EFORT ER6-2000 User manual

ER6-2000 Electrical Operation and
Maintenance Manual for Industrial Robot
EFORT INTELLIGENT EQUIPMENT CO., LTD
HOT LINE（Tel）：[phone]

ER6-2000 Industrial robot Electrical Operation and Maintenance Manual
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Statement
Thank you for purchasing EFORT Robot products. In order to ensure that the product has
been set up correctly, please read this operation manual carefully before using this product.
The contents mentioned in this statement and the manual relate to your personal and property
safety. If you do not follow or do not follow the instructions and warnings of the manual and
operate without permission, it may cause personal injury to you and the people around you or
give EFORT robot Or other objects around cause property damage. This statement and the
manual are the latest version as of this batch of products before leaving the factory. Please
follow the official website of www.efort.com.cn for the updated information.
This manual is only used as a guide for the normal operation of the product. During the
use of the product, EFORT will not be liable for personal injury and property damage caused
by reasons other than product defects. EFORT solemnly recommends that: personnel involved
in robot operation, teaching, maintenance, repair, inspection and other related activities should
not give them permission to operate the robot before completing the training courses prepared
by EFORT.
Version：V 1.3

EFORT INTELLIGENT EQUIPMENT CO., LTD
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目 录
CHAPTER 1 SAFETY PRECAUTIONS................................................................. 1
1.1 SAFETY INSTRUCTIONS............................................................................................ 1
1.2 GENERAL SAFETY GUIDELINES................................................................................ 1
1.3 SAFETY PRECAUTIONS IN EACH WORK PROCESS..................................................... 4
1.3.1 Safety of robot installation and connection..................................................... 4
1.3.2 Safety before starting the robot....................................................................... 5
1.3.3 Robot startup safety.........................................................................................6
1.3.4 Trial run safety.................................................................................................7
1.3.5 Safety during teaching.....................................................................................8
1.3.6 Safety during automatic running..................................................................... 9
1.3.7 Safety during fixing.......................................................................................10
1.3.8 Safety during inspection and maintenance.................................................... 12
CHAPTER 2 TRANSPORT AND INSTALLATION............................................16
2.1 OVERVIEW............................................................................................................. 16
2.2 BASIC INSTRUCTIONS.............................................................................................16
2.2.1 Unpacking list................................................................................................16
2.2.2 Preparation before installation.......................................................................17
2.2.3 Robot storage environment............................................................................17
2.2.4 Robot operating environment........................................................................ 17
2.2.5 Start the robot in a cold environment............................................................ 17
2.2.6 Control cabinet working space...................................................................... 18

ER6-2000 Industrial robot Electrical Operation and Maintenance Manual
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2.3 ON-SITE INSTALLATION..........................................................................................19
2.3.1 Robot transport considerations...................................................................... 19
2.3.2 Control cabinet Transport.............................................................................. 19
2.4 ELECTRICAL CONNECTIONS................................................................................... 20
2.4.1 Robot power.................................................................................................. 21
2.4.2 Robot power, signal, ground cable................................................................ 22
2.4.3 Emergency stop............................................................................................. 22
CHAPTER 3 COMPOSITION OF ROBOT CONTROL CABINET SYSTEM... 25
3.1 ROBOT CONTROL CABINET.................................................................................... 25
3.1.1 Basic parameters............................................................................................25
3.1.2 Component distribution................................................................................. 25
3.2 MOTION CONTROL UNIT........................................................................................ 26
3.2.1 Motion Controller..........................................................................................26
3.2.2 Local IO description and definition...............................................................38
3.2.3 IO expansion..................................................................................................42
3.2.3 Motion control card....................................................................................... 44
3.3 SERVO DRIVE UNIT.................................................................................................45
3.4 SAFETY FUNCTION UNIT........................................................................................ 47
3.5 HUMAN-COMPUTER INTERACTION UNIT................................................................48
3.5.1 Button operation panel...................................................................................48
3.3.2 Teach pendant (enable/hand press)................................................................48
3.6 POWER DISTRIBUTION MANAGEMENT UNIT...........................................................51
3.6.1 transformer.....................................................................................................51

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3.6.2 Switching power supply................................................................................ 52
3.7 BRAKE RELEASE UNIT............................................................................................52
3.7.1 Overview....................................................................................................... 52
3.7.2 Brake release unit position............................................................................ 52
3.7.3 Release the brake manually........................................................................... 53
3.8 TEACH PENDANT HOT SWAP UNIT........................................................................ 55
3.8.1 Teach pendant hot unplug..............................................................................55
3.8.2 Teach Pendant Hot Plug.................................................................................55
3.8.3 common problem...........................................................................................55
CHAPTER 4 MAINTENANCE.............................................................................57
4.1 INTRODUCTION...................................................................................................... 57
4.2 MAINTENANCE PLAN............................................................................................. 57
4.3 INSPECTION ACTIVITY............................................................................................58
4.3.1 Check the control cabinet seal.......................................................................58
4.3.2 Check the information label.......................................................................... 58
4.3.3 Check harness................................................................................................59
4.3.4 Check the working condition of main electrical components....................... 59
4.3.5 Check the emergency stop switch................................................................. 60
4.4 CHANGE/REPLACEMENT ACTIVITIES......................................................................60
4.4.1 Replace the controller....................................................................................61
4.4.2 Replace safety relay.......................................................................................61
4.4.3 Replace servo drive....................................................................................... 62
4.4.4 Replace the switching power supply............................................................. 63

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4.4.5 Replace fuses................................................................................................. 63
4.4.6 Replace the fan.............................................................................................. 64
4.5 CLEAN....................................................................................................................65
4.5.1 Overview....................................................................................................... 65
4.5.2 Precautions.....................................................................................................65
CHAPTER 5 TROUBLESHOOTING................................................................ 66
5.1 OVERVIEW............................................................................................................. 66
5.2 COMMON HARDWARE FAILURE..............................................................................66
5.3 CONTROLLER FAULT HANDLING............................................................................ 68
5.3.1 View event log............................................................................................... 68
5.3.2 Controller fault light display..........................................................................70
5.3.3 Controller fault handling............................................................................... 71
5.4 DRIVE FAULT HANDLING........................................................................................71
5.5 PROGRAM RUNNING FAULT HANDLING.................................................................. 71
CHAPTER 6 DEACTIVATION..........................................................................73
6.1 INTRODUCTION...................................................................................................... 73
6.2 ENVIRONMENTAL INFORMATION............................................................................73
6.3 ABANDONED ROBOT.............................................................................................. 73
CHAPTER 7 CIRCUIT DIAGRAM...................................................................75
APPENDIX 1 SPARE PARTS LIST......................................................................94
APPENDIX 2 CONTROLLER ALARMS AND WARNINGS.............................95
1.1 CONTROLLER ALARM............................................................................................ 95
1.1.1 System alarm (1-999).................................................................................... 95

EFORT INTELLIGENT EQUIPMENT CO., LTD
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1.2 USER ALARMS AND WARNINGS..............................................................................97
1.2.1 MajorAlarms (1800-1999).............................................................................97
1.2.2 MinorAlarms (3900-3999)............................................................................ 99
1.2.3 Warnings（4900-4999）.............................................................................101
APPENDIX 3 DRIVE ALARM AND WARNING............................................. 105
1.3 TSINO DRIVE (ALARM:1000-1199，WARNING:4050-4099)...............................105
1.3.1 Alarm information....................................................................................... 105
1.3.2 Warning message......................................................................................... 121

ER6-2000 Industrial robot Electrical Operation and Maintenance Manual
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Chapter 1 Safety Precautions
1.1 Safety instructions
According to relevant national and local laws, regulations, and rules, safety precautions are the most
basic concern when using industrial systems including robots.
In the accidents of personal injury and property damage caused by the use of robots, factories using
robots are responsible. Therefore, in addition to understanding this manual and related materials, you must
understand all laws and standards related to health and safety, and be sure to follow them.
For safety, compliance with the requirements of this manual and other Eft manuals is only a minimum
requirement. As a general rule, the safety-related information recorded in this manual does not fully cover
all aspects of the robot application system. Therefore, when using the robot, the necessary safety measures
should be taken according to the actual situation of the system and its application environment, and strictly
observed.
The operator must read the following information carefully, paying special attention to the safety
measures listed in this chapter.
Users of EFORT industrial robots are responsible for ensuring compliance with the applicable safety
laws and regulations in the country where they are located, and that the necessary safety equipment used to
protect the robot system operator is reasonably designed and installed correctly. Robot operators must be
familiar with the operation and handling of industrial robots such as those described in the following
applicable documents:
ER series robot safety manual
ER series robot operation manual
ER6-2000 Industrial Robot Electrical Operation and Maintenance Manual
ER6-2000 Industrial robot mechanical maintenance manual
ER6-2000 Industrial Robot Quick User Manual
This manual contains all safety instructions contained in the product manuals for robots and control
cabinets. The robot system should be well designed and manufactured to allow safe access to all areas
where intervention is necessary during operation, adjustment and maintenance. For situations where it is
necessary to work in a safety-protected space, it must be ensured that the work position can be safely and
fully entered.
1.2 General safety guidelines
Prohibited behavior
1. Do not delete or tamper with the protective devices and safety devices
installed in industrial robots.
2. If flooding occurs, do not touch the robot, you should first cut off all power
and drain the site.

EFORT INTELLIGENT EQUIPMENT CO., LTD
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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 emergency stop equipment is unobstructed, and no debris
can be piled up in front of the emergency stop equipment.
5. It is forbidden to use the main machine to use unsuitable materials, adjust or
modify the robot inappropriately.
6. Unauthorized personnel, or those who have not received training in the use of
robots and understand the risks, may not operate the robot. Authorized personnel
must read through this instruction manual and sign the relevant documents in the
attachment.
7. Do not use robots in the following situations:
Robot components are exposed.
Safety device is disabled
When all or part of the fuses and / or mechanical equipment are
disabled.
The processed material does not meet the requirements
More than one person is not allowed to use the machine at the
same time.
8. Any use of robots in violation of the above requirements is strictly prohibited,
especially non-original accessories shall not be used at will.
Mandatory measures
1. Before starting the machine, make sure that no one is in the danger zone.
2. All operators must receive special training on the use and maintenance of
industrial machines.