Elite EC66 Manuale utente
ELITE COLLABORATIVE ROBOT
EC66 User Manual
Original Version 4.0.0
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 of
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
Contents.....................................................................................................................................1
Preface........................................................................................................................................3
Product Composition.........................................................................................................4
More Information...............................................................................................................4
Chapter 1 Safety.........................................................................................................................5
1.1 Profile...........................................................................................................................5
1.2 Safety Warning Symbols..............................................................................................5
1.3 Safety Cautions............................................................................................................7
1.4 Liabilities and Specifications.....................................................................................11
1.5 Danger Identification.................................................................................................12
1.6 Intended Use..............................................................................................................13
1.7 Handling of Emergency Situations............................................................................14
Chapter 2 Carrying and Cautions.............................................................................................17
Chapter 3 Maintenance, Repair and Disposal..........................................................................18
3.1 Maintenance and Repair............................................................................................18
3.2 Disposal......................................................................................................................19
3.3 Maintenance...............................................................................................................19
Chapter 4 Quality Assurance...................................................................................................20
4.1 Product Quality Assurance.........................................................................................20
4.2 Disclaimer..................................................................................................................20
Chapter 5 Robot Hardware Composition.................................................................................22
Chapter 6 Robot Installation....................................................................................................24
6.1 Brief Installation Steps...............................................................................................24
6.2 Important Safety Instructions.....................................................................................24
6.3 Workspace of the Robot.............................................................................................25
6.3.1 Mechanical dimensions of the robot...............................................................25
6.3.2 Range of motion of the robot..........................................................................25
6.4 Robot Installation.......................................................................................................26
6.5 Installation of the End Tool........................................................................................27
Chapter 7 Introduction to Use..................................................................................................29
7.1 Installation..................................................................................................................29
7.1.2 Cable Connection............................................................................................29
7.1.2.1 Connection of the robot arm to the control box...........................................30
7.1.2.2 Connection of the control box to the mains supply.....................................30
7.2 Robot Power-on.........................................................................................................31
7.2.1 Preparations before power-on.........................................................................31
7.2.2 System power-on.............................................................................................32
7.3 Robot Shutdown.........................................................................................................32
Chapter 8 Electrical Interface..................................................................................................33
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8.1 Overview....................................................................................................................33
8.2 Electrical Warnings and Cautions..............................................................................33
8.3 Controller I/O.............................................................................................................35
8.3.1 Common specifications of all digital I/Os......................................................37
8.3.2 Safety I/O........................................................................................................39
8.3.3 General purpose digital I/O.............................................................................42
8.3.4 Digital input from a button.............................................................................43
8.3.5 General purpose analog I/O............................................................................43
8.4 Ethernet......................................................................................................................45
8.5 Mains Connection......................................................................................................45
8.6 Robot Connection......................................................................................................48
8.7 Tool I/O......................................................................................................................48
8.7.1 Tool power supply...........................................................................................50
8.7.2 Tool digital input.............................................................................................51
8.7.3 Tool digital output...........................................................................................51
8.7.4 Tool analog input............................................................................................53
8.7.5 Tool analog output..........................................................................................54
8.7.6 Tool communication I/O.................................................................................54
Chapter 9 Teach Pendant..........................................................................................................55
Appendix..................................................................................................................................57
A Glossaries.....................................................................................................................57
B Certification and Detection..........................................................................................59
C Stopping Time and Stopping Distance.........................................................................61
D Reference Standards.....................................................................................................62
E Technical Specifications...............................................................................................63
F Payload.........................................................................................................................64
G Installation Requirements of the Robot Arm...............................................................65
H Alarm Information and Description of Routine Problems...........................................66
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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 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.
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.
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Product Composition
The detailed outbound list of one set of complete EC66 robot is shown in the table below.
More Information
If you need 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 (optical 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 a robot or a 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 needs to fully understand the risk of operation, and
strictly comply with and implement the specifications and requirements in this manual. The user
and the integrator should 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.
This indicates an imminently hazardous electrical situation
which, if not avoided, could result incasualties or serious
damage of the equipment.
This indicates a potentially hazardous hot surface which, if
touched, could result in the personnel injury.
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SAFETY CAUTION:
This indicates an imminently hazardous situation which,
if not avoided, could result in casualties or serious injury.
This indicates a potentially hazardous electrical
situation which, if not avoided, could result in personnel
injury or serious damage of the equipment.
This indicates 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.
This indicates 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 needs to 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 is impossible to record all the cases that cannot be done because there are so many
possibilities.
1.3.2 Notice for use
The following basic information needs to 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 is impossible to cover all aspects. In practical application,
theconcrete problem needs to be analyzed in a concrete way.
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1. Please install the robot and all electrical equipments in accordance
with the requirements and specification in the manual.
2. The preliminary test and inspection should be implemented for the
robot and its protective system before using the robot for the first time and
putting into production.
3. Before starting the system and the equipment for the first time, that
whether the equipment and the system are complete, whether the operation
may be implemented safely, and whether any damage is detected must be
checked. During the detection, that whether it is in line with the effective
safety production rules and regulations of the country or the region should
be observed, and all safety functions must be tested.
4. The user must check and make sure that all safety parameters and
user programs are correct and all safety functions run normally. The person
qualified to operate the robot should check each safety function. The robot
cannot be started until the robot passes comprehensive and careful safety
test and reaches the safety level.
1. The professional staff should install and debug the robot in
accordance with the installation standards.
2. Upon completion of installation and construction of the robot, the
comprehensive risk assessment should be implemented again, with the
document records kept.
3. The authorized personnel should set and change the safety
parameters, and the passwords or the isolation measures should be used to
prevent the unauthorized personnel from changing or setting the safety
parameters. When the safety factors are revised, the related safety functions
need to be analyzed.
4. When the robot is trapped in accident or runs abnormally, the
emergency stop switch may be pressed to stop the action of the robot.
5. The brake is installed in the EC66 joint module, to maintain the pose
of the robot arm when the power is switched off. Do not artificially switch
the power supply system on and off frequently. It is recommended that the
time interval of switching on and off the machine should be more than 10
seconds.
6. The EC66 has the collision detection function. When the external
force of powering on the robot arm exceeds a normal force of the user’s
safety setting, the robot arm may stop automatically, as to prevent the robot
or the operating personnel from injury due to collision. The function is
dedicatedly designed by the EC66 for the safety of man-machine
collaborative work. However, the robot system is required to run within the
normal range, and the control box of the ELITE collaborative robot series
must be used. If the user develops the controller himself, the robot will not
have the abovementioned function. Moreover, the user should be
responsible for the dangerous consequence brought herefrom.
Altri manuali per EC66
1
Indice
Altri manuali Elite Robotica
