EFORT ECR5 Bedienungsanleitung

ECR5 Collaborative Robot

---------------User’s Manual

Please Read This Manual Carefully Before Use.

EFORT INTELLIGENT EQUIPMENT CO.,LTD.

ECR5 User Manual

(Teach Pendant Instructions)

Version: V1.1

------ Service Hotline(Tel):4000528877------

Version：V1.1

------Tel：4000528877------

Thank you for purchasing EFORT robot products. In order to ensure that

the products have been set correctly, please read this operation manual carefully

before using this product. The contents mentioned in this statement and the

manual are related to your personal and property safety. If you do not follow the

instructions and warnings in the manual or operate without authorization, it may

cause personal injury to you and the people around you or property damage to

the robot or other objects around you. This statement and manual are the latest

version of this batch of products before leaving the factory. Please visit

www.efort.com.cn Official website for 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 loss caused by other reasons except product defects. EFORT Company

solemnly suggests that: personnel participating in robot operation, teaching,

maintenance, repair, spot inspection and other related activities should not be

given permission to operate the robot before completing the training courses

prepared by EFORT Company.

About this manual

This manual is the user manual of ECR series robot teaching pendant software and

introduces the use of each functional interface of the software in detail.

Operation premise

Before operating the robot, please read the relevant safety instructions of the

product carefully. The real machine operation can only be carried out on the basis of

understanding the safety specifications.

Target group

Production operators

Engineering and technical personnel

Technical service personnel

Meanings of Common Sign

A large number of warning signs are used in this manual to indicate important

information during use.

The warning signs and their meanings are shown in the table below:

Table 1: symbols used in this article

DANGER!

If you do not follow the instructions, there will be

accidents, leading to serious or fatal personal injury

or material damage.

Warning!

If you do not follow the instructions, there will be

accidents, leading to serious or fatal personal injury

or material damage.

Caution!

If the corresponding preventive measures are not

taken, dangerous situations may occur, leading to

property damage or minor physical injury.

DANGER!

If no corresponding preventive measures are taken,

dangerous power consumption may occur, leading to

serious or fatal personal injury.

Warning!

If the corresponding preventive measures are not

taken, dangerous power consumption may occur,

leading to personal injury or serious damage to

equipment.

Warning!

If the corresponding preventive measures are not

taken, dangerous hot surface may occur, leading to

personal injury.

Risk Assessment

In principle, ECR5 collaborative robot can be used without external fence,

but the risk of operation and normal operation must be assessed. The risk

assessment must be completed before the robot is put into use. Integrators and

users must fully consider all tasks of the robot in its whole life cycle to measure

the risk level and acceptability. Start from the following aspects in risk

assessment, but not limited to:

(1) Sharp corners such as end effector / work piece cause injury to personnel;

(2) Obstacles in the robot workspace cause injuries to personnel and equipment;

(3) When the robot is running, it may collide with people and cause injury;

(4) There may be risks when robots operate dangerous goods;

(5) Different security parameter settings may have risks in application scenarios;

(6) The installation of the end effector is not reliable, and there is a risk;

(7) There is a risk when the robot is close to the rigid boundary / obstacle;

When the robot is integrated / applied in non- cooperative situation, the

internal safety mode of the robot can be turned off, and the internal safety

settings are invalid. Integrators and users must consider additional safety

equipment and evaluate its safety risk.

After changing the configuration and replacing the end effector of the robot,

the risk assessment should be carried out again, and the assessment should be

completed before use.

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD

.......................................................................................................................................3

.............................................................................................................................................4

............................................................................................................................................1

...................................................................................................1

1.1 General Introduction .................................................................................................. 1

1.2 Components.................................................................................................................. 1

1.2.1 Mode Switch Knob ..........................................................................................2

1.2.2 Enabling Key...................................................................................................... 3

1.2.3 Control Keys.......................................................................................................4

1.2.4 Function Keys.................................................................................................... 5

1.2.5 Emergency Stop Key.......................................................................................5

............................................................................................... 7

2.1 Main..................................................................................................................................7

2.1.1 Navigation Bar.................................................................................................. 8

2.1.2 Status Bar............................................................................................................8

2.2 Login Page......................................................................................................................9

2.2.1 User Types ........................................................................................................10

..........................................................................................11

3.1 JOG + Servo on ..................................................................................................11

3.2 JOG- Joint Movement..................................................................................... 12

3.3 Jog-Cartesian Movement...............................................................................14

3.4 Drag Teaching....................................................................................................17

.................................................................................19

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD

4.1 Program Manager.....................................................................................................19

4.2 Program Tab................................................................................................................20

4.2.1 Program Interface Structure......................................................................21

4.2.2 Example 1: Run a sample program.........................................................21

4.2.3 Example 2: Write the First Program........................................................26

4.2.4 Drag Teaching................................................................................................ 39

4.2.5 Soft PLC.............................................................................................................45

.............................................................................. 51

5.1 General Setting.......................................................................................................... 52

5.1.1 Mounting Angle.............................................................................................52

5.1.2 Tool Coordinate System (TCP) ................................................................. 53

5.1.3 User Coordinate System (User Frame).................................................. 58

5.1.4 Load Identification........................................................................................59

5.1.5 Track Record................................................................................................... 65

5.1.6 Home Position................................................................................................67

5.1.7 Module Updates............................................................................................ 71

5.1.8 I/O Configuration.......................................................................................... 72

5.1.9 Fixed Vision ......................................................................................................75

5.1.10 Auxiliary Axis.................................................................................................86

5.1.11 Joint Slip Compensation.......................................................................... 98

5.1.12 Conveyor belt Tracking.............................................................................99

5.2 Safety...........................................................................................................................115

5.2.1 Area Monitoring..........................................................................................116

5.2.2 Position Monitoring...................................................................................125

5.2.3 Flange Setting.............................................................................................. 128

5.2.4 Collision Detection ..................................................................................... 132

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD

5.2.5 Safety Restriction........................................................................................ 142

5.2.6 Physical Risk..................................................................................................143

5.2.7 Safety Sensor................................................................................................144

5.2.8 Safety Plane...................................................................................................146

5.3 Factory Settings.......................................................................................................151

5.3.1 Sliding Datum Point...................................................................................152

5.3.2 Reset Drive.................................................................................................... 153

5.3.3 DH Parameters.............................................................................................155

5.3.4 Joint Restriction...........................................................................................155

5.4 Bus................................................................................................................................157

5.4.1 TCP / IP........................................................................................................... 157

5.4.2 MES.................................................................................................................. 172

5.4.3 EtherCAT Settings.......................................................................................177

5.4.4 EthernetIP Settings.....................................................................................178

.................................................................................... 180

6.1 Information of position........................................................................................ 180

6.2 Coordinate system................................................................................................. 181

6.3 Robot Jogging......................................................................................................... 181

6.3.1 joint motion.................................................................................................. 182

6.3.2 Cartesian motion.........................................................................................182

6.3.3 Step-in motion.............................................................................................183

6.4 Activation of coordinate system....................................................................... 184

6.4.1 Activation of tool coordinate system..................................................184

6.4.2 Activation of user coordinate system..................................................185

6.5 Position initializing and back to home position..........................................185

6.5.1 Position initializing..................................................................................... 185

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD

6.5.2 Back to home position..............................................................................186

.............................................................................. 187

9.1 About the System ................................................................................................... 187

9.2 System Settings ....................................................................................................... 188

9.3 Help..............................................................................................................................188

............................................................................ 190

7.1 Status monitoring of robot joints.....................................................................190

Monitoring of IO signal............................................................................................... 191

7.2.1 Forced IO signal...........................................................................................191

7.3 On-site monitoring of bus data........................................................................ 193

7.3.1 Function of Modbus.................................................................................. 193

7.3.2 Function of Profinet................................................................................... 203

7.3.3 Function of EtherCAT................................................................................ 217

7.3.4 Function of EthernetIP.............................................................................. 228

...................................................................................................241

8.1 Alarm Process...........................................................................................................241

8.2 System Log................................................................................................................242

8.3 Program Log.............................................................................................................242

...............................................................244

A.1 System Alarm Code............................................................................................... 244

A.2 User Alarm Code (1400~1499)..........................................................................248

A.3 Major Error Code (1800~1899).........................................................................258

A.4 General Alarm Code (3900~3999)................................................................... 268

A.5 User Alarm Code (4900~4999)..........................................................................273

A.6 Event Log (4900~4999)........................................................................................292

............................................................... 293

Catalog EFORT INTELLIGENT EQUIPMENT CO.,LTD

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