Estun SCARA ER Series Operator's Manual
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Estun SCARA ER Series Operator's Manual

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  • Page 2 ESTUN SCARA Robot MECHANICAL UNIT OPERATOR’S MANUAL M-0601EN-03...
  • Page 3 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.

  • Page 4: Safety

    SAFETY 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.
  • Page 5 SAFETY 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 ！...
  • Page 6 SAFETY 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.
  • Page 7 SAFETY 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.
  • Page 8 SAFETY 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.
  • Page 9 SAFETY （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.

  • Page 10: Preface

    This manual describes the following robots. Robot Type Load Capacity ER3-400-SR ER6-500-SR ER6-500-SR/P ER6-600-SR ER6-600-SR/P ER6-700-SR ER6-700-SR/P ER20-800-SR ER20 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...

  • Page 11: Table Of Contents

    CONTENTS CONTENTS SAFETY ................................s-1 PREFACE ................................p-1 CONTENTS ................................c-1 SPECIFICATIONS ............................1 Model Number ..........................1 1.1. 1.2. Part Names and Outer Dimensions ..................2 Specifications ..........................9 1.3. ENVIRONMENTS AND INSTALLTION ....................11 2.1. Environmental Conditions ......................11 2.1.1.

  • Page 12: Contents

    CONTENTS Tightening Hexagon Socket Head Cap Bolts ................ 38 5.3. Maintenance of the Belt ......................39 5.4. 5.4.1. Belt specifications ......................... 39 5.4.2. Failure mode of timing belt ....................40 CALIBRATION ............................41 Introduction ..........................41 6.1. 6.2. Calibrating With Special Tools ....................41 Calibration in Each Axis ......................

  • Page 13: Specifications

    SPECIFICATIONS 1. SPECIFICATIONS 1.1. Model Number ER6-600-SR/P Environment Non Standard-model Protective-model Application SCARA Arm #3 length 200mm (ER6) 150mm (ER3) 420mm (ER20) Arm length 400mm 500mm 600mm 700mm 80 800mm 1000mm Load capacity 3 3kg 6 6kg 20 20kg...

  • Page 14: Part Names And Outer Dimensions

    SPECIFICATIONS 1.2. Part Names and Outer Dimensions 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 WARNING any work with the power ON is extremely hazardous and it may result in electric shock and/or improper function of the robot system.
  • Page 15 SPECIFICATIONS + 0.012 6 H7 + 0.05 4-M4深10 4-M4 depth 10 2-M4深10 2-M4 depth 10 + 0.012 More than 90 90以上 Space for cables 电缆用空间 130.7 * 表示机械挡块的位置 *Indicates the stroke margin by mechanical stops 4-M4深6 4-M4 depth 6 2-M3深10 2- 9 2-M3 depth 10 4- 9...
  • Page 16 SPECIFICATIONS LED lamp LED指示灯 Joint #3,#4 brake 第3、4关节 release switch Signature label 铭牌 Arm #1 第1机械臂 第2机械臂 Arm #2 Shaft Base Fig 1.3 Part name (ER6)
  • Page 17 SPECIFICATIONS through hole 36 20 4-M4 depth 10 2-M4 depth 10 4-M4 depth 10 6 H7 more than 90 space for cables 224.1 *Indicates the stroke margin by mechanical stops 57.9 20.5 4-M4 depth 6 2-M4 through hole ER6-500-SR ER6-600-SR ER6-700-SR 1mm flat cut Conical hole 3 ,90°...
  • Page 18 SPECIFICATIONS 4-M4 depth 10 4-M4深10 + 0.012 通 41 36 20 Through hole 2-M4深10 2-M4 depth 10 4-M4深10 4-M4 depth 10 + 0.05 + 0.012 6 H7 90以上 More than 90 （电缆用空间） Space for cables 224.1 * 机械停止位的冲程余量 *Indicates the stroke margin by mechanical stops 57.9 20.5 4-M4深6...
  • Page 19 SPECIFICATIONS LED lamp Joint #3,#4 brake release switch Signature label Arm #2 Shaft Arm #1 Base Fig 1.6 Part name (ER20)
  • Page 20 SPECIFICATIONS 37.5 43.5 2-M4 depth 10 4-M4 depth 10 4-M4 depth 10 2xM4深10 4xM4深10 4xM4深10 100±0.05 80以上 ≥80 150以上线缆 More than 150 Space for cables 预留空间 (*) 表示机械挡块的位置 *Indicates the stroke margin by mechanical stops 64.2 2-M8深10 2-M10 depth 10 4- 14通...

  • Page 21: Specifications

    SPECIFICATIONS 1.3. Specifications Tab 1.1 Specifications for SCARA robots Item ER3 series ER6 series ER20 series 500 series 800 series Arm#1, #2 (mm) 600 series 1000 series 1000 700 series Arm length 500 series 800 series Arm#1 (mm) 600 series 1000 series 700 series Arm#2 (mm)
  • Page 22 SPECIFICATIONS kgf/cm : 86 psi) Ambient Temp. 5 to 40 degrees C (with minimum temperature variation) Environmental requirements Ambient relative humidity 10 to 80% (no condensation) Noise level (*1) 70dB（A） Aeq= Applicable Controller ERC controller (*1) Conditions of Robot during measurement as follows: Operating conditions: Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

  • Page 23: Environments And Installtion

    ENVIRONMENTS AND INSTALLATION 2. ENVIRONMENTS AND INSTALLTION 2.1. Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions Ambient temperature* 5 to 40°...

  • Page 24: Base Table

    Cable break may occur when the robot is operating on the rail or lifting platform, ！ due to factory-set configuration with a fixed installation standard for cables between devices. If cable break occurs, contact ESTUN for custom solutions for CAUTION flexible cable with drag chain.

  • Page 25: Mounting Dimension

    ENVIRONMENTS AND INSTALLATION 2.3. Mounting Dimension The maximum space described in section 1.2 shows that the radius of the end effector is 60 mm or less. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space.
  • Page 26 ENVIRONMENTS AND INSTALLATION Center of Joint #3 Maximum space Motion range Area limited by mechanical stops Base mounting face Fig 2.3 Motion range (ER6 Standard-model) Standard-model Item ER6-500-SR ER6-600-SR ER6-700-SR a Length of Arm #1& Arm #2 (mm) b Length of Arm #1 (mm) c Length of Arm #2 (mm) d Motion range of Joint #1 (°...
  • Page 27 ENVIRONMENTS AND INSTALLATION 第3关节中心 Center of Joint #3 最大区域 Maximum space Motion range 动作区域 Area limited by mechanical stops 机械挡块之前的区域 底座安装面 Base mounting face Fig 2.4 Motion range (ER6 Protective-model) Protective-model Item ER6-500-SR/P ER6-600-SR/P ER6-700-SR/P a Length of Arm #1& Arm #2 (mm) b Length of Arm #1 (mm) c Length of Arm #2 (mm) d Motion range of Joint #1 (°...
  • Page 28 ENVIRONMENTS AND INSTALLATION J3轴中心 Center of Joint #3 机械挡块之前的区域 Area limited by mechanical stops 底座安装面 Base mounting face Fig 2.5 Motion range (ER20) 名称 ER20-800-SR ER20-1000-SR Item ER20-800-SR ER20-1000-SR a 第1轴臂长+第2轴臂长（mm） 1000 b 第1轴臂长（mm） a Length of Arm #1& Arm #2 (mm) 1000 c 第2轴臂长（mm）...

  • Page 29: Unpacking And Transportation

    ENVIRONMENTS AND INSTALLATION 2.4. Unpacking and Transportation Only authorized personnel should perform sling work and operate a crane and a ！ forklift. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe WARNING equipment damage to the robot system.
  • Page 30 ENVIRONMENTS AND INSTALLATION Wire tie on Arm #1 Mount eyebolts at the back side of Arm #1. Move Arm #1 to front side and secure it by arm lock. Pack the bindings cross the eyebolt as shown in the figure. Stabilize the Robot with your hands when hoisting it.

  • Page 31: Installation Procedure

    ENVIRONMENTS AND INSTALLATION 2.5. Installation Procedure The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping ！ hazard or pinch points. Vibration (or sympathetic vibration) may occur during operation as the rigidity of CAUTION worktable.

  • Page 32: Protective-Model

    ENVIRONMENTS AND INSTALLATION 4-M12X40 Spring washer 弹簧垫圈 Plain washer 平垫圈 Threaded holes 螺丝孔 (Depth 20mm or more) （深20mm以上） Fig 2.9 Secure the base table (ER20) ！ Use bolts with specifications conforming to ISO898-1 Property Class: 10.9 or 12.9. The tightening torque is 73.5 N· m (750kgf· cm). CAUTION (2) Using nippers, cut off the wire tie binding the shaft and arm retaining bracket on the base.

  • Page 33: Connecting The Cables

    ENVIRONMENTS AND INSTALLATION 2.6. Connecting the Cables 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. Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source.

  • Page 34: User Wires And Pneumatic Tubes

    ENVIRONMENTS AND INSTALLATION 2.7. User Wires and Pneumatic Tubes Only authorized or certified personnel should be allowed to perform wiring. ！ Wiring by unauthorized or uncertified personnel may result in bodily injury CAUTION and/or malfunction of the robot system. ！ The serial number of the robot should be accordance with the serial number of the cabinet.
  • Page 35 ENVIRONMENTS AND INSTALLATION Fittings for φ6mm User connector (male) (15-pin D-sub connector) (other color) Fittings for φ6mm User connector Fittings for φ6mm (white) (15-pin D-sub connector) (white) Power cable Fittings for φ6mm Fittings for φ4mm (other color) Power cable (white) Signal cable Fittings for φ4mm Signal cable...

  • Page 36: Relocation And Storage

    ENVIRONMENTS AND INSTALLATION Fittings for φ6mm Fittings for φ4mm (white) (white) User connector (15-pin D-sub connector) Fittings for φ4mm User connector (white) (15-pin D-sub connector) Fittings for φ4mm (blue) User connector User connector (9-pin D-sub connector) (9-pin D-sub connector) Fittings for φ4mm Fittings for φ6mm (blue) (blue)

  • Page 37: Relocation

    ENVIRONMENTS AND INSTALLATION When the Robot is used for a robot system again after long-term storage, perform a test run to verify that it works properly, and then operate it thoroughly. Transport and store the Robot in the range of -25℃ to +55℃. Humidity within 10% to 90% is recommended.
  • Page 38 ENVIRONMENTS AND INSTALLATION Bolt M4X20 Bolt M4X20 Wire tie Fig 2.13 Secure the arms ！ Pay attention to maintenance of Joint #3 and Joint #4 when transport or store the robot for a long period. Error maintenance may cause rust. CAUTION...

  • Page 39: Setting Of End Effectors

    SETTING OF END EFFECTOR 3. SETTING OF END EFFECTORS 3.1. Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF.

  • Page 40: Attaching Cameras And Valves

    SETTING OF END EFFECTOR because of the outer diameter of the end effector, the size of the work piece, or the position of the arms. When designing your system layout, pay attention to the interference area of the end effector. 3.2.
  • Page 41 SETTING OF END EFFECTOR 4-M4X10 2-M4X10 Fig 3.2 Dimensions for attaching cameras and valves (ER6)

  • Page 42: Equivalent Weight

    SETTING OF END EFFECTOR Fig 3.3 Dimensions for attaching cameras and valves (ER20) 3.2.1. Equivalent weight When you attach a camera or valve to the arm, calculate the weight as the equivalent of the shaft. Then add this to the load. Equivalent weight formula is shown below. = ��...
  • Page 43 SETTING OF END EFFECTOR A “1kg” camera is attached to the end of the arm (550mm away from the rotation center of Joint #2)with a load weight of “1kg”. �� = 1 �� = 450 �� = 550 �� = 1 × 550 /450 = 1.494 →...

  • Page 44: Motion Range

    MOTION RANGE 4. MOTION RANGE 4.1. Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Robot can move. Mechanical stop of Joint #3 (lower limit mechanical stop) Mechanical stop of Mechanical stop Joint #2 (adjustable) of Joint #1 (fixed) Do not move the upper limit mechanical stop...

  • Page 45: Setting The Mechanical Stops Of Joints #1 And #2

    MOTION RANGE Mechanical stop of Joint #3 (lower limit mechanical stop) Mechanical stop of Mechanical stop of Joint #2 (adjustable) Joint #1 (fixed) Do not move the upper limit mechanical stop Mechanical stop Mechanical stop of of Joint #2 (fixed) Joint #1 (adjustable) Fig 4.3 Mechanical stops (ER20) Do not move the upper limit mechanical stop.
  • Page 46 MOTION RANGE Fig 4.5 Mechanical stops (ER6) Joint #1 mechanical stops Joint #2 mechanical stops Fig 4.6 Mechanical stops (ER20) Type Angle for the J1 axis mechanical stop Angle for the J2 axis mechanical stop ± 110° ± 125° ± 115° ±...

  • Page 47: Maintenance

    MAINTENANCE 5. MAINTENANCE This chapter describes maintenance inspections and procedures. Performing maintenance inspections and procedures properly is essential for preventing trouble and ensuring safety. Be sure to perform the maintenance inspections in accordance with the schedule. ！ Never perform any maintenance unless shut down the system. CAUTION 5.1.

  • Page 48: Inspection While Power Is Off (Robot Is Not Operating)

    MAINTENANCE 5.1.1. Inspection While Power is OFF (Robot is not operating) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual √ √ √ √ √ End effector mounting bolts √ √ √ √ √ Robot mounting bolts Check looseness or backlash of √...

  • Page 49: Greasing

    Greasing part Greasing Interval Grease Joint #1 Reduction gear units Replace the grease every 10000 hours or 2 Contact ESTUN sales representatives. years, whichever occur earlier. Joint #2 Reduction gear units Replace the grease every 6 months or 100 Joint #3 Ball screw spline shaft kilometers, whichever occur earlier.

  • Page 50: Tightening Hexagon Socket Head Cap Bolts

    MAINTENANCE 5.3. Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table. When it is necessary to refasten these bolts in some procedures in this manual (except special cases as noted), use a torque wrench so that the bolts are fastened with the appropriate tightening torques as shown below.

  • Page 51: Maintenance Of The Belt

    MAINTENANCE Threaded holes Fig 5.1 Tightening the bolts 5.4. Maintenance of the Belt Item Model Notes Tool Acoustic tension gates U507 For details about measurement, refer to specification of meter the acoustic tension meter. 5.4.1. Belt specifications Tab 5.2 Belt specifications Model Belt Mess (g/mm*m) Width (mm) Span (mm) Internal stress (N) Tense (kgf)

  • Page 52: Failure Mode Of Timing Belt

    MAINTENANCE 5.4.2. Failure mode of timing belt Periodical maintenance of the timing belt should be performed. Abnormal item Appearance Abnormal wear on The tooth cloth fiber fluffs, the rubber peels down, the the gear tooth (initial) color tends to white, the vein of the cloth tends to indistinct.

  • Page 53: Calibration

    CALIBRATION 6. CALIBRATION 6.1. Introduction Calibration associates the angle of each robot axis with the pulse count value supplied from the absolute Pulsecoder connected to the corresponding axis motor. To be specific, calibration is an operation for obtaining the pulse count value, corresponding to the home position. Calibration is factory-performed.

  • Page 54: Calibration In Each Axis

    CALIBRATION Fig 6.1 Single-ring value of quick calibration (ERC controller) 6.3. Calibration in Each Axis Calibrate the home position of J1-axis of ER3/ER6 Robot follow the procedures below. Move Arm #1 to the position as shown in the figure. Align the mark on Arm #1 to the mark on the base. Calibrate home position again.
  • Page 55 CALIBRATION Zero position of J1- joint Zero position of J1- joint Fig 6.3 Home position of Joint #1 (ER20) Zero position of J2-joint Fig 6.4 Home position of Joint #2 (ER3&ER6) Zero position of J2-joint Fig 6.5 Home position of Joint #2 (ER20)
  • Page 56 CALIBRATION Zero position of J4-joint Zero position of J3-joint Fig 6.6 Home position of Joint #3 and #4 (ER3) Zero position of J4-joint Zero position of J3-joint Fig 6.7 Home position of Joint #3 and #4 (ER6) Zero position of J4-joint Zero position of J3-joint Fig 6.8 Home position of Joint #3 and #4 (ER20)

  • Page 57: Appendix

    Motor Joint #3/#4 12700000048 ● Joint #3 G5401000067 ● Timing belt G5401000068 Long Timing Belt Joint #4 ● G5401000069 Short Timing Belt Battery 51205A00001 Ball Screw Spline A2144000012 AFB-LF+400 Grease Contact franchiser or ESTUN Reduction Gear Unit for purchasing grease.

  • Page 58: Appendix B Er6 Maintenance Parts List

    ● Joint #3/#4 12700000048 ● Joint #3 G5401000046 ● Timing belt G5401000047 Long Timing Belt Joint #4 ● G5401000048 Short Timing Belt Battery 51205A00001 Ball Screw Spline A2144000012 AFB-LF+400 Grease Reduction Gear Contact franchiser or ESTUN Unit for purchasing grease.

  • Page 59: Appendix C Er20 Maintenance Parts List

    12705172001 AC Servo ● Joint #3 12700000056 Motor ● Joint #4 12700000054 ● Joint #3 G5400000077 Timing belt ● Joint #4 G5400000076 Battery 51205A00001 Ball Screw Spline A2144000012 AFB-LF+400 Grease Reduction Gear Contact franchiser or ESTUN for Unit purchasing grease.

  • Page 60: Revision Record

    REVISION RECORD REVISION RECORD Revision Date Content 2017.11 New edition. Addition of ER3, ER20 robot. Addition of belt maintenance, transportation. 2019.02 Modification of parts list. Correction of errors. Update of pattern. Modification of Tightening Torque. Modification of parts list. Correction of 2019.12 errors.

This manual is also suitable for:

Scara er3 seriesScara er6 seriesScara er20 seriesScara er3-400-srScara er6-500-srScara er6-500-sr/p ... Show all

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