sudden
movement, lead to above accidents. In other words, accidents are caused by insecure human-made
actions, such as temporary ignorance, failure to comply with the prescribed steps.
Operators have little time to perform emergency stops, evacuate, or other actions to avoid
serious accidents in emergency situations, as shown below.
1) Low-speed movement suddenly changes to high-speed movement.
2) Other operators performed the operation.
3) Abnormality and program errors caused by peripheral equipment start different programs.
4) Noise, fault, and other defects lead to abnormal movements.
5) Misoperation.
6) High-speed movement is performed instead of automatic low-speed movement.
7) The work pieces transported by the robot fall and scatter.
8) Workpieces in clamping or interlocking state suddenly lose control.
9) Neighboring robots or robots at the back perform action.
The above are some of the typical examples excluding many other emergency situations. In
most cases, the robot making sudden movements cannot be stopped and the operator cannot
evacuate. Therefore, optimal countermeasures should be implemented to avoid such accidents.
Common accidents are listed below:
1、Automatic operation is being performed without confirming whether anyone is
within the robot’s motion range.
2、The robot makes sudden movements when the operator is within the motion
range in automatic mode.
3、Attention is not paid to other robots but the one in the front.
Approach the robot cautiously.
Press emergency stop button or cut off power, so the robot cannot make movement
when it’s not operation.
A supervisor (the third person) should be assigned to monitor the safety and be able
to immediately press the emergency stop button during robot’s movement.

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In order to comply with these principles, it is necessary to fully understand the following precautions
and follow them.
1.1.2 Safety Countermeasures for Robot Safety
Unnecessary protrusions or sharp parts should be removed in robot design.
Materials that suit the working environment and safety protective structures
against faults that are not prone to damage or accidents during movements should
be used. Additionally, safe operation should be ensured by installing misoperation
detection stop and emergency stop functions, and interlocking function to avoid
dangers when peripheral equipment acts abnormally.
The body is a multi-joint mechanical arm structure, and the angle of each joint
constantly changes during movement.
If it is necessary to approach the robot for teaching and other work, be careful not
to be clamped by joints. The end of each joint’s movement is equipped with a
mechanical stop, which is highly risky for being clamped. Therefore, special
attention should be paid to.
The arm may fall due to gravity or move to an uncertain direction if the servo
motor is removed or the break is released. Therefore, preventative measures must
be implemented and the surrounding safety conditions must be endured before
operation.
When installing attached machine on the end of the effector and the arm, strictly
follow the manual to use specified torque wrench to fasten screws of specified size
and quantity.
Do not use rusty or dirty screws.
Fastening screws in unspecified and improper ways could cause loosening, which
lead to serious accidents.
The end effector should be designed and manufactured within the allowable
payload range of the robot wrist.
Robot in operation should be stopped by emergency stop button at any time.

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Protective structure against faults should be used to. Even if the power or
compressed air supply of the end effector is cut off, accidents, such as installed
objects being released or thrown, will not occur. The corners or protruding parts
should be treated to prevent damage to humans or objects.
It is forbidden to supply unspecified power, compressed air, and welding cooling
water, which could affect the mobility and cause abnormal movements,
malfunctions or damage, and other dangerous situations.
Electromagnetic interference, which is related to its type or intensity, cannot be
handled with current technology. Therefore, follow the precaution instructions and
regulations in robot operation and power-on. Recorded data will be lost due to
electromagnetic waves, noises, and substrate defects.
Please back up programs or frequently used data to external storage medium, such
as a compact flash card.
Operators working in distance in large systems should communicate with gestures
to convey intentions correctly.
noise in the working environment may cause misunderstandings, which lead to
accidents.

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Industrial Robot Control by Means of Gestures (Sample)
1. Connect: Connect to power.
2. No, disconnect: Raise right hand and
wave vigorously.
3. Confirm whether it is OK: Raise
right hand up high forward.
4. OK: Raise right hand up high
forward. Use thumb and index finger to
form a circle.
5. Hold on: Extend arm horizontally
with right hand facing the other person
6. Leave: Extend right arm horizontally
and wave to the left
Operators must always keep awareness of evacuation at any time during operation.
Immediate evacuation must be ensured in an emergency.
Always keep attentive to robot’s movement. Do not turn your back to the robot
during operation.
Slow reaction to the robot can cause accidents too.
Immediately press the emergency stop button in case of abnormality, which must be
thoroughly implemented.
Compile regulations and checklists, including robot startup, operation, and
solutions to abnormalities, according to the setting place and operation content.
Operators working with memory and existing knowledge could cause accidents due
to wrong memories and errors.

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Save completed programs to prevent accidental editing.
Confirm the program number and procedure number in teaching before operation.
Editing programs and procedures incorrectly could cause accidents.
When it is not necessary to make robot’s movement and operate it, please cut off
the power before proceeding.
When teaching is completed, check robot’s movement manually in low-speed state.
If it is operated with 100% full speed in automatic mode, accidents may occur due
to program errors.
Cleaning should be done and tools must be confirmed to be taken away after
teaching is completed. Oil contamination in the work area and forgetting tools may
cause accidents, such as falls.
Ensuring safety start with tiding up.
1.2 Instructions of Labels on Robot Body
Safety labels are affixed on specific parts of the robot to warn users of safety precautions in operating
and maintaining it.
Label
Name
Description
Attached Part
Be careful
not to
clamp
hands
The movable parts of the
robot may clamp your
hands.
It is generally pasted on
the rotating joint of the
power arm and the
connecting rod.
Caution,
hot
Robot operation causes
heat on some parts.
It is generally pasted on
the motor to suggest hot
motor and no touching
with bare hands.

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Be cautious
of electric
shock
The risk of electric shock
exists at the electrical
connection parts.
It is generally pasted on
the motor and the panel of
the circular connector base
to remind the user be
careful when connecting
and removing the cable
connector.
No stepping
Stepping on the robot
during maintenance is
forbidden to avoid
personal injuries and
damage of components
which will affect the
performance of the robot.
It is generally pasted on
the motor.

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1.3 Transfer and Sale of Robot
If the ownership of the robot is transferred or sold to a new user, attached
documents, including mechanical operation manual, electrical maintenance manual,
and programming manual, must be transferred.
If the robot is transferred to sold to a foreign country, the new user must modify the
languages in the above attached documents to comply with local laws and
regulations.
Wrong or unsafe operation due to insufficient understanding of the manuals can
lead to accidents.
When the robot is transferred or sold to a foreign country, safety relevant terms in
initial contract which does not include specific provisions shall not be borne by the
new recipient.
The original user and the new recipient must sign a new contract.
1.4 Abandonment of Robot
The disassembly, hearting, or incineration of batteries in control devices and robot
body could cause fire, rupture, and other accidents.
Please do not disassemble the board and components of control devices before
discarding them.
Sharp parts, such as cracks or cuts, and wires may cause injuries.
After the wires and external wiring are removed from the connector and junction
box, do not future disassemble them and discard them. Otherwise, injuries on
hands or eyes caused by conductors may occur.
Attention should be paid to clamp or injuries when performing abandoning work.
After
Waste products should be discarded safely.

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Chapter Two Basic Instructions
2.1 Composition of Robot
An industrial robot is composed of the following parts, as shown in figure 2-1：
body
control cabinet
teach pendant
cables (for power supply, etc)
Fig. 2-1 Composition of Robot
2.2 Package Check
1、Please confirm whether the packaging is intact before opening it;
2、Check whether each part or component is complete and consistent with the
order. Please contact the supplier in time for any missing or wrong part.

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Table 2-1 List of Parts and Accessories
Item
Model
Number
Unit
Remarks
Body
ER20-1700
1
PC
control cabinet
EC-M6
1
PC
teach pendant + cable
11500010563
1
PC
control cabinet-power
cable
10900021800
1
SET
standard length 8m，offer custom
cable 12m、16、20m
control cabinet
-programmer cable
10900021801
1
SET
standard length 8m，offer custom
cable 12m、16、20m
control cabinet -ground
wire
10900021958
1
SET
standard length 8.5m，offer custom
cable 12.5m、16.5、20.5m
control cabinet-circular
power connector
10900001237
1
PC
installed on control cabinet
10900001229
1
PC
10900001236
1
PC
circular connector
shield
10900001113
2
PC
installed on control cabinet and body
10900001122
2
PC
components（bracket、
pins）
\
1
SET
installed on body
file and DVD
\
1
PC
safety door bridge ware
10900001389
2
PC
use if necessary
Note: The above list is for standard configuration excluding customized models.
2.3 Nameplate on Robot Body
The nameplate on robot body displays information, including model type, weight, voltage,
manufacturing number, manufacturing date, etc.
Fig. 2-2 Nameplate on Body

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2.4 Body parts and Direction Director of Each Axis
The mechanical body mainly includes base, rotating part, upper part, forearm, wrist. The joints
are driven by the servo motor, each of which cooperate to achieve position and posture adjustment of
the robot end in space.
Names of each part and direction director of each axis are shown at 2-3 below:
Fig. 2-3 Body Parts

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2.5 Limit Range and Zero Position of Each Axis
Each axis of the body sets a zero position and limit range. When the system is in normal
operation, each axis is controlled to move within the limit range. To further ensure safety, some axes
are equipped with mechanical end stops (as shown at 2-4) to prevent malfunction of the control device
and operation beyond motion range.
Fig. 2-4 Mechanical End Stops and Zero Positions

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2.6 Robot Performance Parameters
Table 2-2 Performance Parameters
Model
ER20-1700
Movement Type
multi joint
Control axis
six axes
Maximum speed
Axis J1
170°/s
Axis J2
150°/s
Axis J3
146°/s
Axis J4
360°/s
Axis J5
360°/s
Axis J6
550°/s
Maximum
Motion Range
Axis J1
±175°
Axis J2
+64°/-142°
Axis J3
+165°/-73°
Axis J4
±178°
Axis J5
±128°
Axis J6
±720°
Arm span
1722mm
Maximum writ payload
20kg
Installation conditions
ground, support, upside down
Protection class
IP65(wrist)/ IP54(other parts)
repeatability
±0.06mm
Body weight
220kg

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Fig.2-5 Robot Work Space
Note: The work space shown in the figure is the theoretically maximum work range, which
may be affected by the type of installation in real operation. Therefore, please take the impact of
installation type on workspace in to consideration in real operation.