Elite EC66 Manuale utente
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Doc No.：T202001005 www.elibot.cn
Original Version 4.0
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 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
Preface........................................................................................................................................5
Product Composition .........................................................................................................5
More Information...............................................................................................................6
Chapter 1 Safety.........................................................................................................................7
1.1 Profile...........................................................................................................................7
1.2 Safety Warning Symbols..............................................................................................7
1.3 Safety Cautions ............................................................................................................9
1.3.1 Overview ...........................................................................................................9
1.3.2 Usage Notice .....................................................................................................9
1.3.3 Personnel safety..............................................................................................12
1.4 Liabilities and Specifications.....................................................................................13
1.5 Danger Identification .................................................................................................14
1.6 Intended Use ..............................................................................................................15
1.7 Handling of Emergency Situations ............................................................................16
1.7.1 Emergency stop device ...................................................................................16
1.7.2 Resuming from the state of emergency..........................................................17
1.7.3 Forced emergency movement of the joints....................................................17
1.7.4 Over-strong-force safety protection of the robot arm ...................................17
Chapter 2 Carrying and Cautions.............................................................................................19
Chapter 3 Maintenance, Repair and Disposal..........................................................................20
3.1 Maintenance and Repair.............................................................................................20
3.2 Disposal......................................................................................................................21
3.3 Maintenance...............................................................................................................21
Chapter 4 Quality Assurance ...................................................................................................22
4.1 Product Quality Assurance.........................................................................................22
4.2 Disclaimer ..................................................................................................................22
Chapter 5 Robot Hardware Composition.................................................................................24
Chapter 6 Robot Installation ....................................................................................................26
6.1 Brief Installation Steps...............................................................................................26
6.2 Important Safety Instructions.....................................................................................26
6.3 Workspace of the Robot .............................................................................................26
6.3.1 Mechanical dimensions of the robot ...............................................................26
6.3.2 Range of motion of the robot ..........................................................................27
6.4 Robot Installation.......................................................................................................28
6.5 Installation of the End/Tool Effector..........................................................................29
Chapter 7 Quick Start...............................................................................................................31
7.1 Installation..................................................................................................................31
7.1.2 Cable Connection............................................................................................31
7.1.2.1 Connection of the robot arm to the control box...........................................32
7.1.2.2 Connection of the control box to the mains supply .....................................32
7.2 Robot Power-on .........................................................................................................33
7.2.1 Preparations before power-on .........................................................................33
7.2.2 System power-on ............................................................................................34
7.3 Robot Shutdown.........................................................................................................34
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Chapter 8 Electrical Interface ..................................................................................................35
8.1 Overview....................................................................................................................35
8.2 Electrical Warnings and Cautions ..............................................................................35
8.3 Controller I/O.............................................................................................................37
8.3.1 Common specifications of all digital I/Os ......................................................39
8.3.2 Safety I/O ........................................................................................................40
8.3.3 General purpose digital I/O.............................................................................43
8.3.4 Digital input from a button .............................................................................44
8.3.5 General purpose analog I/O ............................................................................44
8.4 Ethernet ......................................................................................................................46
8.5 Mains Connection ......................................................................................................46
8.6 Robot Connection ......................................................................................................48
8.7 Tool I/O ......................................................................................................................49
8.7.1 Tool power supply...........................................................................................51
8.7.2 Tool digital input .............................................................................................51
8.7.3 Tool digital output ...........................................................................................52
8.7.4 Tool analog input ............................................................................................54
8.7.5 Tool analog output...........................................................................................54
8.7.6 Tool communication I/O .................................................................................55
Chapter 9 Teach Pendant..........................................................................................................56
9.1 Programming Pendant Display ..................................................................................57
9.1.1 Main Menu Area .............................................................................................58
9.1.2 General-purpose Display Area ........................................................................61
9.1.3 Monitoring Area..............................................................................................63
9.1.4 Information Prompt Area ................................................................................65
9.1.5 Status Control Area .........................................................................................65
9.1.6 Coordinate Area ..............................................................................................66
9.1.7 Status Display Area.........................................................................................68
9.1.8 Submenu Area .................................................................................................69
9.2 Robot Axes and Coordinates Systems .......................................................................69
9.2.1 Basic Operations .............................................................................................69
9.2.2 Coordinate Systems and Axis Operations.......................................................71
9.3 Teaching .....................................................................................................................76
9.3.1 Preparation for Teaching.................................................................................76
9.3.2 Teaching Procedure.........................................................................................78
9.3.3 List of program instructions............................................................................88
9.4 Playback.....................................................................................................................90
9.4.1 Preparation ......................................................................................................90
9.4.2 Playback Operation.........................................................................................90
9.5 User Processes ...........................................................................................................92
9.6 Monitoring .................................................................................................................92
9.6.1 Coordinates .....................................................................................................93
9.6.2 Variables..........................................................................................................93
9.6.3 IO ....................................................................................................................95
9.6.4 Motor...............................................................................................................96
9.6.5 Operational Monitoring ..................................................................................98
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9.7 Convenient Functions ................................................................................................99
9.7.1 Key Combination Function.............................................................................99
9.7.2 Multi-Window Function..................................................................................99
9.8 System Setup............................................................................................................100
9.8.1 Tool Coordinates Setting...............................................................................100
9.8.2 User Coordinates...........................................................................................104
9.8.3 Interference Area...........................................................................................105
9.8.4 Home Position...............................................................................................108
9.8.5 Authority .......................................................................................................111
9.8.6 Speed Parameters ..........................................................................................113
9.8.7 Limit Parameters...........................................................................................113
9.8.8 System Configuration ...........................................................................................114
9.9 Backup and Upgrade................................................................................................115
9.9.1 Software Information ....................................................................................116
9.9.2 Local to USB.................................................................................................116
9.9.3 Local from USB............................................................................................117
9.9.4 System Upgrade ............................................................................................117
Appendix................................................................................................................................121
A Glossaries ...................................................................................................................121
B Certification and Detection ........................................................................................123
C Stopping Time and Stopping Distance .......................................................................125
D Reference Standards...................................................................................................126
E Technical Specifications .............................................................................................127
F Alarm Information and Description of Routine Problems..........................................128
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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 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.
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.
Product Composition
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The detailed outbound list of one set of complete EC66 robot is shown in the table below.
More Information
If you require 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 (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 the robot or the 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 must fully understand the risk of operation, and
strictly comply with and implement the specifications and requirements in this manual. The user
and the integrator must 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.
Indicating an imminently hazardous electrical situation which, if
not avoided, could result in casualties or serious damage of the
equipment.
Indicating a potentially hazardous hot surface which, if
touched, could result in the personnel injury.
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SAFETY CAUTION:
Indicating an imminently hazardous situation which, if
not avoided, could result in casualties or serious injury.
Indicating a potentially hazardous electrical situation
which, if not avoided, could result in personnel injury or
serious damage of the equipment.
Indicating 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.
Indicating 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 must 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 seems impossible to record all the cases that cannot be done in accordance with so
many possibilities.
1.3.2 Usage Notice
The following basic information must 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 seems impossible to cover all aspects. In practical application, the
concrete problem needs to be analyzed in a concrete way.
Altri manuali per EC66
1
Indice
Altri manuali Elite Robotica
