Estun SCARA ER Series User manual
ESTUN SCARA Robot
MECHANICAL UNIT
OPERATOR’S MANUAL
M-0601EN-03
Thank you for purchasing ESTUN robots.
Before using the robot, be sure to read the SAFETY PRECAUTION and understand the content.
ESTUN endeavors to improve the products. All specifications and designs are subject to change
without notice.
In this manual, all specifications and information are checked on a regular basis. Nevertheless,
discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity.
ESTUN assumes no responsibility for any direct or indirect losses arising from use of this manual and
products described herein.
Keep this manual handy for easy access at all times.
No part of this manual may be reproduced in any form.
ESTUN Robotics, All Rights Reserved Copyright.
Service Line: 400-025-3336
ADD: No.1888, Ji Yin Avenue, Jiangning District, Nanjing, China Post Code: 211102
TEL: 025-52785866
WEB: www.estun.com
E-mail: robot@estun.com
SAFETY
s-1
SAFETY
Installation and transportation of robots and robotic equipment shall be performed by qualified
personnel and should conform to all national and local codes. Please read this manual and other
related manuals before installing the robot system or before connecting cables. Keep this manual
handy for easy access at all times.
Conventions
Important safety considerations are indicated throughout the manual by the following symbols. Be sure
to read the descriptions shown with each symbol.
Symbols
Definitions
WARNING
！
This symbol indicates that a danger of possible serious injury or death exists if
the associated instructions are not followed properly.
CAUTION
！
This symbol indicates that a danger of possible harm to people or physical
damage to equipment and facilities exists if the associated instructions are not
followed properly.
INFO
This symbol indicates supplementary explanation help users operating the robot
more efficiently.
Design and Installation Safety
Only trained personnel should design and install the robot system. Trained personnel are defined as
those who have taken robot system training and maintenance training classes held by the
manufacturer, dealer, or local representative company, or those who understand the manuals
thoroughly and have the same knowledge and skill level as those who have completed the training
courses.
To ensure safety, a safeguard must be installed for the robot system.
WARNING
！
Personnel who design and/or construct the robot system with this product must
read the Safety chapter to understand the safety requirements before designing
and/or constructing the robot system. Designing and/or constructing the robot
system without understanding the safety requirements is extremely hazardous,
may result in serious bodily injury and/or severe equipment damage to the
robot system, and may cause serious safety problems.
SAFETY
s-2
CAUTION
！
The Robot and the Controller must be used within the environmental conditions
described in their respective manuals. This product has been designed and
manufactured strictly for use in a normal indoor environment. Using the product
in an environment that exceeds the specified environmental conditions may not
only shorten the life cycle of the product but may also cause serious safety
problems.
The robot system must be used within the installation requirements described in
the manuals. Using the robot system outside of the installation requirements
may not only shorten the life cycle of the product but also cause serious safety
problems.
Operation Safety
(1) Please carefully read the safety-related requirements in the Safety chapter before operating the
robot system. Operating the robot system without understanding the safety requirements is
extremely hazardous and may result in serious bodily injury and/or severe equipment damage to
the robot system.
(2) Do not enter the operating area of the Robot while the power to the robot system is turned ON.
Entering the operating area with the power ON is extremely hazardous and may cause serious
safety problems as the Robot may move even if it seems to be stopped.
(3) Before operating the robot system, make sure that no one is inside the safeguarded area. The
robot system can be operated in the mode for teaching even when someone is inside the
safeguarded area. The motion of the Robot is always in restricted (low speeds and low power)
status to secure the safety of an operator. However, operating the robot system while someone is
inside the safeguarded area is extremely hazardous and may result in serious safety problems in
case that the Robot moves unexpectedly.
(4) Immediately press the Emergency Stop switch whenever the Robot moves abnormally while the
robot system is operated. Continuing the operation while the Robot moves abnormally is
extremely hazardous and may result in serious bodily injury and/or severe equipment damage to
the robot system
(5) To shut off power to the robot system, pull out the power plug from the power source. Be sure to
connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power
source.
(6) Before performing any replacement procedure, turn OFF the Controller and related equipment,
and then pull out the power plug from the power source. Performing any replacement procedure
with the power ON is extremely hazardous and may result in electric shock and/or malfunction of
the robot system
(7) Do not insert or pull out the motor connectors while the power to the robot system is turned ON.
Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may
result in serious bodily injury as the Robot may move abnormally, and also may result in electric
shock and/or malfunction of the robot system.
(8) Whenever possible, only one person should operate the robot system. If it is necessary to operate
the robot system with more than one person, ensure that all people involved communicate with
each other as to what they are doing and take all necessary safety precautions.
(9) Joint #1, #2 and #4: repeatedly operating the joint in a motion angle less than 5 degrees may
SAFETY
s-3
result in shortage bearing oil film and shorten the service life of joint. To avoid shortening the
service life of joint, please move the joint over 50 degrees for about 5 to 10 times per day
(10)Joint #3: if arm moving distance of up and down is shorter than 10mm, please move the joint over
half of the maximum motion range for about 50 times per day
(11)When the robot is operating at a low speed (about 5~20% of rated speed), continuous vibration (or
sympathetic vibration) may occur as the direction of arm and end effector load. The following
measures may reduce vibration caused by natural vibration frequency of arm.
Change operating speed
Change teaching point
Change the load of end effector
(12)Vibration of the front end of the arm may increase when J3-axis upper side or lower side is moving,
according to the weight and inertia of the grippers. This is due to an increased distance between
the end and head of the shaft, which leads to a change in inertia. Adjust speed etc. according to
item 11 when this vibration causes negative effect on robot operation.
(13)Do not touch Joint #3 and Joint #4 directly by hand during greasing and teaching. Touch Joint #3
and Joint #4 frequently may cause rust.
(14)When tear down the adhesive tape or seal on the oil paint surface of the robot and the cabinet, be
careful that damage to the paint may occur.
(15)The surface of the robot may be heated when operating with high payload or high speed. Pay
attention to second injury due to unintentionally touch of heated parts. Perform maintenance when
the robot is cooled down.
Emergency Stop
There may be several emergency stop buttons in a robot system to stop the robot
in case of emergencies. The red button, as shown in the left figure, shall be
mounted on the teach pendant. Certainly, the emergency buttons can be
mounted by your requirement.
Emergency stop button shall be located on the place where is easy to reach, so
that the buttons can be pressed down immediately in case of emergencies.
WARNING
！
Operators must be fully aware of the danger of electric shock from cables of
servo motor, gripper, chuck and other devices.
CAUTION
！
The Emergency Stop switch should be used to stop the Robot only in case of
emergencies. Avoid pressing the Emergency Stop switch unnecessarily while
the Robot is running normally.
Emergency Movement without Drive Power
When the system is placed in emergency mode, push the arm or joint of the Robot by hand as shown
below:
Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
SAFETY
s-4
Joint #3 The joint cannot be moved up/down by hand until the solenoid brake applied to the
joint has been released. Move the joint up/down while pressing the brake release
switch.
Joint #4 ER3: move the shaft by hand.
ER6, ER20: The shaft cannot be rotated by hand until the solenoid brake applied to
the shaft has been released. Move the shaft while pressing the brake release
switch.
CAUTION
！
The brake release switch affects both Joints #3 and #4. When the brake release
switch is pressed in emergency mode, the brake for both Joints #3 and #4 are
released simultaneously. Be careful of the shaft falling and rotating while the
brake release switch is pressed because the shaft may be lowered by the weight
of an end effector.
+
-
+
-
+
-
+
-
SAFETY
s-5
Robot Labels
（1）Electric Shock Warning
Fig 0.1 Electric shock warning
This label indicates hazardous voltage or electric shock. Do not touch any electronic parts inside.
（2）Personal Injury Warning
Fig 0.2 Personal injury warning
Never enter the operation area while the Robot is moving. This is extremely hazardous and may result
in serious safety problems.
（3）Hand Pinch Warning
Fig 0.3 Hand pinch warning
Never touch the robot when it is moving. This is extremely hazardous and may injury your hand.
SAFETY
s-6
（4）Manual Reading Warning
Fig 0.4 Manual reading warning
Be sure to read and understand the content of the manual and the labels before installation and
operation. Read the content again when operate the robot the next time. Information not included in
this manual is not allowed.
PREFACE
p-1
PREFACE
This manual describes the following robots.
Robot Type
Load Capacity
ER3
ER3-400-SR
3kg
ER6
ER6-500-SR
6kg
ER6-500-SR/P
ER6-600-SR
ER6-600-SR/P
ER6-700-SR
ER6-700-SR/P
ER20
ER20-800-SR
20kg
ER20-1000-SR
Related manuals
ESTUN SCARA Robot Mechanical Unit Operator’s Manual
ESTUN Robot SCARA Series Cabinet Operator’s Manual
ESTUN RCS2 System Operator’s Manual
CONTENTS
c-1
CONTENTS
SAFETY..............................................................................................................................................................s-1
PREFACE.......................................................................................................................................................... p-1
CONTENTS........................................................................................................................................................c-1
1. SPECIFICATIONS....................................................................................................................................... 1
1.1. Model Number.............................................................................................................................. 1
1.2. Part Names and Outer Dimensions.......................................................................................... 2
1.3. Specifications............................................................................................................................... 9
2. ENVIRONMENTS AND INSTALLTION .................................................................................................. 11
2.1. Environmental Conditions......................................................................................................... 11
2.1.1. Special Environmental Conditions .................................................................................. 11
2.2. Base Table.................................................................................................................................. 12
2.3. Mounting Dimension.................................................................................................................. 13
2.4. Unpacking and Transportation................................................................................................. 17
2.5. Installation Procedure ............................................................................................................... 19
2.5.1. Standard-model.................................................................................................................. 19
2.5.2. Protective-model................................................................................................................ 20
2.6. Connecting the Cables.............................................................................................................. 21
2.7. User Wires and Pneumatic Tubes........................................................................................... 22
2.7.1. Electrical Wires................................................................................................................... 22
2.7.2. Pneumatic Tubes............................................................................................................... 22
2.8. Relocation and Storage............................................................................................................ 24
2.8.1. Precautions for Relocation and Storage ........................................................................ 24
2.8.2. Relocation........................................................................................................................... 25
3. SETTING OF END EFFECTORS........................................................................................................... 27
3.1. Attaching an End Effector......................................................................................................... 27
3.1.1. Shaft..................................................................................................................................... 27
3.1.2. Brake release switch......................................................................................................... 27
3.1.3. Layouts................................................................................................................................ 27
3.2. Attaching Cameras and Valves................................................................................................ 28
3.2.1. Equivalent weight ................................................................................................................. 30
4. MOTION RANGE....................................................................................................................................... 32
4.1. Motion Range Setting by Mechanical Stops.......................................................................... 32
4.1.1. Setting the Mechanical Stops of Joints #1 and #2........................................................ 33
5. MAINTENANCE......................................................................................................................................... 35
5.1. Schedule for Maintenance Inspection .................................................................................... 35
5.1.1. Inspection While Power is OFF (Robot is not operating)............................................. 36
5.1.2. Inspection While the Power is ON (Robot is operating)............................................... 36
5.2. Greasing...................................................................................................................................... 37
5.2.1. Greasing Procedures............................................................................................................. 37
CONTENTS
c-2
5.3. Tightening Hexagon Socket Head Cap Bolts........................................................................ 38
5.4. Maintenance of the Belt............................................................................................................ 39
5.4.1. Belt specifications................................................................................................................. 39
5.4.2. Failure mode of timing belt .................................................................................................. 40
6. CALIBRATION............................................................................................................................................ 41
6.1. Introduction................................................................................................................................. 41
6.2. Calibrating With Special Tools ................................................................................................. 41
6.3. Calibration in Each Axis............................................................................................................ 42
APPENDIX.......................................................................................................................................................... 45
AppendixA ER3 Maintenance Parts List............................................................................................. 45
Appendix B ER6 Maintenance Parts List............................................................................................ 46
Appendix C ER20 Maintenance Parts List.......................................................................................... 47
REVISION RECORD ........................................................................................................................................ 48
SPECIFICATIONS
1
1.SPECIFICATIONS
1.1. Model Number
ER6-600-SR/P
3 3kg
6 6kg
Load capacity
40
50
60
70
0
Non Standard-model
P
Environment
400mm
500mm
Arm length
600mm
700mm
SR SCARA
Protective-model
Arm #3 length
Application
200mm (ER6)
150mm (ER3)
420mm (ER20)
80 800mm
100 1000mm
20 20kg
SPECIFICATIONS
2
1.2. Part Names and Outer Dimensions
WARNING
！
Be careful of the shaft while the brake release switch is being pressed because
the shaft may be lowered by the weight of the end effector.
While the LED lamp is on, the current is being applied to the robot. Performing
any work with the power ON is extremely hazardous and it may result in electric
shock and/or improper function of the robot system.
CAUTION
！
The brake release switch affects both Joints #3 and #4. When the brake release
switch is pressed in emergency mode, the brakes for both Joint #3 and Joint #4
are released simultaneously.
Fig 1.1 Part name (ER3)
第1机械臂
LED指示灯
第3关节
制动解除开关
第2机械臂
轴
底座
LED lamp
Joint #3,#4
brake release switch
Arm #2
Arm #1
Base
Signature label
Shaft
SPECIFICATIONS
3
Fig 1.2 Dimension of ER3 robot
38174.5
10
45 135
163.5
MAX 650
221.4 176.5
30
480
9.3*
5
90以上
电缆用空间
6.5*150
130.7
6.5
225 135
130
109
120
120
45
80
100
140
4-M4深6
20 20
4- 9
30
2- 9
175
23
2-M3深10
50
* 表示机械挡块的位置
2-M4深10
20
5
58 20
4-M4深10
4848
6060
60±0.0160
180
151 +0.05
0
6 H7 +0.012
0
6+0.012
0
2
35
16轴径
10
10
46.5
30机械挡块直径
30
最大 11通孔直径
15
1mm平面
圆锥孔 3,90°
2-M4 depth 10
4-M4 depth 10
More than 90
Space for cables
*Indicates the stroke margin by mechanical stops
4-M4 depth 6
2-M3 depth 10
1mm flat cut
Conical hole
Max.
through hole
Shaft diameter
Mechanical stop diameter
SPECIFICATIONS
4
Fig 1.3 Part name (ER6)
LED指示灯
第3、4关节
第2机械臂
第1机械臂
铭牌
LED lamp
Joint #3,#4 brake
release switch
Arm #2
Arm #1
Base
Signature label
Shaft
SPECIFICATIONS
5
Fig 1.4 Dimension of ER6 (STANDARD) robot
38
243.5 175.5
10
60 135
166.5
50180.5
224.1
b
566.5
10*
10*
11.8*
48.5
200
*Indicates the stroke marginbymechanical stops
2-M4 depth10
30
82
41
36 20
150 20
4-M4 depth10 195
180
6 H7
55±0.01 55
6 throughhole
5
275 a135
2-M4 through hole
100
150
129
169
4-M4 depth6
28
20 20.5
134
150 30
135.2
4- 9
57.9
6230
10
20h7 shaft diameter
38mechanical stopdiameter
Max. 14throughhole
1mm flat cut
Conical hole 3 ,90°
ER6-500-SR ER6-600-SR ER6-700-SR
a225 325 425
b630 680 730
10
more than 90
spacefor cables
4-M4 depth10
SPECIFICATIONS
6
Fig 1.5 Dimension of ER6 (PROTECTIVE) robot
38
175.5243.5
50180.5
10
60 135
175.5
166.5
b
609.5
224.1
6*
6*1709.8*
50.5
90以上
（电缆用空间）
* 机械停止位的冲程余量
28
135.2
275
2-M4通
a
134
135
20 20.5
4-M4深6
4- 9
30150
100
129
150
169
57.9
30
82
2-M4深10
41 36 20
150 20 4-M4深10
4-M4深10
5555±0.01
180
+ 0.05
0
6 H7
+ 0.012
0
195
6
+ 0.012
0通
5
94
30
10
10
20 h7轴径
38机械停止位直径
90
15
最大直径为 14的通孔
1mm平面切槽
圆锥孔 3,90°
ER6-500-SR/P ER6-600-SR/P ER6-700-SR/P
a 225 325 425
b 630 680 730
More than 90
*Indicates the stroke margin by mechanical stops
2-M4 through
1mm flat cut
Conical hole
through hole
Shaft diameter
Mechanical stop diameter
Max diameter
Space for cables
4-M4 depth 10
4-M4 depth 10
2-M4 depth 10
Through hole
4-M4 depth 6
SPECIFICATIONS
7
Fig 1.6 Part name (ER20)
LED lamp
Joint #3,#4 brake
release switch
Arm #2
Arm #1
Base
Signature label
Shaft
SPECIFICATIONS
8
Fig 1.7 Dimension of ER20 Robot
40
259
355.5
1015.5
92341
19
120 138
62
338
446.5
3*420
64.5
5*
80以上
514.8
b
3*
150以上线缆
预留空间
245
32
172.9
450 62
13
230
200
170
105
200 3820
4- 14通
2-M4通
138a 2-M8深10
64.2
43.5
37.5
20
200 30
30
116
96
2xM4深10
4xM4深10 4xM4深10
100±0.05
4
12
61
49
41
10
10
30
40机械挡块直径
25 h7轴径
最大直径 18通孔直径
15
1mm平面
圆锥孔 4,90°
(*) 表示机械挡块的位置
ER20-800-SR ER20-1000-SR
a 350 550
b 950 1060
More than 150
Space for cables
*Indicates the stroke margin by mechanical stops
1mm flat cut
Conical hole
through hole
Shaft diameter
Mechanical stop diameter
≥80
Max.
2-M4 through
through
2-M10 depth 10
4-M4 depth 10
2-M4 depth 10
4-M4 depth 10
This manual suits for next models
13
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