Elite EC66 User manual
ELITE COLLABORATIVE ROBOT
EC66 User Manual
Original Version 4.0.0
Please read this manual carefully before use
Please see the chapter of version information in this manual for the product version
information corresponding to the user manual of this version, and please check the actual product
version information carefully before use, as to ensure consistency.
This user manual shall be periodically checked and revised, and the renewed contents will appear in the new
version. The contents or information herein is subject to change without prior notice.
Suzhou Elite Robot Co., Ltd. shall assume no liability for any errors which will occur in the manual probably.
Suzhou Elite Robot Co., Ltd. shall assume no liability for the accident or indirect injury as a result of using of
this manual and the product mentioned herein.
Please read this manual before installing and using the product.
Please keep this manual so that you can read and use it for reference at any time.
The pictures in the specification shall be used for reference only. The goods received shall prevail.
Copyright © 2018-2019 ELITE All rights reserved.
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Contents
Contents.....................................................................................................................................1
Preface........................................................................................................................................3
Product Composition.........................................................................................................4
More Information...............................................................................................................4
Chapter 1 Safety.........................................................................................................................5
1.1 Profile...........................................................................................................................5
1.2 Safety Warning Symbols..............................................................................................5
1.3 Safety Cautions............................................................................................................7
1.4 Liabilities and Specifications.....................................................................................11
1.5 Danger Identification.................................................................................................12
1.6 Intended Use..............................................................................................................13
1.7 Handling of Emergency Situations............................................................................14
Chapter 2 Carrying and Cautions.............................................................................................17
Chapter 3 Maintenance, Repair and Disposal..........................................................................18
3.1 Maintenance and Repair............................................................................................18
3.2 Disposal......................................................................................................................19
3.3 Maintenance...............................................................................................................19
Chapter 4 Quality Assurance...................................................................................................20
4.1 Product Quality Assurance.........................................................................................20
4.2 Disclaimer..................................................................................................................20
Chapter 5 Robot Hardware Composition.................................................................................22
Chapter 6 Robot Installation....................................................................................................24
6.1 Brief Installation Steps...............................................................................................24
6.2 Important Safety Instructions.....................................................................................24
6.3 Workspace of the Robot.............................................................................................25
6.3.1 Mechanical dimensions of the robot...............................................................25
6.3.2 Range of motion of the robot..........................................................................25
6.4 Robot Installation.......................................................................................................26
6.5 Installation of the End Tool........................................................................................27
Chapter 7 Introduction to Use..................................................................................................29
7.1 Installation..................................................................................................................29
7.1.2 Cable Connection............................................................................................29
7.1.2.1 Connection of the robot arm to the control box...........................................30
7.1.2.2 Connection of the control box to the mains supply.....................................30
7.2 Robot Power-on.........................................................................................................31
7.2.1 Preparations before power-on.........................................................................31
7.2.2 System power-on.............................................................................................32
7.3 Robot Shutdown.........................................................................................................32
Chapter 8 Electrical Interface..................................................................................................33
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8.1 Overview....................................................................................................................33
8.2 Electrical Warnings and Cautions..............................................................................33
8.3 Controller I/O.............................................................................................................35
8.3.1 Common specifications of all digital I/Os......................................................37
8.3.2 Safety I/O........................................................................................................39
8.3.3 General purpose digital I/O.............................................................................42
8.3.4 Digital input from a button.............................................................................43
8.3.5 General purpose analog I/O............................................................................43
8.4 Ethernet......................................................................................................................45
8.5 Mains Connection......................................................................................................45
8.6 Robot Connection......................................................................................................48
8.7 Tool I/O......................................................................................................................48
8.7.1 Tool power supply...........................................................................................50
8.7.2 Tool digital input.............................................................................................51
8.7.3 Tool digital output...........................................................................................51
8.7.4 Tool analog input............................................................................................53
8.7.5 Tool analog output..........................................................................................54
8.7.6 Tool communication I/O.................................................................................54
Chapter 9 Teach Pendant..........................................................................................................55
Appendix..................................................................................................................................57
A Glossaries.....................................................................................................................57
B Certification and Detection..........................................................................................59
C Stopping Time and Stopping Distance.........................................................................61
D Reference Standards.....................................................................................................62
E Technical Specifications...............................................................................................63
F Payload.........................................................................................................................64
G Installation Requirements of the Robot Arm...............................................................65
H Alarm Information and Description of Routine Problems...........................................66
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Preface
Thank you for purchasing and using the light 6-degree-of-freedom (DOF) collaborative robot
EC66 developed by the company.
The ELITE collaborative robot series takes a joint modular design, and uses a
developer-oriented robot system. The user may develop his own robot control system in
accordance with an application program interface provided by a ELITE collaborative robot
platform. In addition, the ELITE collaborative robot is equipped with a dedicated programmable
interface, in this way the user may observe a running state of the robot in real time through the
interface, while implementing multiple control settings for the robot and implementing offline
simulation. Accordingly, the work efficiency of the practical application may be improved greatly.
The EC66, as one of the ELITE modular collaborative robot series, is an intelligent light 6-DOF
modular collaborative robot launched by Suzhou Elite Robot Co., Ltd., with a payload of 6kg.
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Product Composition
The detailed outbound list of one set of complete EC66 robot is shown in the table below.
More Information
If you need more information, please visit the website: www.elibot.cn
Name Quantity
Robot body 1
Control box including teach pendant 1
Power cord 1
Base (Optional) 1
User manual (optical disk) 1
Thin-walled wrench 1
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Chapter 1 Safety
1.1 Profile
This chapter introduces the safety principles and specifications that should be followed when
operating a robot or a robot system. The integrator and the user must read this manual carefully,
and need to mainly master and strictly comply with contents with warning labels. As the robot
system is complicated and dangerous, the user needs to fully understand the risk of operation, and
strictly comply with and implement the specifications and requirements in this manual. The user
and the integrator should have sufficient safety awareness and comply with ISO 10218 Industrial
Robots - Safety Specification
1.2 Safety Warning Symbols
The safety-related contents in this manual are illustrated with the following warning symbols.
The descriptions related to the warning symbols in this manual represent the important contents,
please comply with these symbols.
This indicates an imminently hazardous electrical situation
which, if not avoided, could result incasualties or serious
damage of the equipment.
This indicates a potentially hazardous hot surface which, if
touched, could result in the personnel injury.
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SAFETY CAUTION:
This indicates an imminently hazardous situation which,
if not avoided, could result in casualties or serious injury.
This indicates a potentially hazardous electrical
situation which, if not avoided, could result in personnel
injury or serious damage of the equipment.
This indicates a potentially hazardous situation which, if
not avoided, could result in personnel injury or serious
damage of the equipment. As for the items marked with this
symbol, the major consequence would probably occur
sometimes in accordance with the specific situation.
This indicates a situation which, if not avoided, could
result in personnel injury or damage of the equipment .
As for the item marked with this symbol, the major
consequence would probably occur sometimes in accordance
with the specific situation.
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1.3 Safety Cautions
1.3.1 Overview
This manual includes the safety measures of protecting the user and preventing the machine
from damage. The user needs to read all relevant descriptions in the specification and be fully
familiar with the safety cautions. In this manual, we shall try to describe various situations.
However, it is impossible to record all the cases that cannot be done because there are so many
possibilities.
1.3.2 Notice for use
The following basic information needs to be understood and followed when starting the robot
or the robot system for the first time, and other safety-related information shall be introduced in
other parts of the manual. However, it is impossible to cover all aspects. In practical application,
theconcrete problem needs to be analyzed in a concrete way.
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1. Please install the robot and all electrical equipments in accordance
with the requirements and specification in the manual.
2. The preliminary test and inspection should be implemented for the
robot and its protective system before using the robot for the first time and
putting into production.
3. Before starting the system and the equipment for the first time, that
whether the equipment and the system are complete, whether the operation
may be implemented safely, and whether any damage is detected must be
checked. During the detection, that whether it is in line with the effective
safety production rules and regulations of the country or the region should
be observed, and all safety functions must be tested.
4. The user must check and make sure that all safety parameters and
user programs are correct and all safety functions run normally. The person
qualified to operate the robot should check each safety function. The robot
cannot be started until the robot passes comprehensive and careful safety
test and reaches the safety level.
1. The professional staff should install and debug the robot in
accordance with the installation standards.
2. Upon completion of installation and construction of the robot, the
comprehensive risk assessment should be implemented again, with the
document records kept.
3. The authorized personnel should set and change the safety
parameters, and the passwords or the isolation measures should be used to
prevent the unauthorized personnel from changing or setting the safety
parameters. When the safety factors are revised, the related safety functions
need to be analyzed.
4. When the robot is trapped in accident or runs abnormally, the
emergency stop switch may be pressed to stop the action of the robot.
5. The brake is installed in the EC66 joint module, to maintain the pose
of the robot arm when the power is switched off. Do not artificially switch
the power supply system on and off frequently. It is recommended that the
time interval of switching on and off the machine should be more than 10
seconds.
6. The EC66 has the collision detection function. When the external
force of powering on the robot arm exceeds a normal force of the user’s
safety setting, the robot arm may stop automatically, as to prevent the robot
or the operating personnel from injury due to collision. The function is
dedicatedly designed by the EC66 for the safety of man-machine
collaborative work. However, the robot system is required to run within the
normal range, and the control box of the ELITE collaborative robot series
must be used. If the user develops the controller himself, the robot will not
have the abovementioned function. Moreover, the user should be
responsible for the dangerous consequence brought herefrom.
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1. The robot and the control box may generate heat during running.
When the robot is working or just stops working, please do not operate or
touch the robot.
2. The robot may be cooled down after turning off the power supply
and waiting for an hour.
3. Do not put your finger to the heating part of the control box.
1. Make sure that the robot arm and the tool are properly and securely
installed in place.
2. Make sure that the robot arm has ample space to operate freely.
3. Never use the robot if it is damaged.
4. Do not connect any safety equipment to normal I/O interface. Use
safety-related interface only.
5. Make sure to implement the correct installation settings (such as the
robot installation angle, mass in TCP, TCP offset, safety configuration).
Save and load the installation file into the program.
6. The tool and obstacles shall not have sharp angles or pinch points.
Make sure that heads and faces of all people are kept outside the reach of
the robot.
7. Be aware of robot motion when using the teach pendant.
8. Any impact will release a lot of kinetic energy, which is much higher
than that at high speed and high payload.
9. Combination of different machines can increase hazards or create
new hazards. Always make an overall risk assessment for the complete
installation. When different safety and emergency stop performance levels
are needed, always choose the highest performance level. Always read and
understand the manuals of all equipments to be used during installation.
10. Never modify the robot. A modification might create hazards that
are unforeseen by the integrator. The authorized reassembling of the robot
shall be done in accordance with all relevant service manuals of the latest
versions. If the robot is changed or altered in any way, Suzhou Elite Robot
Co., Ltd. shall refuse to take all responsibilities.
11. Before transporting the robot, the user needs to check the insulation
and the protective measures.
12. Comply with the transportation requirements when carrying the
robot, as to carry carefully and avoid bumping.
1. When the robot is combined, or works with the machines capable of
damaging the robot, it is highly recommended to test all functions and the
robot program separately. It is recommended to use the temporary
waypoints outside the workspaces of other machines to detect the robot
program.
2. Suzhou Elite Robot Co., Ltd. may not be held responsible for the
damage of the robot or personal injury due to programming errors or
improper operation of the robot.
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3. Do not expose the robot to permanent magnetic fields all the time.
The strong magnetic fields may damage the robot.
1.3.3 Personnel safety
When running the robot system, safety of the operating personnel must be ensured first. The
general cautions are listed below, please properly take corresponding measures of ensuring safety of
the operating personnel.
1. All operating personnel using the robot system should receive the training through training
courses hosted by Suzhou Elite Robot Co., Ltd. The user should ensure to fully grasp the safe and
normative operational process and have the qualification of operating the robot. For detailed training,
please contact with the company. E-mail: [email protected].
2. All operating personnel using the robot system should not wear loose clothing or jewellery
when working with the robot. Make sure that long hair is tied back when working with the robot.
3. When the equipment runs, the robot is in the state of implementing imminent action probably
because the robot is waiting for a starting signal although it seems to have stopped. Even in this state,
the robot should be regarded as being in action.
4. The lines should be drawn on the floor to mark the range of action of the robot, in this way
the operator may know the range of action of the robot including the clamping tool (the manipulator,
the tool and so on).
5. Make sure that the safety measures (for example, guardrails, ropes, or protective screens) are
established near an operating area of the robot, as to protect the operator and the surrounding people.
The locks should be arranged in accordance with the need so that the person outside the operating
personnel in charge of operation cannot touch the power supply of the robot.
6. When using the operation panel and the teach pendant, operations cannot be implemented
until the gloves are taken off as there may be operational errors if the gloves are worn.
7. In emergency and abnormal cases, such as a person is clamped or surrounded by a robot, the
joint is forced to move by pushing or pulling the robot arm hard (at least 700 N). If there is no
electric drive available, the robot arm may be moved manually only in case of emergency, and the
joint may be damaged.
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1.4 Liabilities and Specifications
EC66, which is not complete, may form a complete machine with other equipments. Therefore,
the information in this manual neither covers how to design, install and operate one complete robot
comprehensively, nor covers all possibilities of affecting safety of the peripheral equipment of the
complete system. The installation safety of the complete robot shall depend on how the robot is
integrated. The integrator should comply with the laws, regulations, safety specifications and
standards of the country where the integrator is located to implement the risk assessment for design
and installation of the complete system. The risk assessment is one of the most important tasks that
the integrator must complete. The integrator may implement the risk assessment process by using the
following standards for reference.
• ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk reduction
• ISO 10218-2:2011 Robots and robotic devices - Safety requirements for industrial robots - Part 2: Industrial
robot system and integration
• RIA TR R15.306-2014 Technical report of industrial robots and robot systems - Safety requirements and
task-based risk assessment method
• ANSI B11.0-2010 Safety of machinery – General requirements and risk assessment
The ELITE robot integrator should perform, but not limited to, following responsibilities:
• Make a comprehensive risk assessment for the complete robot system.
• Confirm that the whole system is designed and installed accurately.
• Provide the user and the staff with training.
• Create the operation specification of the complete system and clarify the instructions of using the robot.
• Establish appropriate safety measures.
• Eliminate the hazards or minimize all hazards to acceptable levels with appropriate methods during the
final installation
• Pass the remaining risks to the end user.
• Mark the logo and contact information of the integrator on the robot
• Archive the related technical documents.
For reference to applicable standards and legal guide, please visit the website: www.elibot.cn.
All safety-related information contained in this manual shall not be regarded as a warranty of
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Suzhou Elite Robot Co., Ltd. Even though all safety instructions are followed, the personnel injury
or equipment damage caused by the operating personnel may happen as well.
Suzhou Elite Robot Co., Ltd. is committed to continuously improving reliability and
performance of the products, and accordingly reserves the right to upgrade the products without prior
notice. Suzhou Elite Robot Co., Ltd. strives to ensure accuracy and reliability of the contents in this
manual, and takes no responsibility for any errors or missing information herein.
1.5 Danger Identification
All potential contacts and foreseeable misoperations between the operating personnel and the
robot during normal use should be considered during risk assessment. The neck, face and head of the
operating personnel should not be exposed, as to avoid touching. In absence of peripheral safety
protective device, the risk assessment should be implemented first before using the robot, as to judge
whether the related dangers constitute the unacceptable risk, for example:
• The probable danger because of use of the sharp end effector or the tool connector.
• The probable danger due to handling of the toxic or other harmful substances.
• The danger in which a finger of the operating personnel is clamped by the robot base or the joint.
• The danger caused by bumping against the robot.
• The danger because the robot or the tool connected to the end is not fixed in place.
• The danger due to impact between the payload of the robot and the hard surface.
The integrator must measure this type of risks and the related risk levels thereof through the risk
assessment, and confirm and implement the corresponding measures, as to reduce the risks to the
acceptable levels. Please note that the specific robot equipment may have other major dangers.
The risk related to collaborative operation of the EC66 may be reduced to a reasonable and
feasible level as far as possible by combining the inherent safety design measures applied to the
ELITE collaborative robot and the safety specifications or risk assessment implemented by the
integrator and the end users. Through this document, any remaining risks of the robot before
installation may be passed to the integrator and the end users. If the risk assessment of the integrator
measures that there is risk that may constitute the unacceptable risk to the user in its specific
application, the integrator must take the appropriate risk reduction measures to eliminate or minimize
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the risk until the risk is reduced to the acceptable level. It is unsafe to use before taking the
appropriate risk reduction measures (if needed).
If the non-collaborative installation (for example, when using the dangerous tool) is
implemented for the robot, the risk assessment may infer that the integrator needs to connect to an
additional safety device (for example, a safety starting device) when programming, as to ensure
safety of the personnel and equipment.
1.6 Intended Use
The ELITE collaborative robot should be used on the general industrial equipment only, for
example, operate or fix the tool or the equipment, process or convey the parts and the products. The
ELITE robot shall be allowed to use only under the specified condition. For specific information
about the relevant operating environment and operating conditions, please refer to the appendix.
The ELITE collaborative robot has the special safety level characteristics and may implement
the collaborative operation, namely, the ELITE collaborative robot may be used in absence of the
peripheral safety protective device, however, only in the case that no danger occurs in accordance
with the risk assessment. Namely, on the premise that no safety protective device and the on-site
sensor are used, anticipated or accidental contact between the staff and the ELITE collaborative
robot or its end effector or the part would not constitute the unacceptable risk, and the anticipated or
accidental contact with other objects (the tool, the equipment, the surface and so on) in the
workspace would not constitute the unacceptable risk as well.
The robot controller and the robot should be used on the general industrial equipment only and
cannot be applied to the application breaching the intended uses. The prohibited use includes, but are
not limited to, the following situations:
• Use in flammable and explosive environment, and other dangerous environment.
• Use on the device of moving or carrying human body or other animals.
• Use on the device, such as the medical device involved in the human life.
• Use on the device which greatly influences the sociality and the publicity.
• Use in the environment subjected to vibration, such as the vehicle and the ship.
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• Use of the climbing tool.
1.7 Handling of Emergency Situations
1.7.1 Emergency stop device
All motions of the robot may be stopped upon pressing the emergency stop button. The
emergency stop cannot be taken as the measure of reducing the risk, however can be taken as the
secondary protective device. If multiple emergency stop buttons need to be connected, the
emergency stop device must be incorporated into the risk assessment of the robot application. The
emergency stop button should be in line with the requirements of IEC 60947-5-5.
The EC66 is equipped with the emergency stop buttons on the control box and the teach
pendant. The button should be pressed only when meeting the dangerous situations or emergencies,
as shown in following figure. The control box is equipped with the external emergency stop button
port, and the integrator or the user can use it in accordance with the actual situations.
Figure 1-1 Emergency stop button
The tool or equipment connecting to the end, if constituting the potential
threat, must be integrated into the emergency stop loop of the system. If
falling to comply with the caution, death, and even personal injury or serious
property damage may be caused.
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1.7.2 Resuming from the state of emergency
All emergency stop equipments in form of button have "Locking" function. The "Lock" must be
unlocked, as to end the emergency stop state of the equipments.
The "Lock" may be unlocked by rotating the emergency stop button.
Resuming from the emergency stop state is a simple and important step which can be operated
only when the danger of the robot system is eliminated completely.
1.7.3 Forced emergency movement of the joints
In rare cases, one or more robot joints may need to be moved under the emergency situations,
namely, the power supply of the robot is trapped in failure or the operating personnel does not want
to use the power supply. In this way, the robot joints are forced to move through the following
method:
Forced reverse drive: push or pull the robot arm hard (at least 700N), as to force the joints to
move.
Forced manual movement of the robot arm should be operated only in case of emergency, and
the joints may be damaged.
1.7.4 Over-strong-force safety protection of the robot arm
The robot arm has the over-strong-force safety protection function. When the robot arm is
powered on statically, and when the operating personnel or other objects bump against the robot arm
accidentally and the impact force exceeds a safety threshold, the robot arm may move along with a
direction of the impact force. The function may ensure that the damage to the personnel, other
objects and the robot arm is reduced when the operating personnel or other objects bump against the
robot arm.
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The function may reduce the damage as a result of impact, and the risk assessment should be
implemented when used for other purposes.
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Chapter 2 Carrying and Cautions
When hoisting the robot, moving parts should be positioned with the appropriate measures, as
not to cause the unanticipated motion which may lead to harm accordingly during hoisting and
transportation. When packing and transporting, the robot should be packed in accordance with the
packing standards, and the needed marks should be printed outside a packing box.
When transporting, the robot should be ensured to be stable and needs to be held and fixed at an
appropriate position.
The control box should be raised with a handle
When moving the robot to the installation position from the packing material of the robot, the
robot should be supported until all bolts of the robot base are tightened completely.
After fixing, the robot is powered on, and the pose of the robot should be adjusted to the
appropriate position with the dragged teaching function of the robot.
An original package should be kept upon completion of transportation. The packaging material
should be stored in a dry place, for repackaging and movement of the robot in the future.
1. Make sure that your back or other parts of the body are not overloaded when raising the
equipment.
2. All regional and national guides should be followed. Suzhou Elite Robot Co., Ltd. shall not
be responsible for damage generating during transportation of the equipment.
3. Make sure that the robot is installed in strict accordance with the installation instructions in
the specification.
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Chapter 3 Maintenance, Repair and Disposal
3.1 Maintenance and Repair
The maintenance and repair work must be implemented in strict accordance with all safety
instructions in this manual.
The maintenance, calibration and repair work must be operated in accordance with the latest
service manual which can be searched on the supported website: www.elibot.cn. All dealers of
Suzhou Elite Robot Co., Ltd. may visit the website.
After changing the control system, the robot joints or the tool, the robot and the tool zero should
be re-calibrated on the spot, and the calibration operation and the result judgment method are
introduced in the specification of check for zero. In addition, the parameter settings should be
checked. If the parameters are backed up, the backup parameters may be imported; if the parameters
are not backed up, the parameters should be set again. If the robot joints or the tool needs to be
replaced, the dynamics of the robot needs to be re-identified, with the identification method
introduced in the instructions of the control system.
The authorized system integrator or Suzhou Elite Robot Co., Ltd. must implement the
maintenance. When the parts are returned to Suzhou Elite Robot Co., Ltd., operation should be
implemented in accordance with the provisions in the service manual.
The safety level stipulated by the maintenance and repair work must be ensured, the effective
national or regional working safety rules must be followed, and that whether all safety functions run
normally must be tested.
The purpose of the maintenance and repair work is to ensure normal running of the system, or to
help it return to normal in case of the system failure. The repair work includes the failure diagnosis
and practical repair.
The following safety procedure and cautions must be followed when operating the robot arm or
the control box:
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