Estun S1E Series User manual

ESTUN Robot S1E Control Cabinet
Operation Instructions
E-0701EN-02

Thank you for purchasing ESTUN robots.
Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content.
ESTUN endeavor to prove the products. All specifications and designs are subject to change without
notice.
All statements, information, and advice provided in this manual have been carefully processed, but no
guarantee is given for their complete accuracy. We shall not be held liable for any direct or indirect
losses arising from the use of this manual.
Users are solely responsible for the application of any products and should exercise caution when using
this manual and the associated products.
The interpretation of all content in this manual belongs to ESTUN Robotics Engineering Co., Ltd.
This manual may not be reproduced and copied in any way, in whole or in part,
without a license to any party.
ESTUN Robotics. All Rights Reserved Copyright.
Hotline: [phone]
ADD: NO.1888, Jiyin Avenue, Jiangning Development Zone, Nanjing
Post Code: 211102
TEL: [phone]
WEB: www.estun-robotics.com
E-mail: [email protected]om

4
Revision History
Revision Date Content
01 2022.09 Initial issue
02 2023.03 Update the dimensional drawing, delete ER20-1745-PV; add ER20B-1745-PV

1
Safety Precautions
This Chapter describes the content to be observed for the safe use of the robot. Before using, be
sure to read and understand the content in this Chapter.
Companies and individuals using Estun Robotics should be familiar with the local and national
standards and laws. Appropriate safety facilities shall be provided to protect users. Before use
(installation, operation, maintenance and repair), please be sure to read and understand this Manual as
well as other ancillary materials thoroughly, and use it after being familiar with all knowledge on
equipment, safety and precautions. However, Estun would not guarantee that the user will absolutely
not be injured even if he follows completely all the safety information given in the Manual.
Definition of users
The users of this Manual are defined as follows
1. Operators
To perform the power ON/OFF operation of the robot;
To start the robot program from the operation panel;
To restore system alarm status;
Must not work inside the safety fence.
2. Programmers
To operate the robot;
Teach the robot in a safetyarea and others;
To work in a safetyarea;
The above-mentioned personnel must receive training on the robot.
3. Maintenance personnel
To operate the robot;
To teach the robot in a safetyarea and others;
To carry out the robot maintenance (repair, adjustment, replacement);
To work in a safetyarea;
The above-mentioned personnel must receive specialist training on the robot.
Safety Symbols
If the manual contains instructions marked as follows, users must read them carefully and follow
strictly.

2
Symbol Definition
This symbol indicates a high potential for serious danger that could result
in death or severe injury if not avoided.
This symbol indicates a moderate or low potential for danger that could
result in minor or moderate injuries if not avoided.
This symbol indicates potential risks that, if disregarded, could lead to
equipment damage, data loss, decreased device performance, or
unpredictable outcomes.
IMPORTANT
This symbol indicates mandatory precautions and restrictions to be
followed. It may also indicate warnings or precautions that do not pose a risk
of equipment damage.
NOTE
This symbol provides additional information to the main text, emphasizing
and supplementing the content.
Safety Precautions
1. General considerations:
DO NOT use the robot in the following situations, as it can have an impact on
the robot, peripheral devices, and potentially cause harm to operators:
In flammable environments
In potentially explosive environments
In environments with high levels of radiation
In water or high humidity environments
For transporting people or animals
As a climbing device (climbing onto or suspending beneath the robot)
During robot operation, programming, and maintenance, personnel must
prioritize safety. At a minimum, the following items should be worn:
Appropriate work clothes
Safety shoes

Safety helmet
Operations within the safety zone require specialized training on the robot.
For more information regarding training, please consult ESTUN Robotics
Engineering Co., Ltd.
2. Installation precautions
(1) Follow the specified methods for handling and installing the robot.

3
When handling and installing the robot, follow the methods specified by Estun Robotics. Using
incorrect methods may result in the robot tipping over and causing accidents;
(2) During the initial operation of the robot, start at low speed, gradually increase speed, and
check for any abnormalities;
(3) It is strictly prohibited to move the robot's axes, as it may cause personal injury and equipment
damage;
(4) Take precautions when wiring and piping between the robot, the cabinet, and peripheral
equipment. Put the pipes, wires or cables through a pit or covered with a protective lid, to
avoid stepped by personnel or run over by a forklift;
(5) Ensure proper grounding for all peripheral devices;
(6) Draw an area clearly indicates the safety area. Install a fence or hang a warning board to
ensure the safety operation of the robot, and keep unauthorized personnel outside the safety
area;
(7) Exercise caution when disassembling the robot to avoid injury from falling components;
3. Precautions for operation
(1) Unexpected movement may occur on any operating robot, which will cause severe injuries or
damages in the working area. Test (safe door, brake, safe indicators, etc.) must be performed
on each safety measures before using the robot. Before turn on the system, make sure that no
one is in the working space;
(2) Never hang any tools above the robot. Falling of these tools may cause damage to equipment;
(3) Never lean on the cabinet. Never touch any buttons without permission. Unexpected
movement of the robot may cause personnel injuries and equipment damage;
(4) Do not wear gloves when using the teach pendant. Operate with gloves may cause an
operation error;
(5) Programs, system variables, and other information can be saved on the memory card or USB
memories. Be sure to save the data periodically in case that the data is lost;
(6) Turn off the power when adjusting peripheral equipment;
(7) Never set motion range or load condition exceeds the rated range. Incorrect setting may cause
personnel injury and equipment damage;
(8) Observe the following precautions when teaching inside the working space of the robot
Do not enable the system unless the mode is switched to manual, and make sure that all
auto-control is cut off;
Speed must be limited under 250mm/s at manual mode. Only authorized person with fully
understand of the risks can adjust the robot to rated speed manually;
Be careful about rotating joints to prevent hair and clothes involved. Take precautions of
injury or damage caused by the manipulator or other auxiliary devices;
Check the motor brake to avoid personnel injuries caused by unexpected situation;
Always have an escape plan in mind in case the robot comes towards you unexpectedly;
Ensure that there is a place to retreat to in case of emergency.

4
Under any circumstances, do not stand under any robot arm to prevent
abnormal motion of the robot or connection with other people.
A carbon dioxide fire extinguisher needs to be placed on site to prevent the
robot system from catching fire.

5
Safety Precautions
Operations such as handling, setup, teaching, adjustment, and maintenance
must be conducted within a safety area by personnel who have received
professional training in robotics.
For more information regarding training, please contact ESTUN Robotics
Engineering Co., Ltd.
Precautions for users
Operators
(1) Before operate the robot, you should press emergency stop button, which is on the teach pendant
or the upper right of electric cabinet, in order to check whether the indicator of Servo Ready is not
light, and make sure the power of the indicator is turnoff.
(2) In course of operation, never allow the non-work personnel to touch the control cabinet. Otherwise,
the robot might bring some unexpected movements, which can cause personal injury or equipment
damage.
(3) When you install a device on the robot, the power supplies of the control cabinet and the device
must be cut off (OFF), and then hang a caution sign. If you power on in your installation, it might
cause the danger of electric shock, or the robot might bring some unexpected movements, which
can cause personal injury.
(4) E-stop
The E-stop is independent of the electrical control of all robots, and it can stop all robot
motions;
E-stop means that all power supplies to the robot are disconnected, but the power to the brake
on the servomotor is not disconnected. The robot can work again after releasing E-stop button
and re-starting the robot.

There’re several buttons for emergency stopping the robot. On the teach
pendant and at the upper right of control cabinet, each of these places has
one red button, as shown in the left side. Certainly, users can also set the E-
stop button as required.
The E-stop button must be installed in an accessible position so that the
robot can be stopped in an emergency.

Operators shall pay attention to the high-voltage danger of the power line of
the servomotor, as well as the power line connecting the fixture and other
devices.

6

E-stop is just used for stopping the robot in the case of an emergency. That is
to say, it cannot be used in the normal stop.
Programmers
While teaching the robot, and in some cases, the programmer needs to enter the range of the
robot's movement, so be sure to keep himself safe.
ON/OFF enabling is done by operating a Mot button on the teach pendant. When
pressing this button, the servomotor is enabled, and disabled when releasing it.
To ensure the safe use of the teach pendant, the following rules must be observed:
Ensure that the enable button works at all times.
Disconnect the enabling timely when temporarily stopping the robot, programming or testing.
When entering the robot working space, the demonstrator shall bring the teach pendant to
avoid other people operating the robot without the programmer is informed.
The teach pendant must not be placed within the working space of the robot to prevent
abnormal actions in case of collision between the robot and the teach pendant.
Maintenance personnel
(1) Pay attention to the parts in the robot that are prone to become hot
Some parts of the robot in normal operation will become hot, especially the servomotor and
reducer, which may cause burns when being approached or touched. When it is inevitable, protective
equipment such as heat-resistant gloves should be worn.
Before touching these parts with your hands, try to feel the temperature
of these parts by approaching with your hand, in case you are scalded.
Wait for enough time after machine halt, so that the hot parts can be
cooled down, and then you can carry out the maintenance work.
(2) Safety precautions on removing parts
Ensure that the internal parts such as the gears are no longer rotating, and then you can open the
lid or the protection device. You shall not open the protection device when the gears and bearings are
rotating. If necessary, use the auxiliary device to make the internal unfixed parts remains its original
position.
The initial test upon repair, installation and maintenance shall be carried out by following the steps
below:
Clean up the robot and all maintenance and installation tools in the working space of the robot.
Install all the protective measures.
Ensure that people are standing outside the safe range of the robot.
Pay special attention to the working conditions of the parts repaired during testing.
In case of robot repair, do not use the robot as a ladder, and do not climb on the robot to avoid
falling.
(3)Safety precautions on pneumatic/hydraulic components

7
After turning off the air source or hydraulic pump, a few residual gas or liquid exists in the
pneumatic system or hydraulic system. Beware these gases or liquid, which have a certain energy; we
must take some measures to prevent the residual energy from damaging to the human body and
equipment. Therefore, it is necessary to release the residual energy in the system before maintaining
the pneumatic or hydraulic components.
Mount a safety valve to avoid accidents.
(4)The power supply need be opened in many cases of fault diagnosis, but it must be shut when the
maintenance or repair is carried, moreover, you should cut off other power supply connections.
(5)Brake detection.
In general, the brake can be worn in the normal operation. Therefore, the brake detection is
necessary by following the steps below.
a)Move each joint to a position, where the joint can bear the maximum load.
b)Shut down the robot and brake.
c)Mark every joint of the robot.
d)Examine whether any joint moves after waiting for a moment.
(6)Safety precautions for adding lubricating oil
When add lubricating oil to the reducer, it might do harm to the person and the equipment.
Therefore, you must obey the below safety information before adding lubricating oil:
Wear the protective measures (e.g. gloves, etc.) when refueling or draining oil to prevent
damage to maintenance personnel caused by high-temperature oil or reducer.
Be cautious when opening the oil chamber cover. Keep away from the opening as there may
be pressure in the oil chamber to cause splashing.
Oil filling shall be made according to the fuel gauge, which shall be not too full. Check the oil
indicator port after oil filling.
Oil of different designations cannot be added to the same reducer, and the remaining oil must
be cleaned up before using the oil of different designation.
Drain the oil completely or check the oil indicator port after oil filling.
Before emptying the oil in the reducer, you can run the robot for a period
of time to heat the oil, to allow easier draining.
Safety precautions for robot
In an emergency, any arm of the robot that clips the operator shall be removed. Please ask our
technicians for details to ensure the safe removal.
Small robot arms can be removed manually, but for large robots, cranes or other small equipment
may be required.
Before releasing the joint brake, the mechanical arm needs to be fixed first to ensure that the
mechanical arm will not cause damage again to the person trapped under the action of gravity.

8
Ways to stop robot
The stopping of robots has the following three ways.
Power-Off Stop
Servo power is turned off and the robot stops immediately. Servo power is turned off when the
robot is moving, and the motion path of the deceleration is uncontrolled.
The following processing is performed at Power-Off stop:
An alarm is generated and servo power is turned off, and the robot operation is
stopped immediately.
Execution of the program is paused.
For the robot in motion, frequent power-off operations through E-stop buttons will cause robot
failure. The system configuration for daily power-off stop should be avoided.
Alarm Stop
The motion of the robot is decelerated and stopped through a control command after the robot
system issues an alarm (except for the power failure alarm). The following processing is performed at
Controlled stop:
The robot system issues an alarm due to overload, failure, etc. (except for power
failure alarms).
The servo system sends a command “Control Stop” along with a decelerated stop.
Execution of the program is paused.
The servo power is turned off.
Hold
The robot is decelerated until it stops, and servo power remains on.
The following processing is performed at Hold:
The robot operation is decelerated until it stops. Execution of the program is paused.
Safety precautions for tools and peripheral equipment
The external equipment of the robot may still be running after the robot is turned off, so damage to
the power cord or power cable of the external equipment may also cause bodily injury.
Warning and Caution Signs
Symbol Description
Electric shock
Attention should be paid to the danger of high voltage and electric shock
at the place where this sign is affixed.
High temperature
Be cautious about a section where this label is affixed, as the section
generates heat. If you have to inevitably touch such a section when it is hot,
use a protective provision such as heat-resistant gloves.

9
Symbol Description
No stepping
Do not step on or climb the robot as it may adversely affect the
equipment, and cause the bodily injury to operators.
Wounding by robot
There is a danger of wounding by robot when working within the motion
range of robot.
No disassembly
Users are prohibited from disassembling the part affixed with this sign.
Disassembly shall be carried out by professionals using professional tools.

1
Preface
This document primarily provides instructions for the use of the S1E Control Cabinet. The S1E
is a standard vertical cabinet.
The compatible robot types for this control cabinet are as follows:
Control cabinet Type
S1E
ER8-2000-HW-T
ER8-2000-HW
ER8-2000-CW
ER8-2000-CW-T
ER8-1500-CW
ER8-1450-HW
ER10-2000-CW
ER12B-1510
ER15-1520-PR
ER20/10-2000-HI
ER20B-1745-PV
ER20-1780
ER20-1780-F
ER20-1780-HI
ER20B/10-2010-HI
ER20B-1760
ER30-1880
ER30-1880-F
ER30B-1810-F
ER35-1880
ER35B-1810
ER35B-1810-LI

11
CONTENTS
Revision History .............................................................................................................................. 4
Safety Precautions.......................................................................................................................... 1
Definition of users............................................................................................................................. 1
Safety Symbols................................................................................................................................. 1
Safety Precautions ........................................................................................................................... 2
Safety Precautions.......................................................................................................................... 5
Precautions for users........................................................................................................................ 5
Safety precautions for robot ............................................................................................................. 7
Ways to stop robot............................................................................................................................ 8
Safety precautions for tools and peripheral equipment ................................................................... 8
Warning and Caution Signs.............................................................................................................. 8
Preface ...................................................................................................................................... 10
CONTENTS...................................................................................................................................... 11
Chapter 1 Product Information................................................................................................ 10
1.1 Information on nameplate ......................................................................................................... 10
1.2 Designation ............................................................................................................................... 10
1.3 Components...............................................................................................................................11
1.4 Basic parameters ...................................................................................................................... 12
1.5 Overall dimensions ................................................................................................................... 14
Chapter 2 Transportation & Installation................................................................................ 15
2.1 Transportation ........................................................................................................................... 15
2.1.1 Transport by a forklift ..................................................................................................................... 15
2.1.2 Transport by a forklift ..................................................................................................................... 16
2.2 Installation ................................................................................................................................. 16
2.2.1 Installation guidelines..................................................................................................................... 16
2.2.2 Installation location......................................................................................................................... 17
Chapter 3 Wiring & Connection .............................................................................................. 19
3.1 Precautions for cable connection.............................................................................................. 19
3.2 Residual-current circuit breaker................................................................................................ 20
3.3 External interface definition ...................................................................................................... 20
3.4 Basic diagram ........................................................................................................................... 21
3.5 Power supply wiring .................................................................................................................. 22
3.6 Teach pendant........................................................................................................................... 29
3.6.1 Precautions for using teach pendant ........................................................................................... 29
3.6.2 Apperance of teach pendant ......................................................................................................... 30
3.6.3 Teach pendant interface definition ............................................................................................... 31
3.6.4 Teach pendant connection ............................................................................................................ 32
3.6.5 Electrical principle........................................................................................................................... 33
3.7 IO wiring .................................................................................................................................... 33
3.7.1 IO wiring........................................................................................................................................... 33
3.7.2 Encoder wiring ................................................................................................................................ 37
3.8 Controller................................................................................................................................... 38
3.9 Relay module ............................................................................................................................ 43
Chapter 4 Debugging ................................................................................................................. 45

12
4.1 Checks before power-on........................................................................................................... 45
4.2 Use of teach pendant................................................................................................................ 46
4.2.1 Connection of teach pendant........................................................................................................ 46
4.2.2 Editing method ................................................................................................................................ 46
4.3 Use of ESView software ........................................................................................................... 47
4.3.1 Connecting the servo drive unit.................................................................................................... 47
4.3.2 Installing ESView ............................................................................................................................ 48
4.3.3 Enabling ESView ............................................................................................................................ 50
4.3.4 Parameter settings ......................................................................................................................... 54
4.4 Definition of parameters............................................................................................................ 61
Chapter 5 Troubleshooting....................................................................................................... 70
5.1 Alarm check............................................................................................................................... 70
5.1.1 Viewing alarms with teach pendant ............................................................................................. 70
5.1.2 Viewing alarms with ESView......................................................................................................... 71
5.2 Alarm list.................................................................................................................................... 71
Chapter 6 Maintenance.............................................................................................................. 79
6.1 Maintenance precautions.......................................................................................................... 79
6.2 Daily inspection......................................................................................................................... 80
6.3 Regular inspection .................................................................................................................... 80
6.4 Items to confirm during installation adjustment ........................................................................ 81
6.5 List of spare parts ..................................................................................................................... 83

Chapter 1 Product Information
1.1 Information on nameplate
Figure 1.1 Information on nameplate of electric cabinet
1.2 Designation
Figure 1.2 Designation
Model
Weight
Input specification
Power
Frequency
PO number
Serial number
Model
Compact electrical cabinet
Standard electrical cabinet
Mark
Spec.
Mark
Low-load drive
Medium-load drive
Heavy-load drive
Integrated
drive system
Series name
Ve r s i o n
Drive
specification
Design
sequence
Remarke

1.3 Components
Description of appearance
Figure 1.3 Description of appearance
Internal structure
Inside the control cabinet, multi-core cables should be used for wiring. Avoid leaving
excessively long wiring and check for any cable entanglement.
E-stop button
Teach pendant hook
Main power switch
Circuit breaker
AC contactor
Switching power supply
Relay module
Driver
Heat exchanger
Controller
External interface

Figure 1.4 Internal structure
External interface
Figure 1.5 External interface
1.4 Basic parameters
Table 1-1 Basic parameters list of control cabinet
Model
Dimensions
(mm)
(L*W*H)
Self-
weight
(kg)
Rated
power (kW)
Reference
energy
consumptio
n (Kw/h)
Applicable model
ERC-S1-□□S□(ED3L)
620*550*75
0Vertical
electrical
cabinet
120
4
1.07 ER8-1450-HW
1.07 ER8-1500-CW
0.45 ER8-2000-HW-T
0.45 ER8-2000-HW
1.07 ER12B-1510
1.64 ER15-1520-PR
4.9 1.3 ER20/10-2000-HI
1.3 ER20B/10-2010-HI
Tubular resistor
Transformer
Fan
Mains power cable
IO cable interface
M25 reserved
interface
RJ45 interface
Encoder cable
Teach pendant cable
connector
Reserved interface for
heavy-load connector

2.76
ER20-1780
1.61
ER20-1780-HI
1.09 ER20B-1745-PV
1.17 ER20B-1760
1.25 ER20-1780-F
0.91 ER30B-1810-F
1.38
ER30-1840-F
1.33
ER30-1880
1.12 ER35-1880
1.34 ER35B-1810
1.34 ER35B-1810-LI
5.5
0.44 ER8-2000-CW
0.44 ER8-2000-CW-T
0.73 ER10-2000-CW
Table 1-2 Control cabinet installation parameters
Control cabinet installation environment
Ventilated, not airtight
Minimum installation range
2500*2500*1200 (mm, L*W*H)
Ambient working temperature
Temperature ：0°~45℃
Humidity：20%~80%RH
Communication interface with
peripherals (additional module required)
Standard: EtherCAT, Modbus TCP, TCP/IP;
Optional: Profinet, Profibus, CCLINK, EtherNet IP
Total cable length to robot Standard: 8m
Options: 10m, 15m, 20m, 10m (flexible), 15m (flexible), 20m
(flexible)
Noise level
50-75dB
Table 1-3 Control cabinet specifications
Item Spec.
Mains power supply for
electrical cabinet
Three-phase, AC 380V, -15% to +10%, 50/60Hz
Number of control axes 4～6
Storage environment Temperature: -25℃～55℃
Humidity: 95% RH or less (no condensation, no freezing)
Insulation resistance 100mΩ or more
Vibration strength 4.9m/s²
Shock resistance 19.6m/s²
Altitude Below 1,000m
EMC test standards IEC 61800-3:2017
IP grade IP54