EFORT ER3-600 User manual

ER3-600 Quick Operation Manual
for Industrial Robot (EC2-S Electric Cabinet)
EFORT Intelligent Equipment Co., Ltd.
Service Line（Tel）：[phone]

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
Statement
Thank you for purchasing EFFORT ER3-600 industrial robots. Please read
the instruction manual before starting to use the robot. The following contents
are directly related to your personal and property safety. Any misconduct that
does not strictly follow the instructions as stated in the manual may result in
physical damage or property loss. The statement and instruction manual is the
latest version for ER3-600 series. More updates can be found at
www.efort.com.cn.
This manual only serves as the operation guide for ER3-600 industrial
robots. EFFORT will not be responsible for any physical damage or property
loss that is not caused by the defect of the product. It is strongly recommended
that operators should have received special training before having access to
operation, teaching, repair, maintenance and inspection of the product.
Version No.：V 1.3.1

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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Contents
Chapter One Safety....................................................................................................... 1
1.1 Safety Instructions.............................................................................................................1
1.2 Safety Regulations.............................................................................................................1
Chapter Two Handling and Installing the Robot............................................................ 4
2.1 General Introduction......................................................................................................... 4
2.2 Basic Description.............................................................................................................. 4
2.2.1 Unpacking........................................................................................................... 4
2.2.2 Preparatory Work before Installation.................................................................. 5
2.2.3 Storage Environment.......................................................................................... 5
2.2.4 Operation Environment.......................................................................................5
2.2.5 Starting the Robot in a Low Temperature...........................................................6
2.2.6 Robot Performance Parameters...........................................................................7
2.2.7 Robot Motion Type............................................................................................. 8
2.2.8 Control Cabinet Position.....................................................................................8
2.3 Handling the Robot..........................................................................................................11
2.3.1 Precautions........................................................................................................ 11
2.3.2 Handling the Robot Body................................................................................. 11
2.3.3 Handling the Control Cabinet........................................................................... 12
2.4 Installing the Robot......................................................................................................... 13
2.4.1 Setting up a Safety Fence..................................................................................13
2.4.2 Installation Procedures......................................................................................14
2.4.3 Ground Mounting..............................................................................................14
2.4.4 Supporter Installation........................................................................................15
2.4.5 Suspended Installation...................................................................................... 15
2.4.6 Installation Environment...................................................................................16
2.4.7 Integrated Connection Interface........................................................................17
Chapter Three Electrical Connection............................................................................20

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3.1 Robot Power Supply........................................................................................................20
3.2 Robot Power Cable, Signal Cable and Ground Wire...................................................... 21
3.3 Definition of Controller Local IO................................................................................... 21
3.4 IO Module Expansion..................................................................................................... 24
3.4.1 Local IO Module Expansion.............................................................................24
3.4.2 Remote IO Module Expansion..........................................................................25
3.5 IO Configuration............................................................................................................. 26
3.5.1 IO Module Update............................................................................................ 26
3.5.2 Remote IO Configuration................................................................................. 27
3.5.3 Function IO Configuration................................................................................28
3.5.4 Analog IO Configuration.................................................................................. 37
3.6 Introduction to Emergency Stop......................................................................................39
3.6.1 Emergency Stop................................................................................................ 40
Chapter Four Quick Start....................................................................................... 41
4.1 Teach Pendant..................................................................................................................41
4.1.1 About the teach pendant....................................................................................41
4.1.2 Function Keys and Interfaces............................................................................42
4.1.3 How to Hold a Teach Pendant?.........................................................................44
4.2 Power On.........................................................................................................................45
4.3 Jogging............................................................................................................................ 45
4.3.1 What is Jogging?...............................................................................................45
4.3.2 Precautions for Jogging.....................................................................................45
4.3.3 Start Jogging..................................................................................................... 46
4.3.4 Joint Coordinate System-Jogging..................................................................... 47
4.4 Power Off........................................................................................................................ 47
Chapter Five Common Faults and Recommended Solutions....................................... 49

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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Chapter One Safety
1.1 Safety Instructions
According to the national and local laws and regulations, great importance has been attached to safety
protection in the operation of an industrial robot.
The employer of the robot operator is responsible for the physical damage or property loss in case of
an accident. Therefore it is strongly recommended that an operator should fully understand the contents
described in this manual or elsewhere and abide by the health and safety regulations.
For safety reasons, it is the fundamental requirement to abide by the instructions described in this
manual and other manuals of EFORT. The manual serves as a general introduction to safety regulations
which does not take all the aspects into consideration. Therefore, it is highly important for an operator to
take preventative measures according to the application system and the work environment when operating a
robot.
An operator must read the following information carefully and pay special attention to the safety
measures described.
An EFORT industrial robot user should promise to abide by its national or regional safety laws and
regulations and to make sure that the necessary safety protection equipment is reasonably designed and
correctly installed. An operator should get familiarized with the operation procedures described in the
following documents:
Safety Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
Control Cabinet Operation Manual for EFORT Industrial Robots
Electrical Operation and Maintenance Manual for ER3-600 Industrial Robot (EC2-S electric
cabinet)
Mechanical Operation and Maintenance Manual for ER3-600 Industrial Robot (EC2-S electric
cabinet)
The quick start manual includes all the safety descriptions of the robot and controller. The robot should
be well designed and manufactured to ensure that it can enter all the required areas when it is operated,
tested or maintained. The robot should be able to enter the work areas freely if there is a safety prevention
frame. An operator should not be exposed in danger of slipping, stumbling or falling.
1.2 Safety Regulations
Prohibitions
1. Do not change or dissemble the protective equipment or safety equipment arbitrarily.
2. Do not touch a robot in case of waterlogging. Cut off the power and drain off the water.
3. The operation of an industrial robot must be performed by the professionals who have
received sufficient training and guidance and have read this manual thoroughly.
4. The space around the emergency stop equipment must be emptied in case of an
emergency.

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5. Improper materials must not be processed with the robot and improper adjustment or
alteration is forbidden.
6. Those who have not been authorized or who have not received any professional training
regarding the operational risks are not allowed to operate the robot.
7. The robot cannot be operated under the following circumstances:
A robot element is exposed.
The safety equipment is disabled.
The fuse and (or) all or any of the mechanical equipment is disabled.
The workpiece is not qualified.
More than one person is operating the robot at the same time.
8. Any violation of the above mentioned regulations is strictly forbidden. Any attempt to
load an unoriginal accessory is forbidden in particular.
9. Do not attempt to move the safety protection equipment. Users are responsible to make
sure that the safety protection equipment is fixed properly and runs effectively as expected.
10. The safety equipment can only be moved in case of maintenance and the standard
maintenance protocols must be followed to ensure the safety of the robot.
Mandatory Measures
1. Ensure that nobody is in the dangerous areas before booting the robot.
2. Ensure that all the operators have received some professional training in operating
industrial robots.
3. A supervisor should constantly monitor the status of the running programs and to make
sure that the safety protection program is effective.
4. Maintain the robot as instructed in the manual and keep the robot clean and tidy.
5. Pack the cleaning and maintaining tools in a suitable tool box. Any worker should wear
personal safety protection equipment.
6. An operator should follow the current health and safety codes.
7. Stop the robot in case of shutdown, suspected damage, malfunction or abnormal noise.
8. Call the police for professional help in case of fire.
9. The door of the control cabinet should always be lock up and the key should be kept by
an electrician.
10. No one is allowed to enter the safety protection area if the power is on.
11. All the suspended safety functions must be restored to normal before the Auto mode is
switched on.

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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Warning
1. The release of the gravity braking system might lead to falling.
2. Danger might occur when a repairer performs a regular maintenance for the safety
protection equipment. Therefore, caution and preventative measures are advised.

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Chapter Two Handling and Installing the Robot
2.1 General Introduction
This chapter explains how to handle and install the ER3-600 industrial robot (EC2-S electric cabinet)
in a workplace. It is strongly recommended that users should read the Safety Manual of EFORT Industrial
Robots carefully and refer to the first chapter of this manual for the detailed descriptions on safety issues
before installation.
2.2 Basic Description
2.2.1 Unpacking
1. Please check whether the packing remains intact or not before unpacking.
2. Please check after unpacking whether all the accessories are complete and whether they match with the
model information on the order list. Contact the supplier if the accessories are not the same as ordered.
Table 2-1 Standard Accessories
Packing List
No.
Name
Model
Quantity
Unit
Remarks
1
Robot body
Manufacturer standard
1
set
2
Robot control cabinet
Manufacturer
standard
1
set
3
Control cabinet-robot
power cable
power cable
1
set
Standard Length:4m
Customized Length:
8m/10m/12m
4
ground wire
1
pc
Standard Length: 4.5 m
Customized Length:
8.5m/12.5m
5
Teach pendant
connection cable
Industry standard
1
set
6
Instruction Manual
Manufacturer standard
1
set

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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7
Quality inspection report
Manufacturer standard
1
sheet
8
Warrant
Manufacturer standard
1
copy
9
Robot accessories
Accessory box
1
pc
10
Robot main power cables
Industry standard
1
set
Packed in the accessory
box
11
Others
1 glass fuse of 6.3 A type; 2 glass fuses of 10A type;
A copy of the electrical diagram
Note: The packing list contains only the standard articles while the customized articles are not
included.
2.2.2 Preparatory Work before Installation
This section contains the information to be used when the robot is newly installed or reinstalled.
Check the following items before installation:
1
Check whether the robot is intact.
2
Ensure that the lifting equipment is suitable to carry the robot.
3
Store the robot in a required environment if it is not installed.
4
Ensure the expected working environment meets the standard requirement.
5
Ensure the installing ground meets the standard requirement before handling the
robot.
6
Check the stability before moving the robot.
7
Handle the robot to the installation cite if the checklist is completed.
2.2.3 Storage Environment
The following table describes the permitted storage environment for the robot：
Parameters
Value
The lowest environment temperature
-40℃
The highest environment temperature
+55℃
Maximum Humidity
93%RH，Dewing Free（40℃）
2.2.4 Operation Environment
The following table describes the permitted operation environment for the robot.
Robot Operation Environment
Parameters
Value
The lowest environment temperature
0°C
The highest environment temperature
+45°C
Maximum Humidity
80%RH，Dewing Free（40℃）

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2.2.5 Starting the Robot in a Low Temperature
This section explains how to start the robot in low temperature. An operator needs to adjust the heating
rate based on the environment temperature and the running programs. The following table describes the
mapping relations between the working cycles and the speed ratio.
Robot Working Cycles when Started in a Low Temperature
Working Cycles
Speed Ratio
3
20
5
50
5
80
5
100

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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2.2.6 Robot Performance Parameters
The following table describes the performance parameters for the robot.
Table 2-2 Robot Performance Parameters
The following table describes the performance parameters of the control cabinet.
Table 2-3 Performance Parameters of the Control Cabinet
Control
Cabinet Type
EC2-S6
IP Rate
IP20
IO Port
32 digital input ports and 32 digital output ports
(Expansion Supported)
Communicatio
n Type
TCP/IP、Modbus-TCP、CAN open、ProfibusDP、EtherCAT
Power
220V±10%，50/60Hz
Size
W522mm×D430mm×H247mm
Weight
20kg
Environment
Temperature
0℃~45℃
Robot Performance Parameters
Model
ER3-600
Motion Type
Joint
Control Axes
6 Axis
Maximum Motion
Speed
Axis J1
400°/s
Axis J2
300°/s
Axis J3
520°/s
Axis J4
500°/s
Axis J5
530°/s
Axis J6
840°/s
Maximum Motion
Rage
Axis J1
±170°
Axis J2
+85°/-135°
Axis J3
+185°/-65°
Axis J4
±190°
Axis J5
±130°
Axis J6
±360°
Maximum operation radius
600mm
Maximum wrist load
3 kg
Installation Requirement
Floor mounted or Suspended
Prevention rate
IP65(wrist) / IP54(others)
Repeat precision
±0.02mm
Robot body weight
27kg

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Environment
Humidity
80%RH，Dewing Free（40℃）
2.2.7 Robot Motion Type
Fig. 2-1 Motion Space of ER3-600 Robot
Note: Fig. 2-1 shows the theoretical maximum motion space of ER10-1600 robot which might be affected
by the way the robot is installed.
2.2.8 Control Cabinet Position
Size of the ER3-600 control cabinet (unit:mm).

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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Horizontal Installation
Air inlet
Wind direction
Air outlet

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Side Installation
When the electric cabinet is installed on the bench, the screw holes shall be machined according to the
dimensions shown in the Fig. below
Bench Installation
Fig. 2-2 Size and Installation Method of Robot Control Cabinet
The ventilation scoop of the control cabinet must not be covered under any circumstance and a
minimum separation space of 150 mm around the cabinet should be guaranteed in order to maximize the
heating radiator efficiency. Ensure that the robot can move freely within operation space. Limit the robot
operation space by means of adjustable stopper or software control if there is any risk of collision. Please
refer to Mechanical Operation and Maintenance Manual for ER3-600 Industrial Robot and System
Operation Manual for EFORT Industrial Robots for more details.
Air inlet
Air outlet
Wind direction

Quick Operation Manual for ER3-600 Industrial Robot (EC2-S electric cabinet)
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2.3 Handling the Robot
2.3.1 Precautions
Please read the following precautions carefully before handling the robot.
Caution
The handling must be performed by a professional with lifting and forklifting work
qualifications. Unprofessional performance might lead to flipping or falling
accidents.
Caution
Please follow the procedures described in the manual and check whether the weight
of the robot and the control cabinet exceeds the maximum lifting load before
handling the robot. Operations that do not follow these procedures might lead to
flipping or falling accidents.
Caution
Please protect the cables when handling the robot and the control cabinet. Besides,
the cables should be covered by a shield to prevent from accidental damage.
2.3.2 Handling the Robot Body
Method:
Position the robot as shown in Fig. 2-3. Lift the robot body from its previous carrier (the total
allowable weight is greater than the weight of the robot body). Rubber hoses should be placed on the cables
to prevent from direct contact with the robot body. During hoisting, the angle of each axis should be
adjusted to the value given in the table below, so as to ensure that the center of gravity is in the middle,
which is convenient for hoisting. When lifting, please hold the robot upright to avoid tilting.
Note: Neither the end effector nor the robot arm has any tool in Fig.s 2-3. Caution is advised if a tool
is installed to the end effector or robot arm. Adjust the robot position with the parameters shown in the
following table.
Position
J1
J2
J3
J4
J5
J6
Joint angles /°
0
32
-27
0
-63
0

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Fig. 2-3 Lifting Sketch Map
Attention
Corresponding Fixtures must be used in handling the robot.
Ensure that no pressure is put on the robot arm or electric motor if neither lifting nor
forklifting is applied.
Remove the fixtures and rubber protection after installation.
Store the fixtures in a safe place for future handling.
2.3.3 Handling the Control Cabinet
Method:
Handle the control cabinet with the handles placed on both the right and left sides of the front panel as
shown in Fig. 2-4.

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Fig. 2-4 Handling the Control Cabinet
2.4 Installing the Robot
Danger
1. Set up a safety fence to prevent from accidents leading to physical injury or property
damage. The robot should be placed in a position from which the end tool or the sharp end
of a workpiece can never reach the safety fence even if the robot arm is extended to its
reach limit.
2. Neither the power should be switched on nor should any operation be performed until
the robot has been properly fixed. Otherwise, accidents such as flipping, physical injury or
property damage might occur.
3. The ceiling or wall should be strong enough to bear the weight of the robot if it is
intended to be installed to a ceiling or a wall and the relevant emergency countermeasures
should be well-planned. Otherwise, accidents such as flipping, physical injury or property
damage might occur.
2.4.1 Setting up a Safety Fence
The user of the robot should set up a safety fence according to the National Standards of the People’s
Republic of China on Robots and robotic devices―Safety requirements for industrial robots

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(GB11291.2-2013) . It is stated in section 5.4 that the design and integration of a robot should reduce the
possibility of an operator being exposed to danger and a user should build up a safe space around a robot
taking the position and layout of the robot and the foreseeable danger into serious consideration. Section
5.10 requires that a user should set up the protection equipment on the entrance to the dangerous area if the
risk of danger cannot be eliminated or reduced.
Therefore, please set up a safety fence with safety interlock to prevent from physical injury or property
damage.
Note: The GB11291.2-2013 standard is equivalent to the ISO 10218-2:2011 standard.
2.4.2 Installation Procedures
The fixing of the robot base and the ground should be able to bear the dynamic load in robot
acceleration and deceleration and the fixture static weight. In addition, the robot might be deformed or its
performance is affected if the ground is uneven. Ensure that the ground flatness rate is within 0.2 mm. Fig.
2-5 illustrates the size of base interface.
Fig. 2-5 Size of Base Interface of ER3-600 Robot
2.4.3 Ground Mounting
Fix the base on the floor with four M10 type socket cap screws whose length is 1.5-2 times of the
nominal diameter. Please fully fix the screws as shown in Fig. 2-6 to prevent the socket cap screws from
loosening during the operation of the equipment.