EFORT ER7-700 User manual

ER7-700 Mechanical Operation and
Maintenance Manual for Industrial Robot
EFORT INTELLIGENT EQUIPMENT CO., LTD
HOT LINE ：[phone]

ER7-700 Industrial Robot Mechanical Use and Maintenance Manual
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 1.1

ER7-700 Industrial Robot Mechanical Use and Maintenance Manual
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Contents
CHAPTER 1 SAFETY...................................................................................................................................... 1
1.1 INSTRUCTIONS FOR SAFE USE OF ROBOTS................................................................................................ 1
1.1.1 Safety precautions during adjustment, operation, and maintenance................................................ 1
1.1.2 Safety countermeasures of robot body............................................................................................. 2
1.2 ROBOT TRANSFER,TRANSFER,SALE.........................................................................................................5
1.3 ROBOT ABANDONMENT.............................................................................................................................6
CHAPTER 2 BASIC INSTRUCTION..............................................................................................................7
2.1 ROBOT SYSTEM CONFIGURATION.............................................................................................................. 7
2.2 OPEN BOX TO CHECK................................................................................................................................ 7
2.3 MACHINE BODY NAMEPLATE.................................................................................................................... 8
2.4 COMPOSITION OF THE BODY AND THE DIRECTION OF EACH AXIS............................................................ 9
2.5 HARD LIMIT OF EACH AXIS OF MECHANICAL BODY............................................................................... 10
2.6 ROBOT PERFORMANCE PARAMETERS...................................................................................................... 11
2.7 ALLOWABLE LOAD OF WRIST.................................................................................................................. 13
2.7.1 Allowable handling weight............................................................................................................. 13
2.7.2 Allowable maximum static load torque..........................................................................................13
2.7.3 Allowable maximum moment of inertia.........................................................................................13
2.7.4 Allowable load curve...................................................................................................................... 13
CHAPTER 3 TRANSPORT AND INSTALLATION................................................................................................ 14
3.1 ROBOT TRANSPORT................................................................................................................................. 14
3.1.1 Transport considerations.................................................................................................................14

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3.1.2 Handling method.............................................................................................................................14
3.2 ROBOT INSTALLATION............................................................................................................................. 16
3.2.1 Security bar settings........................................................................................................................16
3.2.2 Robot installation method...............................................................................................................16
3.2.3 Ground installation......................................................................................................................... 18
3.2.4 Tilt installation................................................................................................................................ 19
3.2.5 Suspension installation................................................................................................................... 19
3.3 INSTALLATION SITE AND ENVIRONMENT.................................................................................................20
3.4 INTEGRATED APPLICATION INSTALLATION INTERFACE............................................................................ 21
CHAPTER 4 INSPECTION AND MAINTENANCE....................................................................................26
4.1 PREVENTIVE MAINTENANCE................................................................................................................... 26
4.1.1 Daily inspection.............................................................................................................................. 26
4.1.2 Quarterly inspection........................................................................................................................26
4.1.3 Annual inspection............................................................................................................................27
4.1.4 Check every 2 years........................................................................................................................27
4.2 OVERHAUL OF MAIN BOLTS.................................................................................................................... 27
4.3 CONVEYOR MAINTENANCE..................................................................................................................... 28
4.4 ROBOT MAINTENANCE AND USE AREA................................................................................................... 32
4.5 ZERO CALIBRATION.................................................................................................................................33
4.5.1 Zero calibration method..................................................................................................................33
4.5.2 Mechanical zero calibration of each axis....................................................................................... 33
APPENDIX......................................................................................................................................................34
A SCREW TIGHTENING TORQUE TABLE......................................................................................................... 34

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B SPARE PARTS LIST...................................................................................................................................... 35

ER7-700 Industrial Robot Mechanical Use and Maintenance Manual
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Chapter 1 Safety
1.1 Instructions for safe use of robots
Before carrying out installation, operation, maintenance and repair work, please be sure to read this
manual and other auxiliary documents and use this product correctly. Please use this product only after
fully grasping the equipment knowledge, safety information and all precautions. This manual uses the
following symbols to indicate their importance.
1.1.1 Safety precautions during adjustment, operation, and maintenance
1) Workers must wear work clothes, hard hats, safety shoes, etc.
2) When turning on the power, make sure there are no workers in the robot's operating range.
3) The power must be cut off before entering the robot's operating range for work.
4) When inspection, maintenance and other operations must be carried out under the power-on state,
two people should work in this case. One person maintains a posture that can immediately press the
emergency stop button, while the other person stays vigilant and works quickly within the robot's
movement range. In addition, you should confirm the retreat path before proceeding.
5) The load on the wrist and the robot arm must be controlled within the allowable weight and torque. If
you do not comply with the regulations that allow the weight and torque to be carried, it will cause
abnormal movements or premature damage to mechanical components.
6) It is forbidden to disassemble and operate the parts not covered by the maintenance manual. The
robot is equipped with various self-diagnosis functions and abnormality detection functions, and it can be
safely stopped even if an abnormality occurs. Even so, accidents caused by robots still happen from time to
time
The above-mentioned accidents were caused by the same reasons of "neglecting the safe operation
steps" and "unexpectedly the robot will suddenly move". In other words, all accidents were caused by
Indicate that when the treatment is wrong, it will cause the user to die or be
seriously injured, and the situation is very dangerous.
It means that when the treatment is wrong, it will cause the user's death or serious
injury.
Indicate that when the processing is incorrect, it will cause a slight injury to the
user or property damage.
Robot accidents are mostly in the following situations:
1. The automatic operation was executed without confirming whether there is a
person in the robot's movement range.
2. In the automatic operation state, it enters the robot motion range, and the robot
suddenly starts during the operation.
3. Only pay attention to the robot in front of you, not to other robots.

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human unsafe behaviors such as "temporary negligence" and "failure to follow prescribed steps".
The "emergency situation" makes the operating staff too late to implement "emergency stop", "escape"
and other behaviors to avoid accidents, which is very likely to cause major accidents. "Emergency
situations" generally include the following.
1) The low-speed action suddenly becomes a high-speed action.
2) Other operators performed the operation.
3) A different program was started due to an abnormality or a program error in peripheral equipment.
4) Abnormal operation due to noise, malfunction, defect, etc.
5) Misoperation.
6) Originally wanted to automatically execute the action at a low speed, but executed a high-speed
action.
7) The workpieces transported by the robot fall and fall apart.
8) When the workpiece is in the stopped state of clamping and interlocking, it suddenly loses control.
9) The robot next to or behind performed the action.
The above are just some examples, and there are many forms of "emergency". In most cases, it is
impossible to "stop" or "escape" the robot that moves suddenly, so the following best countermeasures
should be implemented to avoid such accidents.
In order to abide by these principles, it is necessary to fully understand the precautions described
below and implement them effectively.
1.1.2 Safety countermeasures of robot body
The design of the robot should remove unnecessary protrusions or sharp parts, use materials suitable for the
operating environment, and adopt a fail-safe protective structure that is not prone to damage or accidents
during operation. In addition, it should be equipped with a malfunction detection stop function and an
emergency stop function when the robot is used, and an interlock function to prevent the danger of the robot
when an abnormality occurs in the peripheral equipment to ensure safe operation.
Be careful, approach the robot carefully.
When not using the robot, measures such as "pressing the emergency stop button"
and "cutting the power supply" should be taken to prevent the robot from moving.
During the operation of the robot, please configure a monitor (third party) who can
immediately press the emergency stop button to monitor the safety situation.
During the operation of the robot, the emergency stop button should be pressed
immediately.

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The main body of the robot is a multi-joint mechanical arm structure, and the angle of each joint in motion is
constantly changing.When performing operations such as teaching, when you must approach the robot, be
careful not to get caught in the joints. The mechanical end of each joint is provided with a mechanical stop,
and the risk of being caught is very high, so special attention is required.In addition, if the servo motor is
removed or the brake is released, the robot arm may fall due to its own weight or move in an unstable
direction. Therefore, it is necessary to implement measures to prevent falling, and confirm the surrounding
security situation before proceeding.
When installing the attached machine on the end effector and the robot arm, strictly observe the size and
number of screws specified in this book, and use a torque wrench to tighten at the specified torque. In
addition, do not use rusty or dirty screws. Unscheduled tightening and imperfect methods will loosen the
screws and cause major accidents.
When designing and manufacturing an end effector, control it within the allowable load range of the robot
wrist.
A fail-safe protective structure should be adopted. Even if the power supply of the end effector or the supply
of compressed air is cut off, there will be no accident of the installation being released or flying out. Damage.
A fail-safe protective structure should be adopted. Even if the power supply of the end effector or
the supply of compressed air is cut off, there will be no accident of the installation being released
or flying out. Damage.
It is strictly forbidden to supply power, compressed air and welding cooling water
outside the specifications, which will affect the performance of the robot and cause
abnormal movements or malfunctions, damages and other dangerous situations.
Although electromagnetic wave interference is related to its type or intensity, there is no perfect
countermeasure with current technology. In the case of robot operation and power-on, etc., please observe the
operation precautions. The recorded data will be lost due to electromagnetic waves, other noises, and
substrate defects.Therefore, please back up the program or frequently used data to an external storage
medium such as a compact flash card.
In a large-scale system, multiple operators perform operations, and when communicating at a far distance,
the intention should be correctly conveyed by using gestures and other methods.Factors such as noise in the
environment can prevent the meaning from being conveyed correctly and cause an accident.

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Industrial robot gesture method (example)
The operator should also keep an escape consciousness during the operation.
It must be ensured that in an emergency, you can immediately escape.
Pay attention to the robot's movements at all times and do not work backwards.
Slow response to the robot's movements can also cause accidents.
When an abnormality is found, the emergency stop button should be pressed
immediately. This requirement must be thoroughly implemented.
According to the installation site and the content of the operation, the operation regulations and check list of
the robot's starting method, operation method, and solution method when abnormality occurs should be
compiled. And work in accordance with the operation regulations. Operating only with the memory and
knowledge of the operator will cause accidents due to forgetting and errors.

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For the completed programs, use the storage protection function to prevent
accidental editing.
When teaching, confirm the program number or step number before performing
the operation.Incorrectly editing programs and procedures can lead to accidents.
When it is not necessary to operate or operate the robot, turn off the power before
performing the work.
After the teaching operation is completed, you should manually check the
movement of the robot at a low speed. If it runs at 100% speed in automatic mode
immediately, an accident may occur due to factors such as program errors.
After the teaching operation is completed, the cleaning operation should be carried
out, and confirm whether you have forgotten to take the tool. The work area is
contaminated with oil, and tools are forgotten, which can cause accidents such as
falls. To ensure safety, start with rectification.
1.2 Robot transfer, transfer, sale
When transferring, transferring, and selling robots, you must ensure that the
robot-related documents such as the machine manual, electrical maintenance
manual, and robot programming manual are transferred to the new user. When
transferring, transferring, or selling abroad, the customer must be responsible for
preparing the appropriate language of the machine manual, electrical maintenance
manual, robot programming manual, modifying the display language, and ensuring
compliance with local laws. New users who do not read the instruction manual and
perform wrong operations or unsafe operations can cause accidents.
When the robot is transferred, transferred, or sold abroad, if there is no special
provision in the contract clause at the time of the initial sale, the security-related
clauses shall not be inherited by the new bearer. The original client and the new
recipient must sign a new contract.

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1.3 Robot abandonment
Do not disassemble, heat, or incinerate batteries used in control devices or robots.
Otherwise, fire, rupture and burning accidents may occur.
Do not disassemble the control board, components, etc. before discarding.
Sharp parts such as cracks or cuts and wires may cause injury.
After the cable and external wiring are removed from the connector and junction
box, do not disassemble it further and discard it. Otherwise, your hands or eyes
may be injured due to conductors.
When carrying out discarding operations, please be careful not to get pinched or
injured.
Waste products should be discarded in a safe state.

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Chapter 2 Basic Instruction
2.1 Robot system configuration
The industrial robot consists of the following components, see Figure 2-1:
Mechanical body
Control cabinet
Teach pendant
Connect (power supply) cables, etc.
Figure 2-1 Industrial robot system configuration
2.2 Open box to check
1. Before unpacking, please confirm whether the product packaging is intact;
2. After unpacking, please confirm whether the robot accessories are complete and whether the
model is consistent with the order.
If you find missing or wrong parts, please contact the supplier in time.
Unpacking list
Name
Model
Quantity
Unit
Remarks
Robot body
ER7-700
1
PC
Electric cabinet
EC1-S6
1
PC
Teach Pendant + Teach
Pendant Line
EC1-S-STATIC-CABL
E-4MK
1
PC

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Note: The above is the standard configuration list, excluding the case of customized models
2.3 Machine body nameplate
The nameplate of the operating machine can be seen on the robot body. The nameplate contains
information such as the corresponding product model, weight, voltage, production number, and
production date. As shown in Figure 2-2 below.
Figure 2-2 Nameplate of the robot
Electric cabinet-body
power and coding code
EC-M6-SC-PB
1
PC
Cabinet power cord
\
1
PC
Installed on the electrical cabinet
Body IO line
\
1
PC
Accessories (bracket,
gasket)
\
1
SET
Installed on the electrical cabinet
Documentation DVD
\
1
PC

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2.4 Composition of the body and the direction of each axis
The robot mechanical body is mainly composed of six parts: Base, Frame, Arm,Gear Box, Wrist
1 and Wrist 2. The joints of the mechanical body are driven by servo motors, and the joints cooperate
with each other to adjust the position and posture of the robot end in space.
The name of each component of the mechanical body and the direction of each axis are shown in
Figure 2-3
Figure 2-3 ER7-700 mechanical body components

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2.5 Hard limit of each axis of mechanical body
Each axis of the robot body is provided with a zero mark and a permitted range of motion. When
the robot system runs normally, each axis of the robot is controlled to operate within the allowable
range. In addition, in order to further ensure safety, a mechanical hard limit device (see Figure 2-4) is
also provided on some axes to prevent the robot (control) system from operating abnormally when the
robot runs beyond the allowable range.
Figure 2-4 Mechanical hard limit position and zero mark position
J2 axis depends on casting contact
limit
J3 axis limit block
J4 axis infinite position device,
set by software to control the
range of motion
J5 axis relies on casting to
contact the limit block
J6 axis infinite position
device
J1 axis limit block

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2.6 Robot performance parameters
1) Robot performance parameter table
model
ER7-700
Control axis
6 axis
placement method
Ground installation, suspension installation
Maximum
operating
speed
J1 axis
380°/sec
J2 axis
350°/sec
J3 axis
400°/sec
J4 axis
450°/sec
J5 axis
450°/sec
J6 axis
720°/sec
Maximum
motion
range
J1 axis
±170°
J2 axis
+80°~-135°
J3 axis
-70°~+195°
J4 axis
±190°
J5 axis
±120°
J6 axis
±360°
Maximum radius of activity
713mm
Hand load
7Kg
Body weight
38Kg
Wrist allows
maximum static
torque
J4
16Nm
J5
16Nm
J6
9Nm
Allowable
maximum
inertia of wrist
J4
0.45Kg*m2
J5
0.45Kg*m2
J6
0.14Kg*m2
Repeat accuracy
±0.02mm
Robot base size
200*200mm
Ambient temperature
0-45°C
Relative humidity
Working conditions 80% (40 ° C) Storage and transportation
conditions 93% (40 ° C)
Atmospheric pressure
86KPa~106KPa
Vibration, impact, collision
≤0.5G

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2) Robot workspace
Figure 2-5 Robot motion range diagram
Note: The working space shown in this figure is the maximum that can be achieved in theory. The actual
operation will be affected by the installation method. There will be changes in actual operation.